CN110376290A - Acoustic emission source locating method based on multidimensional Density Estimator - Google Patents
Acoustic emission source locating method based on multidimensional Density Estimator Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/14—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object using acoustic emission techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor
- G01N29/4472—Mathematical theories or simulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/0289—Internal structure, e.g. defects, grain size, texture
Abstract
The invention discloses a kind of acoustic emission source locating methods based on multidimensional Density Estimator.Firstly, the then data to acoustic emission sensor are combined, multiple groups then data are obtained；Equation group is just determined according to different then data combination buildings is corresponding.Each equation group is solved, multiple groups closed solutions are obtained, the closed solutions comprising imaginary root is screened out, r can be obtained0A Primary Location result.Secondly, excluding the abnormal positioning result in Primary Location result, r Primary Location result is finally obtained.Again, the multidimensional Density Estimator function of r Primary Location result building acoustic emission source coordinate θ is utilizedFinally, seeking multidimensional Density Estimator functionMaximum point, which is optimal acoustic emission source positioning result.The method of the present invention positioning accuracy is high.
Description
Technical field
The present invention relates to a kind of acoustic emission source locating method based on multidimensional Density Estimator.
Technical background
Acoustic Emission location technology is widely used in structural intergrity monitoring, material damage mechanism study, mine Risk-warning
Equal fields.But due to complicated experiment condition and noisy construction environment, acoustic emission detection (positioning) sound emission in the process
The acoustic emission waveform of information when covering that sensor detects be interfered often signal influence to generate it is abnormal then.
In addition, the limitation for the subjectivity and existing then picking algorithm artificially then picked up, but also when the then data of acquisition
Often it is mingled with abnormal data.And these abnormal datas will seriously affect the accuracy of positioning result.For this purpose, application No. is
The patent of invention of CN201510973875.4 proposes a kind of signal source localization method for even speed field, and this method is different
Constant value number available ideal positioning result when seldom, but this method positioning failure when exceptional value number is more
Probability will greatly increase.Application No. is the patent of invention of CN201610571666.1 propose microseism based on minimum range or
The abnormal then data identification method of sound emission, this method, can be preferable assuming that in the presence of only one exceptional value
Determine abnormal then data.But under real engineering-environment, if the number comprising exceptional value and exceptional value is all often not
It can be predetermined.A kind of microseism is further provided application No. is the patent of invention of CN201610571029.4 or sound emission is different
Often determination method then determines exceptional value using Logistic probability distribution, and this method, which further improves, determines abnormal arrive
When data accuracy, but in this method the acquisition of Primary Location result using conjugate gradient method or wheat quart method (repeatedly
For method), this will substantially reduce the efficiency of calculating.In addition, the abnormal then criterion of data is difficult to accurately obtain, and due to
The difference of environmental noise, abnormal quantity and size then so that the data of Primary Location result be difficult to obey it is a certain specific
Distribution, therefore this method obeys Primary Location result parameters the hypothesis and unreasonable of Logistic distribution, causes exception
The determination of value still has biggish error, and then influences the computational accuracy of subsequent acoustic emission source coordinate.Therefore, for comprising different
Often then the acoustic emission source orientation problem of data, still urgent need are further studied.
Summary of the invention
Technical problem solved by the invention is, for existing Acoustic Emission location technology vulnerable to abnormal then data influence
The problem of, propose a kind of acoustic emission source locating method based on multidimensional Density Estimator, this method is easily achieved, positioning accuracy
It is high.
Technical solution provided by the present invention are as follows:
A kind of acoustic emission source locating method based on multidimensional Density Estimator, comprising the following steps:
Step 1 is combined the then data of acoustic emission sensor each in acoustic emission detection system, obtains multiple groups then
Data；Based on multiple groups then data, multiple Primary Location results are acquired；
Step 2, using obtained multiple Primary Locations as a result, building acoustic emission source coordinate θ multidimensional Density Estimator letter
Number
Step 3 seeks multidimensional Density Estimator functionMaximum point, which is optimal sound emission
Source positioning result.
In the step 1, based on multiple groups, then data, the method for acquiring multiple Primary Location results can use existing skill
Method disclosed in art, the analytic location algorithm as disclosed in the patent of invention application No. is CN201610571666.1 or numerical value
Localization method (this method selects 6 then one positioning results of number acquisition every time) or the invention of CN201610571029.4 are special
Conjugate gradient method disclosed in benefit or wheat quart method.
Further, in the step 1, to reduce calculation amount, computational efficiency is improved, the present invention also provides a kind of acquisitions
The method of Primary Location result, i.e., according to each group then data construct one and just determine equation group, it is proper determine it is unknown in equation group
Number is coordinate (X, Y, Z), the average velocity of wave v of acoustic emission signal propagation medium and the triggering moment of acoustic emission signal of acoustic emission source
t；Solve respectively it is each just determine equation group, obtain multiple groups closed solutions, screen out the closed solutions comprising imaginary root, by remaining r0Group closed solutions
Obtain the r of acoustic emission source0A Primary Location result.
Further, in the step 1, every group then data include 5 acoustic emission sensors then data；According to one
Then the proper of data building determines equation group to group are as follows:
Wherein, (X, Y, Z) is the coordinate of acoustic emission source, and v is the average velocity of wave of acoustic emission signal propagation medium, and t is sound hair
The triggering moment of signal is penetrated, v and t are unknown number, remaining is known；tiFor the then data of i-th in the group then data,
(xi,yi,zi) it is tiCorresponding acoustic emission sensor SiCoordinate.
Further, just determine the closed solutions of equation group are as follows:
Wherein,
P=a3b4c5-a3b5c4-a4b3c5+a4b5c3+a5b3c4-a5b4c3
In addition, unknown parameter ω can be obtained by solving following simple cubic equation:
Aω3+Bω2+ C ω+D=0
Wherein, A, B, C and D are constant, their expression formula are as follows:
Also,
Wherein, mi(i=1,2,3), ni(i=1,2,3), w, p, ai(i=3,4,5), bi(i=3,4,5), ci(i=3,4,
5)、di(i=3,4,5), ei(i=3,4,5), xi,1(i=2,3,4,5), yi,1(i=2,3,4,5), zi,1(i=2,3,4,5),
ti,1(i=2,3,4,5), Li,1(i=2,3,4,5), A, B, C, D, Q1、Q2It is intermediate variable.The present invention is not to acoustic emission signal
Triggering moment t solved.
Further, in the step 3, each Primary Location is obtained to step 2 first as a result, calculating separately it to original
The Euclidean distance of point；It is then based on calculated Euclidean distance, excludes r in conjunction with quartile method0It is different in a Primary Location result
Normal positioning result finally obtains r Primary Location result.
Further, r is excluded0Abnormal positioning result in a Primary Location result finally obtains r Primary Location knot
Fruit.
Further, the method for abnormal positioning result is excluded are as follows: first to r0Each of a Primary Location result is just
Positioning result is walked, its Euclidean distance for arriving origin is calculated separately；It is then based on calculated Euclidean distance, is arranged in conjunction with quartile method
Except r0Abnormal positioning result in a Primary Location result finally obtains r Primary Location result.
Further, Euclidean distance of j-th of Primary Location result to origin are as follows:
Wherein, (Xj,Yj,Zj) it is j-th of Primary Location as a result, j=1,2 ..., r0。
Further, it is based on calculated Euclidean distance, excludes r in conjunction with quartile method0It is different in a Primary Location result
Normal positioning result specifically: if sj> q3+1.5(q3-q1) or sj< q1-1.5(q3-q1), then it is assumed that j-th of Primary Location result
For abnormal positioning result, excluded；Wherein q1For r0A Primary Location result to origin Euclidean distance the first quartile
Number, q3For r0The third quartile of Euclidean distance of a Primary Location result to origin, j=1,2 ..., r0.Existing four points
Digit location determining method has several, and any of them quartile location determining method can be used in the present invention.
Further, in the step 2, multidimensional (polynary) Density Estimator function of acoustic emission source coordinate θTool
Body expression-form is as follows:
Wherein, θ=(θ1,θ2,θ3)=(X, Y, Z) be probability density function f (θ) polynary random vector, i.e. acoustic emission source
Coordinate；θ1、θ2And θ3Respectively indicate X, Y and Z；θj,1、θj,2And θj,3Respectively indicate Xj、YjAnd Zj；(θj,1,θj,2,θj,3)=(Xj,
Yj,Zj) be probability density function f (θ) more than j-th yuan of random sample, i.e. j-th of Primary Location is as a result, j=1,2 ..., r, r
For the number of the finally obtained Primary Location result of step 1；D=1,2,3 is the element position index in variable θ；K () is
Kernel function.
Further, the kernel function is using the probability density function of standardized normal distribution (in multidimensional Density Estimator
Kernel function takes the probability density function of standardized normal distribution, i.e. progress normal information diffusion), expression formula are as follows:
Wherein hdFor bandwidth, form is embodied are as follows:
Wherein σdFor scale parameter, form is embodied are as follows:
Median is sought in wherein med () expression.
Further, in the step 3, with multidimensional Density Estimator functionFor objective function, using iteration side
Method searches for the maximum of objective function, in search process, the average value of the r Primary Location result that step 3 is obtained as
Initial acoustic emission source coordinate (X, Y, Z) constantly corrects (X, Y, Z) to find optimal acoustic emission source coordinate, when satisfaction changes
Iteration is terminated when for termination condition, the modified result of last time is optimal acoustic emission source coordinate.
Further, the stopping criterion for iteration are as follows: when the variation of the adjacent target function value iterated to calculate twice
Amount is less than preset value, and the modified step-length of X, Y and Z is both less than preset value or the number of iterations is more than preset value.
The utility model has the advantages that
1) The present invention gives the closed solutions for just determining acoustic emission source parameter under equation group, this method is not carried out triggering moment
Inverting, every time using five then data positioned, one fewer than conventional method, reduce calculation amount, and position every time
Precision can be guaranteed；
2) present invention excludes the abnormal positioning result in Primary Location result by quartile method, can make multidimensional probability
The fitting of kernel density function is more excellent, avoids over-fitting；
3) present invention using multidimensional Density Estimator do not utilize Primary Location result data be distributed priori knowledge, also without
Data distribution need to be carried out it is any additional it is assumed that but from data of the Primary Location result itself, obtain more quasi-
True density estimation avoids error caused by assuming irrational distribution.This method guarantees from the angle of statistics of non-ginseng estimation
The accuracy and robustness of gained positioning result, therefore even if remain to obtain more in the presence of seriously then picking error
Ideal positioning result；
4) present invention employs multidimensional Density Estimator models, it is contemplated that the correlation between acoustic emission parameters X, Y and Z,
Accuracy is higher；
5) average value of multiple Primary Location results of this method by deviation less is as iterative initial value, and uses iteration side
Method scans for the maximum of multidimensional kernel density function, and function pole can be improved while avoiding search from falling into local optimum
It is worth the efficiency of search；
6) the method for the present invention is compared with the traditional method, stability highly significant, and the engineering practice for being more applicable for reality is asked
Topic, preferably resolving in Acoustic Emission location field then data includes that positioning result caused by exceptional value is unstable, positioning
The low technical problem of precision.
Detailed description of the invention
Fig. 1 is the method flow chart of steps of the embodiment of the present invention.
Fig. 2 is the method for the embodiment of the present invention and other method positioning result comparison diagrams.
Specific implementation method
A default acoustic emission source coordinate is S (110,160,180), which is A (0,0,0) by coordinate, B (300,0,
0), (300,300,0) C, D (0,300,0), E (0,0,300), F (300,0,300), G (300,300,300), H (0,300,
300), 9 acoustic emission sensors of I (300,150,150) are surrounded.Unit is mm.Velocity of wave is unknown.This test passes through mould
Quasi- method generates one group of then data, and the error that addition variance is 0.2 μ s in obtained then data carrys out simulated environment and makes an uproar
Influence of the sound to positioning, furthermore at random to one then data add ± 5 μ s big error, to simulate the interference of exceptional value.It is logical
Cross one group that above-mentioned random process generates then data are as follows: 38.38,42.90,40.89,50.75,53.10,53.13,55.27,
59.41,61.55, unit μ s.
This method is described in detail with this example.To be divided into following five steps and illustrating this convenient for clearly describing the problem
The specific implementation method of invention:
(1) just determine the closed solutions of equation group:
A total of 9 of this example then data, then data may make up one and just determine equation group for selection 5 every time, by not
It is available with combiningIt is a just to determine equation group, then just determine equation group to each and solve respectively, available multiple groups are closed
Formula solution, there are the closed solutions of imaginary root for exclusion, by remaining r0(r0=83) group closed solutions obtain the r of acoustic emission source0(r0=83) a
Primary Location is as a result, as shown in table 1.This example is only shown when choosing, and data are 38.38,42.90,40.89,50.75 and 59.41
One of the building of (unit μ s) just determines the calculating process of the closed solutions of equation group, and process is as follows
First by formula
It is calculated
Secondly by formula
It is calculated
And then it can calculate
P=a3b4c5-a3b5c4-a4b3c5+a4b5c3+a5b3c4-a5b4c3=1.18 × 1015
In addition, unknown parameter ω can be acquired by solving following simple cubic equation
Aω3+Bω2+ C ω+D=0
Wherein, the expression of coefficient A, B, C and D is respectively
Also,
It calculates, excludes imaginary root and obtain unique real solution of ω to be 2.90 × 107。
Equation group is finally just determined by this can find out a Primary Location result (acoustic emission source coordinate) for acoustic emission source are as follows:
Positioning result after the screening of table 1:83 group
(2) acoustic emission source to origin Euclidean distance calculating
According to formula
Calculate j-th of Primary Location result to origin Euclidean distance sj, specific calculated result is as shown in table 1.
(3) quartile method excludes abnormal group
Quartile method excludes the specific formula of abnormal positioning result in Primary Location result are as follows:
Wherein q1For the first quartile of data, q3For the third quartile of data.
R is calculated according to quartile method0(r0=83) first quartile of Euclidean distance of a Primary Location result to origin
With third quartile, they are respectively q1=260.21 × 103, q3=266.49 × 103.Sentence it can thus be concluded that abnormal group is other
According to are as follows:
13 groups are eliminated according to this criterion and there is abnormal group, and a Primary Location of remaining r (r=70) is as a result, specific knot
Fruit is as shown in table 1.
(4) calculating of scale parameter
Scale parameter σdEmbody form are as follows:
Wherein r=70, being computed can obtain:
σ1=1.78 × 10-3,σ2=1.49 × 10-3,σ3=2.09 × 10-3。
(5) calculating of bandwidth matrices
Bandwidth matrices H is diagonal matrix, H1/2The vector element of leading diagonal may be expressed as:
According to the calculated normal state scale parameter σ of step (4)d, available hdEach element be respectively as follows:
h1=9.39 × 10-4,h2=7.86 × 10-4,h3=11.04 × 10-4
(6) multidimensional Density Estimator function is constructed
Multidimensional Density Estimator functionAre as follows:
Wherein, kernel function k () uses the probability density function of standardized normal distribution, expression formula are as follows:
The expression formula of multidimensional Density Estimator function may finally be acquired are as follows:
(7) calculating of oplimal Location result
Using the maximum of alternative manner search multidimensional Density Estimator function, in iterative search procedures, 70 groups are selected
The average value (110.38,156.52,180.68) (unit: mm) of initial alignment result as initial acoustic emission source coordinate (X,
Y, Z), continuous correct (X, Y, Z) is to find optimal solution, at search initial stage since initial value and true value deviation are larger,
X, the modified step-length of Y and Z is larger；With continuous approaching to reality value, the modified step-length of X, Y and Z will be smaller and smaller, when adjacent two
The secondary variable quantity for iterating to calculate obtained target function value is less than 10-6Or the modified step-length of acoustic emission source coordinate X, Y and Z is all
Less than 10-6When m or the number of iterations are more than 25 times, iteration ends.Modified result (110.29 160.09 for the last time
179.89) (unit: mm) is optimal acoustic emission source coordinate, is kissed with true coordinate S (110,160,180) (unit: mm)
It closes preferably, positioning accuracy is higher.
The present invention has following three points advantage, and (1) gives the closed solutions for just determining acoustic emission source coordinate under equation group, positioning
When can be used least then data every time, and without carrying out inverting to triggering moment, improve computational efficiency.(2) it uses
Multidimensional Density Estimator model, it is contemplated that the related sexual clorminance between parameter；(3) estimate using without ginseng, the priori without data
Knowledge, without assuming the prior distribution of data, applicability is wider, can be more accurate.
By new definition method (New) disclosed by the invention respectively with two step weighted least-squares methods (2WLS), non-iterative is not
Know that velocity of wave system acoustic emission source parsing localization method (NIUV) and integration analysis method (CAS) compare, positioning result is as schemed
Shown in 2.The method of the present invention is compared with the traditional method with higher positioning accuracy as seen from the figure, can preferably resolve sound hair
The problem that positioning result is unstable, positioning accuracy is low caused by then picking error is excessive is penetrated in positioning.
Claims (10)
1. a kind of acoustic emission source locating method based on multidimensional Density Estimator, which comprises the following steps:
Step 1 is combined the then data of acoustic emission sensor each in acoustic emission detection system, obtains multiple groups and then counts
According to；Based on multiple groups then data, multiple Primary Location results are acquired；
Step 2, using obtained multiple Primary Locations as a result, building acoustic emission source coordinate θ multidimensional Density Estimator function
Step 3 seeks multidimensional Density Estimator functionMaximum point, which is that optimal acoustic emission source is fixed
Position result.
2. the acoustic emission source locating method according to claim 1 based on multidimensional Density Estimator, which is characterized in that described
In step 1, according to each group then data construct one and just determine equation group, the proper unknown number determined in equation group is acoustic emission source
Coordinate, the average velocity of wave of acoustic emission signal propagation medium and the triggering moment of acoustic emission signal；Solve respectively it is each just determine equation group,
Multiple groups closed solutions are obtained, the closed solutions comprising imaginary root are screened out, by remaining r0Group closed solutions obtain r0A Primary Location result.
3. the acoustic emission source locating method according to claim 2 based on multidimensional Density Estimator, which is characterized in that described
In step 1, every group then data include 5 acoustic emission sensors then data；According to one group then data building it is proper calmly
Equation group are as follows:
Wherein, (X, Y, Z) is the coordinate of acoustic emission source, and v is the average velocity of wave of acoustic emission signal propagation medium, and t is sound emission letter
Number triggering moment, v and t are unknown number, remaining is known；tiFor the then data of i-th in the group then data, (xi,yi,
zi) it is tiCorresponding acoustic emission sensor SiCoordinate.
4. the acoustic emission source locating method according to claim 2 based on multidimensional Density Estimator, which is characterized in that exclude
r0Abnormal positioning result in a Primary Location result finally obtains r Primary Location result.
5. the acoustic emission source locating method according to claim 4 based on multidimensional Density Estimator, which is characterized in that exclude
The method of abnormal positioning result are as follows: first to r0Each of a Primary Location result Primary Location is as a result, calculate separately it
To the Euclidean distance of origin；It is then based on calculated Euclidean distance, excludes r in conjunction with quartile method0In a Primary Location result
Abnormal positioning result, finally obtain r Primary Location result.
6. the acoustic emission source locating method according to claim 5 based on multidimensional Density Estimator, which is characterized in that jth
Euclidean distance of a Primary Location result to origin are as follows:
Wherein, (Xj,Yj,Zj) it is j-th of Primary Location as a result, j=1,2 ..., r0。
7. the acoustic emission source locating method according to claim 6 based on multidimensional Density Estimator, which is characterized in that be based on
Calculated Euclidean distance excludes r in conjunction with quartile method0Abnormal positioning result in a Primary Location result specifically: if sj>
q3+1.5(q3-q1) or sj< q1-1.5(q3-q1), then it is assumed that j-th of Primary Location result is abnormal positioning result, is arranged
It removes；Wherein q1For r0The first quartile of Euclidean distance of a Primary Location result to origin, q3For r0A Primary Location result
To the third quartile of the Euclidean distance of origin.
8. the acoustic emission source locating method according to claim 1 based on multidimensional Density Estimator, which is characterized in that described
In step 2, multidimensional Density Estimator functionIt is as follows to embody form:
Wherein, θ=(X, Y, Z) is acoustic emission source coordinate；θ1、θ2And θ3Respectively indicate X, Y and Z；θj,1、θj,2And θj,3It respectively indicates
Xj、YjAnd Zj；(Xj,Yj,Zj) it is j-th of Primary Location as a result, j=1,2 ..., r, r are the finally obtained Primary Location of step 1
As a result number；D=1,2,3 is the element position index in variable θ；K () is kernel function.
9. the acoustic emission source locating method according to claim 8 based on multidimensional Density Estimator, which is characterized in that described
Kernel function uses the probability density function of standardized normal distribution, expression formula are as follows:
Wherein hdFor bandwidth, form is embodied are as follows:
Wherein σdFor scale parameter, form is embodied are as follows:
Median is sought in wherein med () expression.
10. the acoustic emission source locating method according to claim 8 based on multidimensional Density Estimator, which is characterized in that institute
It states in step 3, with multidimensional Density Estimator functionFor objective function, the very big of objective function is searched for using alternative manner
Value, in search process, the average value of the r Primary Location result that step 3 is obtained as initial acoustic emission source coordinate (X,
Y, Z), it corrects (X, Y, Z) constantly to find optimal acoustic emission source coordinate, iteration is terminated when meeting stopping criterion for iteration,
Modified result is optimal acoustic emission source coordinate for the last time.
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| CN111784528A (en) * | 2020-05-27 | 2020-10-16 | 平安科技（深圳）有限公司 | Abnormal community detection method and device, computer equipment and storage medium |
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Application publication date: 20191025 Assignee: Hunan creative Blasting Engineering Co.,Ltd. Assignor: CENTRAL SOUTH University Contract record no.: X2022980003448 Denomination of invention: Acoustic emission source location method based on multidimensional kernel density estimation Granted publication date: 20200804 License type: Common License Record date: 20220402 |