CN110456361A - The bistatic acoustics imaging method of large-scale seabed landforms telemetering - Google Patents
The bistatic acoustics imaging method of large-scale seabed landforms telemetering 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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Abstract
A kind of bistatic acoustics imaging method of large-scale seabed landforms telemetering, the following steps are included: S1, vertical array directional transmissions signal illuminate predetermined seabed, horizontal array is advanced centered on vertical array by helix towing path simultaneously, receives the scattered signal in predetermined seabed；S2, matched filtering and Wave beam forming processing are done to received scattered signal, obtain " when m- angle " image；S3, " when m- angle " image is mapped to cartesian coordinate system using three-dimensional imaging unit playback algorithm；S4, gain compensation is carried out to imaging unit playback result figure, obtains the bottom scattering intensity distribution of a certain position；S5, multipoint bottom scattering intensity distribution is superimposed, splicing, finally obtains large-scale seabed landforms image.The advantages of this method is: can receive forward, backward scattered signal simultaneously, and guarantee the Imaging Resolution in a wide range of, can be applied to middle depth sea area even deep-sea, and the cone angle that can effectively eliminate horizontal array is fuzzy and distance is to fuzzy excitation.
Description
Technical field
The present invention relates to a kind of underwater sound imaging methods, and in particular to one kind can be with the double of the large-scale seabed landforms of telemetering
Base acoustics imaging method.
Background technique
Acoustic imaging method transmits radiation or the scattering acoustic field of target or features of terrain using sound wave as carrier, by turning
It changes, rebuild or inversion procedure, obtain the visible image of its shape or internal structure.Its cardinal principle is active sonar to detected area
Domain emits signal, and the scattered signal of target or features of terrain is received by receiving device, will be returned by a series of signal Processing Algorithm
Wave signal is converted into image.
The basic principle of traditional acoustic imaging method is echo depth sounding, and record sound wave is emitted to the propagation time for receiving signal
Calculate the depth of water body, such as multi-beam echo sounding and synthetic aperture imaging technology.The former measuring speed is fast, precision
Height, but measurement range is small, each band is only capable of covering several kilometers of regions.And multi-beam echo sounding is applied to list more
The back scattering of target or features of terrain can only be imaged in base Sonar system, and has ignored its forward scattering information.It closes
At aperture imaging technology can using with bistatic system, and high resolution, but measurement range is small, and operation difficulty is big.
In view of the above-mentioned problems, receiving battle array building for being anchored Vertical Launch battle array and mobile and horizontal the present invention provides a kind of
The acoustics imaging method of large-scale seabed landforms telemetering in bistatic system, the low-frequency acoustic signal of hundreds of hertz and few kilohertz
To detect farther distance, transmitting piecemeal is directed toward using Vertical Launch battle array and illuminates sea-bed area, and passes through the mobile raising of horizontal array
Imaging Resolution, areas imaging can reach dozens of kilometres magnitude, hundred meters of magnitudes of Imaging Resolution.This method can be illuminated by transformation
Region and horizontal reception battle array position have weight to submarine geomorphy analysis with the forward and backward scattering strength in composite measurement seabed
Want meaning.
Summary of the invention
The present invention overcomes the small disadvantages of measurement range in existing acoustic imaging technology, provide one kind large-scale seabedly
The bistatic acoustics imaging method of looks telemetering.The acoustic picture of large-scale seabed landforms can be obtained, and measure target or ground simultaneously
The forward, backward scattering strength of shape feature realizes the detection of seabed prominent features (such as submarine trench, seabed massif).Comprising with
Lower step:
S1, Vertical Launch battle array select different direction launch angles to illuminate predetermined seabed, while horizontal array is with vertical array
Center is advanced according to helix towing path, receives the scattered signal in predetermined seabed；
S2, Signal Pretreatment is carried out to the scattered signal received.When estimating the arrival of signal using matched filtering method
Between τ (propagation delay), utilize Beamforming Method estimation signal angle of arrival(direction of arrival) obtains " when m- angle " figure
Picture；
S3, " when m- angle " image is mapped to cartesian coordinate system using three-dimensional imaging unit playback algorithm, works as sound ray
It is contacted with seabed once, solving optimization equation
Wherein, H is sea water advanced,For the horizontal direction vector for receiving battle array, (xR, yR, zR) is that the horizontal battle array reference array element that receives is sat
Mark, (xS, yS, zS) are Vertical Launch battle array reference array element coordinate, (x0,y0,z0)=[(xS, yS, zS)+(xR, yR, zR)]/2 for both
Midpoint, A=c τ, c are the velocity of sound in water,
When sound ray contacts twice with seabed, then replace with the value that (xS, yS, zS) is had in above-mentioned equation (xS', yS',
ZS'), (xS', yS', zS') is the symmetric points of (xS, yS, zS) about sea.
Solving obtained (x, y, z) is the coordinate for scattering footprint in cartesian coordinate system；
S4, gain compensation is carried out to imaging unit playback result figure according to sonar equation, corresponding Vertical Launch battle array-can be obtained
Level receives (i.e. certain a pair of of incident angle-scattering angle) bottom scattering intensity distribution of battle array position.Bottom scattering intensity
(BSL, Bottom Scatter Level) is represented by
Wherein, LpFor the decibel level after the matched filtering of received acoustic pressure and Wave beam forming output, SL is sound source level,
For sound source to it is each scattering footprint frequency averaging propagation loss,It is passed for each scattering footprint to the frequency averaging for receiving battle array
Loss is broadcast,WithIt can be calculated and be obtained by simulation software according to environmental parameter, LAFor the resolving power gain of system
LA=10log10 dsdr (4)
Wherein, r is distance of the scattering point away from horizontal reception battle array reference array element,Battle array angular resolution, dr are received for level
It is bistatic system distance to (longitudinal direction) resolving power；
S5, the movement that battle array is received with level, are repeated several times step S1-S4, and level is received battle array in the seabed of different location
The superposition of scatter intensity distribution figure, splicing, finally obtain large-scale seabed landforms image.
Compared with existing imaging method, the invention has the characteristics that
1) the horizontal battle array that receives of boat-carrying towing is according to the spiral path movement of planning, it is ensured that receives large-scale difference
The forward, backward scattered signal of region, corresponding different scattering angles.Due to receiving battle array orientation (transverse direction) resolving power and sea
Distance dependent can make whole imaging as long as guaranteeing Imaging Resolution in helix spacing between bottom scattering unit and reception battle array
As a result meet high-resolution requirement.
2) the vertical array directional transmissions scheme for cooperating horizontal array travelling route, can flexibly control sound ray in the irradiation in seabed
Footprint；Secondly, it is possible to provide directional gain increases signal-to-noise ratio；And the transmitting for being directed toward seabed can effectively reduce multi-path effect.
3) three-dimensional imaging unit playback algorithm, can reduce influence of the depth of water to playback, for middle depth sea area even deep-sea.
4) multiposition imaging results, which are superimposed, can avoid distance to fuzzy excitation, and by guaranteeing that the image of each subregion reaches
The full resolution pricture of whole imaging region is obtained to higher resolving power.
Detailed description of the invention
Fig. 1 is the overall flow figure of the method for the present invention.
Fig. 2 a~Fig. 2 d is vertical array directional transmissions schematic diagram, and wherein Fig. 2 a is that vertical array is directed toward 0 ° of transmitting schematic diagram,
Fig. 2 b is the downwardly directed 12 ° of transmittings schematic diagram of vertical array, and Fig. 2 c is the downwardly directed 24 ° of transmittings schematic diagram of vertical array, and Fig. 2 d is vertical
The downwardly directed 36 ° of transmittings schematic diagram of straight battle array.
Fig. 3 is horizontal array towing track schematic diagram.
Fig. 4 is primary event ellipsoid playback schematic diagram.
Fig. 5 is secondary reflection ellipsoid playback schematic diagram.
Fig. 6 is the footprint schematic diagram of bistatic system.
Fig. 7 is the system setting figure for emulating analysis of cases.
Fig. 8 a~Fig. 8 f is the bottom scattering intensity distribution of different location, and wherein Fig. 8 a is 1 bottom scattering intensity of position
Distribution map, Fig. 8 b are 10 bottom scattering intensity distributions of position, and Fig. 8 c is 15 bottom scattering intensity distribution of position, and Fig. 8 d is position
20 bottom scattering intensity distributions are set, Fig. 8 e is 25 bottom scattering intensity distribution of position, and Fig. 8 f is that 30 bottom scattering of position is strong
Spend distribution map.
Fig. 9 is the schematic diagram of the stack result of the bottom scattering intensity distribution of 32 positions.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig.1, the specific implementation step of the bistatic acoustics imaging method of large-scale seabed landforms telemetering is as follows:
The transmitting and reception of S1, signal
In order to guarantee that large-scale imaging results can also have higher cross range resolution, extensive area can be divided into
The high-resolution imaging result of each sub-regions is spliced, large range high resolution can be obtained by several relatively small-scale subregions
Submarine geomorphy image.In Fig. 2, vertical array is directed toward different angle and emits signal, and seabed is illuminated in subregion, meanwhile, horizontal array is mobile
The scattered signal for being illuminated seabed is received, considers the towing route controllability problem of ship, using screw movement route, is such as schemed
Shown in 3.
S2, signal processing method
Using the arrival time (propagation delay, τ) of matched filtering method estimation signal, estimate to believe using Beamforming Method
Number angle of arrival (direction of arrival,), obtain " when m- angle " image of the observation area.
S3, the playback of three-dimensional imaging unit
The processing result of matched filtering and Wave beam forming " when m- angle " image can be mapped to Descartes and sat by playback algorithm
Mark system.In middle depth or deep-marine-environment, traditional two-dimensional imaging unit method for homing not can solve three-dimensional problem, side of the present invention
The ellipsoid playback algorithm of method application is threedimensional model, can adapt to middle depth sea area even deep-marine-environment, and can eliminate depth
Influence to imaging unit playback.
When sound ray contacts once with seabed, Fig. 4 is primary event ellipsoid playback schematic illustration.To propagate distance (c τ, c
For the velocity of sound in water) it is long axis, vertical array, horizontal array reference array element position (xS, yS, zS) and (xR, yR, zR) they are focus, construction
Ellipsoid whens equal；The rough extra large depth H in known seabed, ellipse is intercepted when waiting on ellipsoid, solving direction of arrival isRay it is ellipse with this
Round intersection point.Solving optimization equation:
Wherein,To receive the direction vector where battle array, (x0,y0,z0) central point of ellipsoid, (x whens being equal0,y0,z0)
=[(xS, yS, zS)+(xR, yR, zR)]/2, A=c τ is ellipsoid long axis whens waiting, and B=C is two short axles of ellipsoid, the focal length of ellipsoidThen short axle
The meaning of optimization method are as follows: looked for a bit on the oval cross section of a certain depth of ellipsoid whens equal, so that the point and reception
Vector and battle array angle between battle array reference pointSolving obtained (x, y, z) is coordinate of the scattering point in cartesian coordinate system.This
Sample solves scattering point coordinate in three-dimensional space, can break through the limitation of two dimensional model, accurate to playback.
According to scheduled path planning, in a wide range of imaging process, primary event cannot illuminate entire imaging region, need
Multiple reflections sound ray is utilized, the ellipsoid playback principle of multiple reflections is illustrated by taking secondary reflection as an example.
When sound ray contacts twice with seabed, whens waiting two focuses of ellipsoid become horizontal array reference array element position (xR, yR,
ZR) and vertical array reference array element and sea symmetric points (xS', yS', zS'), optimization method is solved
Wherein, (xR, yR, zR) is to receive battle array reference array element coordinate,To receive the direction vector where battle array, (x '0,y
′0,z′0)=[(xS', yS', zS')+(xR, yR, zR)]/2, A=c τ, Fig. 5 is secondary reflection ellipsoid playback schematic illustration.
4) gain compensation
The purpose of gain compensation is practical by the decibel level reduction after the matched filtering of scattering pressure and Wave beam forming output
Bottom scattering intensity (BSL, Bottom Scatter Level), including sound source level compensation, average propagation compensating for loss and damage and point
Distinguish power gain compensation.According to sonar equation, actual bottom scattering intensity BSL is represented by
Wherein, LpFor the decibel level after the matched filtering of received acoustic pressure and Wave beam forming output, SL is sound source level,
For sound source to it is each scattering footprint frequency averaging propagation loss,It is passed for each scattering footprint to the frequency averaging for receiving battle array
Loss is broadcast,WithIt can be emulated and be obtained according to environmental parameter sound field software for calculation, LAIncrease for the resolving power of bistatic system
Benefit.
Resolving power gain is the decibel level of the resolving power footprint area of system, the area A of resolving power footprintsIt can be expressed as
The product of orientation (transverse direction) resolving power ds and distance to (longitudinal direction) resolving power dr.
Distance is to resolving powerWherein BwFor signal bandwidth.
Fig. 6 is the footprint schematic diagram of the bistatic system under cartesian coordinate system, and the reference array element that level receives battle array is located at
Origin, along the x-axis direction, sound source is located at (0,2F) to horizontal array.Investigate distance reception battle array reference array element r, direction of arrival isFootprintThe cross range resolution ds at place.Whens the footprint falls in equal on ellipse, the every bit on the ellipse propagate distance A=c τ (or
Propagation time) it is equal, F is ellipse focal length whens waiting.Then the footprint is fuzzy, it is oval withPoint of intersection, then orientation differentiate
Power is represented by
Wherein
Then
In above formula,For the cross range resolution of single base system, then radical sign item is a coefficient, characterizes biradical place
Multiple of the position to resolving power compared with single base.Therefore, the resolving power gain compensation of bistatic system cannot be according to single base system
System algorithm even compensation, but should individually calculate resolving power according to the relative position of each scattering footprint and sound source, reception battle array and increase
Benefit.
5) multiposition imaging results are integrated
The integration of multiposition imaging results is broadly divided into two contents, and first is to receive battle array in each imaging subregion annulus
Multiposition, multi-angle bottom scattering intensity distribution superposition, by between the bottom scattering intensity distribution of different location
The cross compensation of information can also be to avoid bistatic system distance to fuzzy while the cone angle of elimination of level battle array is fuzzy；The
Second is that the image mosaic between different imaging subregions.According to the scheme that Vertical Launch array directionality emits, a wide range of imaging area
Domain can be divided into multiple annulus subregions, can guarantee the signal-to-noise ratio of subregion in transmitting signal end, can receiving signal end
To guarantee that the image of each subregion reaches higher Imaging Resolution.The imaging results of multiple annulus subregions are spliced, and are constituted
On a large scale, high-resolution submarine geomorphy imaging results.
Example explanation: to verify the feasibility of the method for the present invention and illustrating its feature, simulation analysis has been carried out.Level receives
Battle array moves one week around sound source, radius 1km.Assuming that Vertical Launch battle array emits pulsatile once signal every 100s, it is calculated
Horizontal array, which moves one week, can receive 32 pulses, be corresponding with 32 width images.Vertical array is believed with 36 ° of glancing angle directional transmissions
Number, illuminate circle ring area.In order to facilitate observation of, 20 targets are laid at random in the circle ring area illuminated.Fig. 7 shows that sound wave shines
Bright circle ring area, horizontal array track, sound source and target distribution position.Each subgraph of Fig. 8 is the bottom scattering intensity of different location
Distribution map.Fig. 9 is the stack result of the bottom scattering intensity distribution of 32 positions, in areas imaging, the cone angle mould of target
Paste and distance are eliminated to fuzzy, and available higher resolving power.It, can when horizontal array continuation is advanced according to helix
Bigger circle ring area to be imaged, the imaging results of different annular are stitched together large-scale seabed can be obtained
Looks dispersion image.
Claims (1)
1. the bistatic acoustics imaging method of large-scale seabed landforms telemetering comprising the steps of:
S1, Vertical Launch battle array select different direction launch angles to illuminate predetermined seabed, while horizontal array is centered on vertical array
It advances according to helix towing path, receives the scattered signal in predetermined seabed；
S2, Signal Pretreatment is carried out to the scattered signal received.Utilize the arrival time τ of matched filtering method estimation signal
(propagation delay) utilizes the angle of arrival of Beamforming Method estimation signal(direction of arrival) obtains " when m- angle " image；
S3, " when m- angle " image is mapped to cartesian coordinate system using three-dimensional imaging unit playback algorithm, when sound ray and sea
Bottom contact is primary, solving optimization equation
Wherein, H is sea water advanced,For the horizontal direction vector for receiving battle array, (xR, yR, zR) is horizontal reception battle array reference array element coordinate,
(xS, yS, zS) is Vertical Launch battle array reference array element coordinate, (x0,y0,z0)=[(xS, yS, zS)+(xR, yR, zR)]/2 in the two
Point, A=c τ, c are the velocity of sound in water,
When sound ray contacts twice with seabed, then the value that (xS, yS, zS) is had in above-mentioned equation is replaced with into (xS', yS', zS'),
(xS', yS', zS') is the symmetric points of (xS, yS, zS) about sea.
Solving obtained (x, y, z) is the coordinate for scattering footprint in cartesian coordinate system；
S4, gain compensation is carried out to imaging unit playback result figure according to sonar equation, corresponding Vertical Launch battle array-level can be obtained
Receive (i.e. certain a pair of of incident angle-scattering angle) bottom scattering intensity distribution of battle array position.Bottom scattering intensity (BSL,
Bottom Scatter Level) it is represented by
Wherein, LpFor the decibel level after the matched filtering of received acoustic pressure and Wave beam forming output, SL is sound source level,For sound
Source to it is each scattering footprint frequency averaging propagation loss,Damage is propagated to the frequency averaging for receiving battle array for each scattering footprint
It loses,WithIt can be calculated and be obtained by simulation software according to environmental parameter, LAFor the resolving power gain of system
LA=10log10dsdr (4)
Wherein, r is distance of the scattering point away from horizontal reception battle array reference array element,Battle array angular resolution is received for level, dr is double
Base system distance is to (longitudinal direction) resolving power；
S5, the movement that battle array is received with level, are repeated several times step S1-S4, by the horizontal battle array that receives in the bottom scattering of different location
Intensity distribution superposition, splicing, finally obtain large-scale seabed landforms image.
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| CN112684437B (en) * | 2021-01-12 | 2023-08-11 | 浙江大学 | Passive ranging method based on time domain warping transformation |
| CN112882040A (en) * | 2021-01-13 | 2021-06-01 | 西北工业大学 | Double-frequency double-base geophone imaging method suitable for large-range submarine landform detection |
| CN112882040B (en) * | 2021-01-13 | 2023-06-20 | 西北工业大学 | Dual-frequency and dual-base acoustic imaging method suitable for large-scale submarine topography detection |
| CN115390052A (en) * | 2022-08-25 | 2022-11-25 | 鹏城实验室 | Imaging sonar object simulation device and method |
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