CN110208745B - Underwater sound positioning method based on self-adaptive matched filter - Google Patents
Underwater sound positioning method based on self-adaptive matched filter Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
The invention discloses a hydroacoustic positioning method based on a self-adaptive matched filter, and belongs to the technical field of hydroacoustic positioning. The method comprises the following steps: installing a fixed frequency band sound signal transmitting system on a target to be positioned; receiving the sound signal sent by the sound signal transmitting system through a signal receiving processing array arranged on the water surface, converting the sound signal into a digital signal, and transmitting the digital signal to an upper computer; the upper computer receives the digital signals, takes one path of signals in the digital signals as template signals, carries out matched filtering on the template signals and other paths of signals, and the time difference of the two paths of signals; and obtaining the specific position of the target to be positioned through the time difference. The invention has good noise immunity to the multi-path effect generated in the process of the underwater acoustic signal propagation, takes one path of signal as a template, and solves the problem of sensitivity to the multi-path effect caused by using a fixed template in the existing positioning method.
Description
Technical Field
The invention belongs to the technical field of underwater sound positioning, and particularly relates to an underwater sound positioning method based on a self-adaptive matched filter.
Background
Underwater acoustic positioning is a technique for determining the position and distance of an underwater vehicle or device with an underwater acoustic device. The positioning is based on arrival times or phases of the acoustic pulse signals received from three or more acoustic transponders that form the matrix. The method is divided into long baseline positioning, short baseline positioning and ultra-short baseline positioning according to the length of the base line of the transponder.
The acoustic positioning technology is a basic technology for national economy construction and national defense construction, has wide application, and mainly comprises the following steps: and engineering such as ocean oil gas development, submarine optical cable pipeline laying and maintenance and the like provides technical support for underwater navigation and positioning. Ocean surveys utilize deep towed equipment such as for the exploration and development of deep sea mineral resources. The navigation positioning of national defense construction submarines and water surface warships can not be carried out when the fight sailing is carried out, and particularly for submarines, the navigation is insufficient by only relying on radio, GPS and inertial navigation, and the fight capability of the submarines can be greatly improved by using an acoustic positioning system for navigation and matching with an electronic chart. Other aspects of marine disastrous geological research, underwater archaeological detection and the like require an acoustic positioning system to provide accurate spatial positions for data of the marine disasters geological research, the underwater archaeological detection and the like.
Mature acoustic positioning technology exists at home and abroad, but for some application scenes with obvious multi-path effects, the existing technology can not well measure the position of an underwater target under the influence of noise. The existing solutions mainly widen the bandwidth, modulate the frequency and the like, and the methods are complex to realize, have high requirements on devices and have unsatisfactory effects. A method which is excellent in the resistance to the multi-path effect needs to be considered.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide an underwater sound positioning method based on an adaptive matched filter, so as to solve the problem that the position of an underwater target cannot be well measured under the multi-path effect in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
an underwater sound positioning method based on an adaptive matched filter, the method comprising the steps of:
a sound signal transmitting system capable of transmitting a fixed frequency band is arranged on a target to be positioned;
receiving sound signals sent by a sound signal transmitting system through a signal receiving processing array arranged on the water surface, converting the sound signals into four paths of digital signals, and transmitting the four paths of digital signals to an upper computer;
the upper computer receives four paths of digital signals, takes one path of signals in the four paths of digital signals as a template signal, and performs matched filtering on the template signal and other paths of signals to obtain the time difference between the template signal and the other paths of signals;
and obtaining the specific position of the target to be positioned through the time difference.
Further, the signal receiving processing array receives sound signals through four paths of hydrophones and converts the sound signals into electric signals, and the electric signals are amplified through a signal amplifier and converted into digital signals through an analog-to-digital converter.
Further, the center frequency of the fixed frequency band is 26k, and the bandwidth is 16k.
Further, the digital signals are transmitted to the upper computer through the gigabit Ethernet module.
Further, the method for obtaining the time difference includes:
keeping the template signal motionless and continuously translating other three paths of digital signals;
obtaining a moving time unit corresponding to the maximum correlation value according to a cross-correlation algorithm;
and multiplying the moving time unit by the sampling rate to obtain a corresponding time difference.
The signal receiving processing array receives sound signals through four hydrophones and converts the sound signals into digital signals, four paths of digital signals are obtained in total, one digital signal is kept motionless, the other three signals are continuously translated, each time unit of translation is used for calculating the motionless digital signals and the other three paths of signals by using a cross-correlation algorithm to obtain a correlation value, the position with the largest correlation value is obtained by assuming that n time units are moved, and then the sampling rate f is multiplied by n, so that the time difference can be calculated.
According to the time difference between every two four hydrophones, converting into a distance difference, and obtaining three hyperbolas (the difference between any point and two focuses on the hyperbolas is a fixed value); three hyperbolas can be obtained through three time differences, and the three hyperbolas can be intersected at a point, wherein the point is the position of the target to be positioned.
Further, the time difference is calculated through a TDOA algorithm to obtain the specific position of the target to be positioned.
Further, the method for emitting the sound signal by the sound signal emitting system comprises the following steps:
an FPGA (field programmable logic array) in the sound signal transmitting system transmits digital signals and transmits the digital signals into a DA (digital-to-analog converter);
the DA converts the analog signal into an analog signal and inputs the analog signal into a power amplifier;
the power amplifier receives and inputs large analog signals into the transducer;
the transducer converts the analog signal into a sound signal and emits the sound signal.
Further, the transmitting frequency band of the FPGA is 16k-30k, and the sampling rate is 150kps.
Further, the method for converting the sound signal into the digital signal comprises the following steps:
the four-way hydrophone in the sound signal receiving and processing array receives the sound signals and converts the sound signals into electric signals, and the electric signals are converted into digital signals through an AD (analog-to-digital converter) and are transmitted into the upper computer through the Ethernet.
Further, the sampling speed of the AD is 150kps.
Compared with the prior art, the invention has the following beneficial effects:
the invention mainly aims at the problem of positioning error caused by the possible multi-path effect in underwater sound propagation, takes the first path of signal as a template, and takes the possible multi-path effect into consideration, so that the failure of signal matching caused by echo is avoided when matched filtering is carried out, and the problem that the underwater target position cannot be measured well under the multi-path effect is effectively solved.
Drawings
Figure 1 is a general flow chart of a method according to the invention;
fig. 2 is a simulation of the result of matched filtering using the present method.
Detailed Description
The invention is described in further detail below with reference to the attached drawings and detailed description:
as shown in fig. 1, the underwater sound positioning method based on the adaptive matched filter of the invention comprises the following steps:
(1) A fixed frequency band sound signal transmitting system is arranged on a target to be positioned, the system integrates an FPGA, one DA, one power amplifier and one transducer, the FPGA is used as a main control chip, the DA module is controlled, the power amplifier works, digital signals of the fixed frequency band are written into the rom of the FPGA, the FPGA transmits the digital signals and transmits the digital signals to the DA, the DA converts the digital signals into analog signals, the analog signals are input into the power amplifier, and the digital signals are input into the transducer and converted into sound signals to be transmitted after being amplified by the power amplifier. The transmitting frequency band of the FPGA is 16k-30k, and the sampling rate is 150kps.
(2) A sound signal receiving processing array is arranged on the water surface, the array takes an FPGA as a core control chip, four hydrophones, four AD processors, four signal amplifiers and one Ethernet transmission module are arranged on the array, the four hydrophones convert sound signals into sound signals after receiving the sound signals and transmit the sound signals into the signal amplifiers, and after the sound signals are amplified by the amplifiers, the sound signals are transmitted into an AD with the sampling speed of 150kps. The FPGA controls the AD to convert the AD into a digital signal, and the FPGA controls the Ethernet to transmit the digital signal into the upper computer for processing.
(3) After the upper computer obtains four paths of AD converted signals, one path of signals is used as a template signal, and matched filtering is carried out on the template signal and other paths of signals. The method of calculation of the correlation is specifically used herein.
In conventional matched filtering algorithms, it is typically implemented in the frequency domain according to the following formula:
h (w) is the transfer function of the required filter, K is a non-zero constant, typically chosen to be k=1, s * And (w) is a complex conjugate function of the frequency domain representation of the input signal.
Convolution algorithms are in very close relation to correlation algorithms, and the relation between the two is described below. For a linear time-invariant system, the output signal is the convolution of the input signal with the system transfer function in the time domainWherein S (t) is the time domain representation of the input signalH (t) is the time domain representation of the system transfer function; in the frequency domain, the output signal is the product G (ω) =s (ω) ×h (ω) of the input signal and the transfer function, S (ω) is the input signal frequency domain representation, H (ω) is the frequency domain representation of the system transfer function), i.e. the time domain convolution is equal to the frequency domain multiplication. If the transfer function of the receiver matches the received signal, then the transfer function of the receiver will be the complex conjugate of the input received signal, H (ω) =s * (ω), G (ω) =s (ω) ×s * (ω)，S * (ω), complex conjugate function of S (ω), complex conjugate of the function in the frequency domain being equal to the time reversal H (t) =s of the corresponding signal in the time domain * (-t)，S * (-t) is a time-domain inverse complex conjugate function of S (t). Thus there is
The above equation can be seen as a correlation function. It can be concluded that the matched filter can be implemented by a correlation algorithm.
The purpose of the matched filter is not to detect the waveform of the original signal, but to improve the signal-to-noise ratio of the signal by a maximum amplitude. According to the design criterion, the transfer function of the matched filter can be calculated to be the complex conjugate of the original signal, the convolution of the received signal and the inverse Fourier transform of the transfer function is equivalent to the correlation of the received signal and the signal to be detected, and the time difference between other three paths of signals and the template signal can be obtained through simple calculation, and the specific calculation method comprises the following steps: and (3) keeping one of the signals still, continuously translating one of the signals, and calculating a time difference according to the sampling rate and n time units on the assumption that the position with the highest correlation degree is obtained by shifting n time units according to the formula.
(4) After the time difference is obtained, calculating to obtain the specific position of the underwater target to be positioned through a TDOA algorithm. The sound arrival Time Difference (TDOA) localization technology is generally divided into two steps, namely, firstly estimating the sound arrival time difference and obtaining sound delay (TDOA) among array elements in a microphone array; and then the obtained sound arrival time difference is used for further determining the position of the sound source by combining the spatial position of the known microphone array.
As shown in fig. 2, the highest peak is the position with the highest correlation degree in the calculation result graph of the two paths of signals obtained by the correlation algorithm. From the figure we can see that the position of this highest peak is 900 and the time difference is calculated by multiplying 900 by the sampling rate f.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (5)
1. An underwater sound positioning method based on an adaptive matched filter, which is characterized by comprising the following steps:
a sound signal transmitting system capable of transmitting a fixed frequency band is arranged on an underwater target to be positioned;
receiving sound signals sent by a sound signal transmitting system through a signal receiving processing array arranged on the water surface, converting the sound signals into four paths of digital signals, and transmitting the four paths of digital signals to an upper computer;
the upper computer receives four paths of digital signals, takes one path of signals in the four paths of digital signals as a template signal, and performs matched filtering on the template signal and other paths of signals to obtain the time difference between the template signal and the other paths of signals;
obtaining a specific position of a target to be positioned through the time difference;
the time difference acquisition method comprises the following steps:
keeping the template signal motionless and continuously translating other three paths of digital signals;
obtaining a moving time unit corresponding to the maximum correlation value according to a cross-correlation algorithm;
and multiplying the moving time unit by the sampling rate to obtain a corresponding time difference.
2. The underwater sound positioning method based on the adaptive matched filter according to claim 1, wherein the signal receiving processing matrix receives sound signals through four paths of hydrophones and converts the sound signals into electric signals, and the electric signals are amplified through a signal amplifier and converted into digital signals through an analog-to-digital converter.
3. The method for positioning underwater sound based on the adaptive matched filter according to claim 1, wherein the center frequency of the fixed frequency band is 26k and the bandwidth is 16k.
4. The method for positioning underwater sound based on the adaptive matched filter according to claim 1, wherein the digital signal is transmitted to the upper computer through the gigabit ethernet module.
5. The method for underwater sound localization based on adaptive matched filter according to claim 1, wherein the time difference is calculated by TDOA algorithm to obtain the specific position of the object to be localized.
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