CN110244286A - A kind of array design methodology of the high-gain without port and starboard ambiguity - Google Patents
A kind of array design methodology of the high-gain without port and starboard ambiguity Download PDFInfo
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- CN110244286A CN110244286A CN201910614033.8A CN201910614033A CN110244286A CN 110244286 A CN110244286 A CN 110244286A CN 201910614033 A CN201910614033 A CN 201910614033A CN 110244286 A CN110244286 A CN 110244286A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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Abstract
A kind of array design methodology the present invention relates to high-gain without port and starboard ambiguity, the size for forming the array using same number of hydrophone is small, high gain, without the effect of port and starboard ambiguity, compare existing conventional towing line array and have clear improvement.
Description
Technical field
The invention belongs to the fields such as acoustic array signal processing, signal processing, are suitable for signal detection, Wave beam forming
The fields such as noise reduction are related to a kind of array structure design method of the high-gain without port and starboard ambiguity.
Background technique
Towed linear-array sonar is also known as towed sonar, and hydrophone is embedded into towing cable, and towing cable is by towboat or submarine tail
Portion pulls to form linear array, detects submarine target.It is mainly used to eavesdrop, monitor, position and identify the radiated noise of submarine target,
Some can also be used to carry out telemeasurement.Towing line array has big detecting waters, high array gain, accurate fixed in detection
The advantages that maintenance, is easily recycled in position, but there is also many drawbacks for towing line array: it is big for aperture needed for low-frequency signal processing,
Cause array sizes big, it is huge to the memory space requirements of platform；Single line towed linear-array sonar only has one-dimensional sonar hole
Diameter cannot make full use of the spatial character of spacing wave field and noise field, lead to target port and starboard ambiguity problem occur when detection
Deng.
It is more prominent in view of the problems such as current towing line array size is larger and port and starboard ambiguity.For realize using compared with
The array high-gain of small size, the effect without port and starboard ambiguity become a urgent problem to be solved, it is necessary to design new array
Structure.
Summary of the invention
Technical problem solved by the present invention is in order to overcome the shortcomings of existing methods, the present invention provides a kind of high-gain, nothing
The array design methodology of port and starboard ambiguity can realize same high gain and without port and starboard ambiguity with the array of smaller size
Effect.
The technical scheme is that a kind of array design methodology of high-gain without port and starboard ambiguity, comprising the following steps:
Step 1: uniform straight line array is defined: it is on the annulus that radius is r that M non-directive hydrophone is evenly distributed, constitute annulus
Battle array；Using above-mentioned ring array as array element, L ring array is arranged, the uniform straight line array that spacing is d is constituted, wherein defining each ginseng
Number value range are as follows:
R:0.5m~5.0m；M:5~11；
L:5~12；D:15m~60m；
Step 2: the reception data of M hydrophone in each annulus are subjected to the processing of MVDR Wave beam forming, including following son
Step:
Sub-step one: the noise association side of ring array is calculated using data of the M hydrophone when not including desired signal
Poor matrix ρc:
Wherein, N is number of snapshots, and x (t) indicates the data that the ring array of 10 hydrophones composition when t-th of snap receives,
(·)HIndicate conjugate transposition；
Sub-step two: the noise covariance matrix ρ in sub-step one is utilizedc, acquire the MVDR wave beam shape of single ring array
It grows up to be a useful person optimal weighting vector:
Wherein, subscript " H " indicates conjugate transposition, θ0For vertical pitch angle, φ0For horizontal azimuth, Pc(θ0,φ0)=[p1
(θ0,φ0),p1(θ0,φ0),…,pM(θ0,φ0)]TFor direction (θ0,φ0) array manifold vector, subscript " T " indicate transposition, M
For element number of array, I is unit matrix, and ε is diagonal loading amount,
pm(θ0,φ0)=exp [jkr (sin θ0sinφ0cosθm-cosθ0sinθm)], θm=2 π (m-1)/M, generally take ε
=Std (diag (ρc)), Std indicates standard deviation；
Sub-step three: to obtain the wave beam response of single ring array:
Bc(θ, φ)=wMVDR(θ0,φ0)HPc(θ,φ)
Wherein, Pc(θ, φ)=[p1(θ,φ),p1(θ,φ),…,pM(θ,φ)]TFor direction (θ, φ) array manifold to
Amount, pm(θ, φ)=exp [jkr (sin θ sin φ cos θm-cosθsinθm)], θm=2 π (m-1)/M；
Step 3: the Wave beam forming for carrying out second level uniform straight line array to result obtained in step 2 is handled, including following
Sub-step:
Sub-step one: the noise covariance matrix of the line array of L ring array composition is calculatedIts matrix element calculate by
It is given below:
Wherein, " * " indicates complex conjugate, N (θ, φ)=1, pl(θ, φ)=exp [- jk (l-1) dcos θ]；
Sub-step two: the MVDR Beam-former optimal weighting vector of the line array of multiple ring array compositions are as follows:
(θ is directed toward for the line array that ring array is array element0,
φ0) direction array manifold vector,pl(θ0,φ0)=exp [- jk (l-1) dcos
θ0], d is the array element spacing of line array；
Sub-step three: the wave beam response of line array are as follows:
Wherein,Be directed toward for line array that ring array is array element (θ,
φ) the array manifold vector in direction,pl(θ, φ)=exp [- jk (l-1) dcos θ], d
For the array element spacing of line array；
Sub-step four: ring array is that the directive property of the line array of array element can be obtained with array gain by following formula:
In space uniform noise field, directivity factor DF is equal to array gain AG, and directional gain DI is directivity factor DF
Decibel indicate, have:
DI=10log (DF)
The array gain and wave beam that may finally obtain the designed line array being made of L ring array respond.
Invention effect
The technical effects of the invention are that: the present invention proposes a kind of high-gain, the array structure design without port and starboard ambiguity
Method, its advantages are embodied in: the size for forming the array using same number of hydrophone is small, high gain, without left and right
The fuzzy effect of the side of a ship compares existing conventional towing line array and has clear improvement.
Detailed description of the invention
Fig. 1: ring array schematic diagram.
The line array coordinate schematic diagram of Fig. 2: L ring array composition.
Fig. 3: the array gain of acoustic pressure line array and the line array different beams direction that ring array is array element.
Fig. 4: acoustic pressure line array and ring array are the line array beam pattern of array element when beam direction is 45 °.
Fig. 5: acoustic pressure line array and ring array are the line array beam pattern of array element when beam direction is 90 °.
Specific embodiment
Referring to Fig. 1-Fig. 5, a kind of array design methodology of the high-gain without port and starboard ambiguity, key step is as follows:
Step 1: it is on the annulus that radius is r that M non-directive hydrophone is evenly distributed, by the ring array of composition, benefit
Port and starboard ambiguity is solved the problems, such as in the consistent feature of comprehensive directive property with ring array.It, will be above-mentioned to obtain higher gain
Ring array arranges L ring array as array element, constitutes the uniform straight line array that spacing is d.For guarantee the array have it is steady and
Higher array gain and relatively narrow beam main lobe, provide the value range of the above parameter:
R:0.5m~5.0m；M:5~11；
L:5~12；D:15m~60m；
In the parameter area, array can reach battle array treatment effect more preferably, especially when radius r is larger, water
Listen device number M and ring array number L bigger, array gain is higher, main lobe width is narrower.
Step 2: the reception data of M hydrophone in each annulus are carried out the processing of MVDR Wave beam forming, each circle is obtained
The wave beam response of ring battle array, beam pattern etc..The specific process is as follows:
The noise covariance matrix ρ of ring array is calculated using data of the M hydrophone when not including desired signalc:
Wherein, N is number of snapshots, and x (t) indicates the data that the ring array of 10 hydrophones composition when t-th of snap receives,
(·)HIndicate conjugate transposition.It can be in the hope of the MVDR Beam-former optimal weighting of single ring array by noise covariance matrix
Vector:
Wherein, subscript " H " indicates conjugate transposition, θ0For vertical pitch angle, φ0For horizontal azimuth, Pc(θ0,φ0)=[p1
(θ0,φ0),p1(θ0,φ0),…,pM(θ0,φ0)]TFor direction (θ0,φ0) array manifold vector, subscript " T " indicate transposition, M
For element number of array, I is unit matrix, and ε is diagonal loading amount, pm(θ0,φ0)=exp [jkr (sin θ0sinφ0cosθm-cosθ0sinθm)], θm=2 π (m-1)/M generally take ε=Std (diag (ρc)), Std indicates standard deviation.
The wave beam response of single ring array can be obtained by following formula:
Bc(θ, φ)=wMVDR(θ0,φ0)HPc(θ,φ)
Wherein, Pc(θ, φ)=[p1(θ,φ),p1(θ,φ),…,pM(θ,φ)]TFor direction (θ, φ) array manifold to
Amount, pm(θ, φ)=exp [jkr (sin θ sin φ cos θm-cosθsinθm)], θm=2 π (m-1)/M.
Step 3: the processing result in second step to be summarized to and carried out the Wave beam forming processing of second level uniform straight line array, obtain
To the wave beam response of entire array, array gain etc..The specific process is as follows:
Calculate the wave beam response and array gain of the uniform straight line array being made of L ring array.To guarantee uniform straight line array tool
There is higher array gain, still uses MVDR Beamforming Method.The noise association side of the line array of L ring array composition is calculated first
Poor matrixThe calculating of its matrix element is given by:
Wherein, " * " indicates complex conjugate, N (θ, φ)=1, pl(θ, φ)=exp [- jk (l-1) dcos θ].
The MVDR Beam-former optimal weighting vector of the line array of multiple ring array compositions, is obtained by following formula:
(θ is directed toward for the line array that ring array is array element0,
φ0) direction array manifold vector,pl(θ0,φ0)=exp [- jk (l-1) dcos
θ0], d is the array element spacing of line array.
The wave beam response of line array is given by:
Wherein,Be directed toward for line array that ring array is array element (θ,
φ) the array manifold vector in direction,pl(θ, φ)=exp [- jk (l-1) dcos θ], d
For the array element spacing of line array.
Ring array is that the directive property of the line array of array element can be obtained with array gain by following formula:
In space uniform noise field, directivity factor DF is equal to array gain AG, and directional gain DI is directivity factor DF
Decibel indicate, have:
DI=10log (DF)
Presently in connection with attached drawing, the present invention will be further described:
A kind of high-gain, the array design methodology without port and starboard ambiguity, key step are as follows:
Step 1: it is on the annulus that radius is 3.0m that 10 non-directive hydrophones are evenly distributed, by the annulus of composition
Battle array, pattern are as shown in Figure 1.Port and starboard ambiguity is solved the problems, such as in the consistent feature of comprehensive directive property using ring array.For
10 ring array are arranged to higher gain using above-mentioned ring array as array element, constitute the uniform straight line array that spacing is 30m, sample
Formula is as shown in Figure 2.
Step 2: the reception data of 10 hydrophones in each annulus are carried out the processing of MVDR Wave beam forming, obtain each
The wave beam response of ring array, beam pattern etc..The specific process is as follows:
The noise covariance matrix ρ of ring array is calculated using data of 10 hydrophones when not including desired signalc:
Wherein, N is number of snapshots, and x (t) indicates the data that the ring array of 10 hydrophones composition when t-th of snap receives,
(·)HIndicate conjugate transposition.It can be in the hope of the MVDR Beam-former optimal weighting of single ring array by noise covariance matrix
Vector:
Wherein, subscript " H " indicates conjugate transposition, θ0For vertical pitch angle, φ0For horizontal azimuth, Pc(θ0,φ0)=[p1
(θ0,φ0),p1(θ0,φ0),…,pM(θ0,φ0)]TFor direction (θ0,φ0) array manifold vector, subscript " T " indicate transposition, M
=10 be element number of array, and ε is that diagonal loading amount takes 1 × 10-11, I is unit matrix, pm(θ0,φ0)=exp [jkr (sin θ0sin
φ0cosθm-cosθ0sinθm)], θm=2 π (m-1)/M.
The wave beam response of single ring array can be obtained by following formula:
Bc(θ, φ)=wMVDR(θ0,φ0)HPc(θ,φ)
Wherein, Pc(θ, φ)=[p1(θ,φ),p1(θ,φ),…,pM(θ,φ)]TFor direction (θ, φ) array manifold to
Amount, pm(θ, φ)=exp [jkr (sin θ sin φ cos θm-cosθsinθm)], θm=2 π (m-1)/M.
Step 3: the processing result in second step to be summarized to and carried out the Wave beam forming processing of second level uniform straight line array, obtain
To the wave beam response of entire array, array gain etc..The specific process is as follows:
Calculate the wave beam response and array gain of the uniform straight line array being made of 10 ring array.To guarantee uniform straight line array tool
There is higher array gain, still uses MVDR Beamforming Method.The noise association of the line array of 10 ring array composition is calculated first
Variance matrixThe calculating of its matrix element is given by:
Wherein, " * " indicates complex conjugate, N (θ, φ)=1, pl(θ, φ)=exp [- jk (l-1) dcos θ].
The MVDR Beam-former optimal weighting vector of the line array of multiple ring array compositions, is obtained by following formula:
(θ is directed toward for the line array that ring array is array element0,
φ0) direction array manifold vector,pl(θ0,φ0)=exp [- jk (l-1) dcos
θ0], d=30m is the array element spacing of line array.
The wave beam response of line array is given by:
Wherein,Be directed toward for line array that ring array is array element (θ,
φ) the array manifold vector in direction,pl(θ, φ)=exp [- jk (l-1) dcos θ], d
=30m is the array element spacing of line array.
Ring array is that the directive property of the line array of array element can be obtained with array gain by following formula:
In space uniform noise field, directivity factor DF is equal to array gain AG, and directional gain DI is directivity factor DF
Decibel indicate, have:
DI=10log (DF)
Fig. 3 is that each ring array is made of M=10 pressure hydrophone, the line array (overall length of L=10 ring array composition
330m) compared with the array gain of the pressure hydrophone array (overall length 742.5m) of M=100.As seen from the figure, in different wave beams
Under orientation angle, the array gain (shown in solid) of the line array of 10 ring array composition is above 100 yuan of pressure hydrophone battle arrays
Array gain (shown in dotted line).
The comparison of two kinds of array beams figures of (0 ° is end-on direction) when Fig. 4 is 45 ° of beam position.It can obviously be seen in figure
All there is main lobe at 45 °, -45 ° to 100 yuan of line arrays (shown in dotted line), produces port and starboard ambiguity；10 ring array compositions
Line array (shown in solid) only in the direction of beam position, i.e. there are main lobe appearance, no port and starboard ambiguity in 45 ° of directions.
The comparison of two kinds of array beams figures of (0 ° is end-on direction) when Fig. 5 is 90 ° of beam position.It can obviously be seen in figure
All there is main lobe at 90 °, -90 ° to 100 yuan of line arrays (shown in dotted line), produces port and starboard ambiguity；10 ring array compositions
Line array (shown in solid) only in the direction of beam position, i.e. there are main lobe appearance, no port and starboard ambiguity in 90 ° of directions.
In conclusion the line array for using 10 ring array to form can be realized high-gain with lesser size, eliminate a left side
The fuzzy effect of starboard, effectively improves the defect of conventional dragging line battle array.
Claims (1)
1. a kind of array design methodology of high-gain without port and starboard ambiguity, which comprises the following steps:
Step 1: uniform straight line array is defined: it is on the annulus that radius is r that M non-directive hydrophone is evenly distributed, constitute circle
Ring battle array；Using above-mentioned ring array as array element, L ring array is arranged, the uniform straight line array that spacing is d is constituted, wherein defining each
Parameter value range are as follows:
R:0.5m~5.0m；M:5~11；
L:5~12；D:15m~60m；
Step 2: the reception data of M hydrophone in each annulus are subjected to the processing of MVDR Wave beam forming, including following sub-step
It is rapid:
Sub-step one: the noise covariance square of ring array is calculated using data of the M hydrophone when not including desired signal
Battle array ρc:
Wherein, N is number of snapshots, and x (t) indicates the data that the ring array of 10 hydrophones composition when t-th of snap receives, ()H
Indicate conjugate transposition；
Sub-step two: the noise covariance matrix ρ in sub-step one is utilizedc, acquire the MVDR Beam-former of single ring array most
Excellent weighing vector:
Wherein, subscript "+" indicates conjugate transposition, θ0For vertical pitch angle, φ0For horizontal azimuth, #Pc(θ0, φ0)=[p1(θ0,
φ0), p1(θ0, φ0) ..., pM(θ0, φ0)]TFor direction (θ0, φ0) array manifold vector, subscript " 7 " indicates transposition, and M is
Element number of array, I are unit matrix, and ε is diagonal loading amount, #pm(θ0, φ0)=exp [jkr (sin θ0sinφ0cosθm-cosθ0sinθm)], θm=2 π (m-1)/M,
Take ε=Std (diag (ρc)), Std indicates standard deviation；
Sub-step three: to obtain the wave beam response of single ring array:
Bc(θ, φ)=wMVDR(θ0, φ0)HPc(θ, φ)
Wherein, Pc(θ, φ)=[p1(θ,φ),p1(θ,φ),…,pM(θ,φ)]TFor the array manifold vector of direction (θ, φ),
pm(θ, φ)=exp [jkr (sin θ sin φ cos θm-cosθsinθm)], θm=2 π (m-1)/M；
Step 3: the Wave beam forming for carrying out second level uniform straight line array to result obtained in step 2 is handled, including following sub-step
It is rapid:
Sub-step one: the noise covariance matrix of the line array of L ring array composition is calculatedIts matrix element is calculated by following formula
It provides:
Wherein, " * " indicates complex conjugate, N (θ, φ)=1, pl(θ, φ)=exp [- jk (l-1) dcos θ]；
Sub-step two: the MVDR Beam-former optimal weighting vector of the line array of multiple ring array compositions are as follows:
(θ is directed toward for the line array that ring array is array element0,φ0)
The array manifold vector in direction,pl(θ0,φ0)=exp [- jk (l-1) dcos θ0],
D is the array element spacing of line array；
Sub-step three: the wave beam response of line array are as follows:
Wherein,The side (θ, φ) is directed toward for the line array that ring array is array element
To array manifold vector,pl(θ, φ)=exp [- jk (l-1) dcos θ], d is straight line
The array element spacing of battle array；
Sub-step four: ring array is that the directive property of the line array of array element can be obtained with array gain by following formula:
In space uniform noise field, directivity factor DF is equal to array gain AG, point that directional gain DI is directivity factor DF
Shellfish indicates, has:
DI=10log (DF)
The array gain and wave beam that may finally obtain the designed line array being made of L ring array respond.
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