CN110244260A - Submarine target high-precision DOA estimation method based on acoustic energy flow vector compensation - Google Patents
Submarine target high-precision DOA estimation method based on acoustic energy flow vector compensation Download PDFInfo
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- CN110244260A CN110244260A CN201910521257.4A CN201910521257A CN110244260A CN 110244260 A CN110244260 A CN 110244260A CN 201910521257 A CN201910521257 A CN 201910521257A CN 110244260 A CN110244260 A CN 110244260A
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
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Abstract
The invention discloses the submarine target high-precision DOA estimation methods based on acoustic energy flow vector compensation.Method includes the following steps: estimating first by multiple target DOA, the general orientation of target is estimated；Then anisotropy noise is calculated in the acoustic energy flow component of target bearing；Finally the acoustic energy flow component of target direction acoustic energy flow and noise progress vector is subtracted, thus the target acoustic energy flow after the noise jamming that is inhibited；Finally with inhibiting the acoustic energy flow after noise to re-start multiple target DOA estimation, to realize that submarine target high-precision DOA estimates.The present invention is the anisotropy noise field acoustic energy flow model of each noise source acoustic energy flow vector sum according to reception acoustic energy flow, technology is handled using acoustic pressure and particle velocity united information, Contrary compensation is carried out to target acoustic energy flow, and it is combined with the multiple Intensity Estimator multiple target DOA estimation technique, by inhibiting anisotropy noise jamming, and then realizes in anisotropy noise field and the high-precision DOA of submarine target is estimated.
Description
Technical field
The invention belongs to field of signal processing, and in particular to it is a kind of using single vector hydrophone based on the underwater of multiple Intensity Estimator
Multiple target DOA estimation method.
Background technique
Orientation estimation is a traditional subject in Underwater Detection field, carries out detection and side using vector hydrophone in recent years
Position estimation, has become a research hotspot in underwater sound field.Acoustic vector sensors are sensed by traditional non-directive acoustic pressure
Device and dipole directive property particle vibration velocity sensor are constituted, it can space concurrent it is synchronous pick up sound field a little at acoustic pressure P and matter
Three quadrature components of point vibration velocity V.In acoustic far field, the acoustic pressure and vibration velocity of limited dimension signal source are relevant, and for each
To same sex noise field, acoustic pressure is incoherent with vibration velocity, therefore handles skill using the acoustic pressure and particle velocity united information of sound field
Art has stronger anti-isotropic noise ability.Wherein Bai Xingyu and Sun Guiqing is proposed respectively in acoustic pressure vibration velocity Combined Treatment
Acoustic vector sensor array coherent signal-subspace method and maximum likelihood DOA estimation method, take full advantage of acoustic vector sensors
The coherence of middle acoustic pressure and vibration velocity achieves preferable effect in the environment of isotropic noise field.But be included, it is existing
Some DOA estimation methods all do not account for influence of the anisotropy noise field to DOA estimated accuracy.In fact, drive marine is made an uproar
The noise source that the factors such as sound and mankind's activity generate is non-uniform Distribution in horizontal plane, causes underwater ambient noise in level
Anisotropy is presented in face, so the average level acoustic energy flow of receiving point and being not zero in noise field, this determines vector hydrophone
Position precision produces influence.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide one kind to be suitable for single vector hydrophone
The submarine target high-precision DOA estimation method based on acoustic energy flow vector compensation, with solve in the prior art DOA estimation it is each to
In anisotropic noise field, due to noise jamming, submarine target orientation estimated accuracy leads to the problem of error.
To achieve the above object, the present invention provides a kind of submarine target high-precision DOA based on acoustic energy flow vector compensation and estimates
Meter method, method includes the following steps:
Step 1: being picked up using single vector hydrophone acoustic pressure P channel, the channel vibration velocity Vx are synchronous with vibration velocity Vy channel concurrent
Sound field information calculates and receives acoustic energy flow in cartesian coordinate system X, component Ix, Iy of Y-direction.And according to Ix, Iy, it is calculated
Azimuth corresponding to each frequency point.
Step 2: azimuth corresponding to each frequency point being counted by statistics with histogram method.It will be [0 °, 360 °] stroke
It is divided into several sections, existing frequency points in each angular interval is counted, generates statistics with histogram figure, it is therein
Peak value is the orientation values estimated.
Step 3: according to orientation values corresponding to the target state estimator number N selection maximum N number of peak value of statistical value as target
Azimuth.
Step 4: calculating all directions noise acoustic energy flow InThe acoustic energy flow component I ' of (θ) in target directionn(θ)。
Step 5: by target direction acoustic energy flowWith each sound energy flow component I 'nThe mean value of (θ) does vector and subtracts operation, i.e.,
It can obtain to the target acoustic energy flow vector I after anisotropy noise suppresseds.Realize the inhibition to anisotropy noise.
Step 6: according to Is, multiple target DOA, which is re-started, using multiple Intensity Estimator estimates.
The beneficial effects of the present invention are: utilizing sound on the one hand the present invention is based on the multiple target DOA of single vector hydrophone estimation
Pressure and particle vibration velocity united information processing technology have stronger anti-same sex noise immune, and can estimate multiple target sides simultaneously
To；On the other hand anisotropy noise is inhibited compared to it using acoustic energy flow vector compensation on the basis of DOA estimation
He has smaller calculation amount by noise suppression algorithm, and its anisotropy noise suppression effect is preferable；Finally the algorithm is to reception
The bandwidth of signal is not required with frequency, is had good robustness.
Detailed description of the invention
Fig. 1 is the multi-target DOA estimation method schematic diagram based on multiple Intensity Estimator.
Fig. 2 is anisotropy noise suppressing method flow chart in submarine target DOA estimation.
Beam pattern comparison when Fig. 3 is SNR=0dB.
Noise suppression algorithm performance when Fig. 4 is multiple target.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
The present invention is based on multiple Intensity Estimator multiple target direction of arrival (Direction of arrival, the DOA) estimations technique, sufficiently
The sound field Vector Message that acoustic vector sensors are picked up is utilized, utilizes the direction otherness and pickup of anisotropy noise energy
Acoustic energy flow vector is the principle for the acoustic energy flow vector sum that all noise sources generate, and calculates the energy point of target direction interference noise
Amount, and then inhibits anisotropy noise, so as to improve under anisotropy noise field to the DOA estimated accuracy of target.
Specific implementation process of the present invention is as follows:
One, data model
The information model that two-dimentional synchronous vibration type vector hydrophone picks up can be represented by the formula:
Wherein x (r, t) is target sound pressure signal, and p (r, t) is the sound pressure signal that vector hydrophone receives, vx(r, t) is
The x-axis vibration velocity signal that vector hydrophone receives, vy(r, t) is the y-axis vibration velocity signal that vector hydrophone receives, θ target water
Square to azimuth, np(r,t)、nvx(r,t)、nvy(r, t) is the acoustic pressure of interference noise and the vibration velocity in the direction x, y.
Two, initial estimation
According to the sound pressure signal p (r, t) that vector hydrophone picks up, shake number signal vx(r,t)、vy(r, t) calculates acoustic pressure and vibration
Several cross-spectrums, and real part is taken, obtain the horizontal acoustic energy flow I in X, Y-directionx(f)、Iy(f)
Ix(f)=Re [P (f) Vx *(f)]
Iy(f)=Re [P (f) Vy *(f)]
Re [] expression takes real part in formula, and f is frequency, and " * " is conjugation, P (f), Vx(f)、Vy(f) it is not divided into p (r, t), vx
(r,t)、vyThe Fourier transformation of (r, t).According to Ix, Iy, azimuth corresponding to each frequency point is calculated.Its expression formula is as follows
Formula:
Then statistics with histogram is carried out.Note azimuth statistical interval is Δ θ degree, then the permitted interval sum of space angle
For
Arriving space angle as available from the above equation allows interval to be respectively as follows: 0~Δ θ, the Δ of Δ θ~2 θ, the 2 Δ θ ... ... of Δ θ~3,
(N-1) Δ θ~N Δ θ, and the quantity for assuming that each frequency point estimation orientation falls into each statistics angle interval at this time is respectively m1,
m2,m3... ..., mN then calculates following statistic R (θ):
Wherein, Rr(f) meet following relational expression:
The corresponding orientation of angle statistic R (θ) maximum value of histogram method just reflects the estimated value of target true bearing.
Fig. 1 is multi-target DOA estimation method schematic diagram.
Three, noise suppressing method
Each independent noise source azimuth distribution is estimated by above-mentioned multiple target DOA algorithm for estimating.Due to mesh under normal circumstances
It marks radiated noise energy and is greater than other interference noise energy, therefore choose the statistics maximum azimuth of energy as target bearing
Angle, the signal in other orientation can be accordingly to be regarded as interference noise, and calculate each orientation sound energy according to synthesis acoustic energy flow principle
The component in target bearing is flowed, expression formula is as follows.
E [] is to ask expectation,For the rough azimuth of target source, θ is that angle is estimated in noise source orientation, and K is noise source quantity.
It is carried out vector with target direction acoustic energy flow to subtract, i.e., to inhibit to interference noise, obtains the mesh after noise suppressed
Mark acoustic energy flow.
The anisotropy noise suppressing method flow chart is as shown in Figure 2.
Four, performance evaluation
Simulating three centre frequencies in simulations is respectively 55Hz, 85Hz, 130Hz, and bandwidth is that the broadband of 100Hz connects
Continuous spectrum signal is as echo signal, sample frequency 1000Hz, their level orientation is distributed as 40 °, 90 ° and 200 °, and
The isotropic noise and anisotropy noise formed in the broadband noise by white Gaussian noise and different directions, varying strength
In the background noise environment of superposition, anisotropy noise source level orientation is 60 °, 140 °, 300 °, and each noise source is mutually indepedent.
For the performance for testing anisotropy noise suppression algorithm in submarine target DOA estimation, estimated by the conventional Intensity Estimator DOA that answers of comparison
Meter is verified with using the DOA estimated accuracy after the algorithm.
Fig. 3 is in SNR=0dB, and the conventional Intensity Estimator DOA that answers estimates to estimate beam pattern pair with the DOA based on this paper algorithm
Than.As shown in Figure 3 after vector compensation inhibits noise jamming, azimuth of target has obtained certain compensation, and precision obtains
Raising has been arrived, and has been greatly enhanced in target direction orientation statistics peak value, peak is according to sharp.
Noise suppression algorithm performance when Fig. 4 is multiple target, it is as shown in the figure to know to calculate based on this paper anisotropy noise suppressed
The root-mean-square error of the multi-target DOA estimation value of method has significant reduction in SNR=20dB or less；In SNR=0dB or more
Orientation estimated accuracy is within 1 °；In SNR=5dB, azimuth RMSE estimates have compared to conventional Intensity Estimator orientation of answering
It is greatly reduced.
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any
Those familiar with the art within the technical scope of the present application, can easily think of the change or the replacement, and should all contain
Lid is within the scope of protection of this application.Therefore, scope of the present application should be subject to the protection scope in claims.
Claims (8)
1. the submarine target high-precision DOA estimation method based on acoustic energy flow vector compensation characterized by comprising
Step 1. carries out multiple target DOA using acoustic pressure and particle velocity united information processing technology using single vector hydrophone and estimates
Meter, establishes anisotropy distribution of noise sources model；
Step 2. counts amplitude according to above-mentioned distributed model, estimates rough target radiated noise source orientation；
Step 3. calculates anisotropy noise acoustic energy flow in the sound energy of target bearing according to anisotropy noise field acoustic energy flow model
Flow component；
Target bearing acoustic energy flow vector is subtracted anisotropy noise acoustic energy flow in the acoustic energy flow component of target bearing by step 4.；
Step 5. re-starts DOA estimation using multiple Intensity Estimator multiple target DOA estimation.
2. the submarine target high-precision DOA estimation method based on acoustic energy flow vector compensation, feature exist as described in claim 1
In the multiple target DOA used is estimated as the estimation of the multiple Intensity Estimator multiple target DOA based on single vector hydrophone.
3. the submarine target high-precision DOA estimation method based on acoustic energy flow vector compensation, feature exist as described in claim 1
In the estimation rough orientation in target radiated noise source is by choosing in distribution of noise sources model and counting according to reference value value quantity N
Being worth highest N number of azimuth is azimuth of target.
4. the submarine target high-precision DOA estimation method based on acoustic energy flow vector compensation, feature exist as claimed in claim 3
In the distribution of noise sources model is the statistical model obtained by the weighted histogram statistic law based on multiple Intensity Estimator.
5. the submarine target high-precision DOA estimation method based on acoustic energy flow vector compensation, feature exist as described in claim 1
In anisotropy noise field acoustic energy flow model is stated with following expressions:
Isx、IsyThe respectively practical acoustic energy flow I of targetsIn the component of X and Y-direction, Inx、InyRespectively noise acoustic energy flow InIn X and Y
The component in direction, K are noise source quantity, and f is frequency.
6. the submarine target high-precision DOA estimation method based on acoustic energy flow vector compensation, feature exist as described in claim 1
In calculate acoustic energy flow component of the anisotropy noise acoustic energy flow in target bearing is indicated with following expressions:
E [] is to ask expectation,For the rough azimuth of target source, θ is that angle is estimated in noise source orientation.
7. the submarine target high-precision DOA estimation method based on acoustic energy flow vector compensation, feature exist as described in claim 1
In it is by following numbers that target bearing acoustic energy flow vector, which is subtracted acoustic energy flow component of the anisotropy noise acoustic energy flow in target bearing,
Expression formula is learned to carry out:
The respectively acoustic energy flow of target bearing.
8. the submarine target high-precision DOA estimation method based on acoustic energy flow vector compensation, feature exist as described in claim 1
In re-using multiple sound intensity multiple target DOA estimation is to utilize the practical acoustic energy flow I of target after noise suppressedsx, IsyIt carries out
It calculates.
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| CN117350079A (en) * | 2023-11-30 | 2024-01-05 | 汉江国家实验室 | Method and system for calculating horizontal deflection angle of vector acoustic energy flow in submarine mountain environment |
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