CN110488253A - More way time delay estimation methods based on cross-correlation function delay summation - Google Patents
More way time delay estimation methods based on cross-correlation function delay summation 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
- 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
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The invention discloses a kind of more way time delay estimation methods based on cross-correlation function delay summation, for solving the technical problem of existing more way time delay estimation methods robustness difference under Low SNR.Technical solution is that vertical linear array is laid near deep seafloor, receives Layer Near The Sea Surface Broad band target echo signal；Calculate the cross-correlation function between the received broadband signal of every two hydrophone, and according to the linear relationship of direct wave between array element and sea surface reflection wave delay inequality, way delay inequality postpones summing function more than the building first kind, obtains the D-D delay inequality and SR-SR delay inequality between two neighboring hydrophone；Using the opposite feature of direct wave and sea surface reflection wave phase, delay inequality delay summing function in way more than the second class is constructed, the D-SR delay inequality at No. 1 (most shallow) hydrophone position is obtained.It is summed by the delay of cross-correlation function, realizes the relevant enhancing of signal time delay peak value, improve the estimation robustness of more way delay inequalitys under low signal-to-noise ratio environment.
Description
Technical field
It is the present invention relates to way time delay estimation method more than one kind, in particular to a kind of based on cross-correlation function delay summation
More way time delay estimation methods.
Background technique
At deep-sea, when receiving hydrophone is laid near seabed, the direct wave acoustic propagation between the Area Objects of coastal waters is believed
Road, since propagation loss is low, middle short distance without shadow zone, channel advantages, the commonly referred to collectively as reliable acoustic path such as stablizes.Reliable sound travel
Diameter is to realize that the important Acoustic channel of deep-sea target remote robust position location reaches the energy of receiving hydrophone under the channel condition
Strong more way underwater sound signals are mainly direct wave (D) and sea surface reflection wave (SR).
Document " Passive localization in the deep ocean based on cross-
correlation function matching,The Journal of the Acoustical Society of
America, 2016,139 (6): EL196-EL201 " discloses a kind of based on the matched target Passive Positioning side of cross-correlation function
Method.This method makees cross-correlation to the received broadband signal of the hydrophone of two different depths, special using having in cross-correlation function
The corresponding relationship for determining 4 main time delay peak values and sound source position of pattern of symbol establishes target positioning cost function.It is positioning
On ambiguity surface, it may appear that two kinds of secondary lobe stripeds determined by more way time delays, the intersection point of two kinds of stripeds are the true of target sound source
Real position.This method is crossed this feature by secondary lobe striped in target actual position, and target robust position location is preferably realized.
The key for realizing localization method described in document is the accurate estimation of way delay inequality more than echo signal, however, more than bi_hydrophone when way
The main problem for prolonging difference estimation is: 1) under low signal-to-noise ratio environment, the amplitude and noise peak of signal peak in cross-correlation function
The amplitude of value is not much different even lower, leads to not accurately extract more way delay inequalitys；2) when the spacing of two hydrophones is smaller
When, it cannot effectively distinguish the direct wave time delay peak value and sea surface reflection wave time delay peak value in cross-correlation function；3) sea cannot be eliminated
The influence of class signal is reflected at bottom, and cross-correlation function will appear pseudo- peak.
Summary of the invention
In order to overcome the shortcomings of that existing more way time delay estimation methods robustness under Low SNR is poor, the present invention is mentioned
For a kind of more way time delay estimation methods based on cross-correlation function delay summation.Vertical linear array is laid on by this method first
Near deep seafloor, Layer Near The Sea Surface Broad band target echo signal is received；Then it calculates between the received broadband signal of every two hydrophone
Cross-correlation function, and according to the linear relationship of direct wave between array element and sea surface reflection wave delay inequality, construct way time delay more than the first kind
Difference delay summing function, obtains the D-D delay inequality and SR-SR delay inequality between two neighboring hydrophone；Finally, utilizing direct wave
The feature opposite with sea surface reflection wave phase constructs delay inequality delay summing function in way more than the second class, obtains No. 1 (most shallow) water
Listen the D-SR delay inequality at device position.It is summed by the delay of cross-correlation function, realizes the relevant enhancing of signal time delay peak value,
Improve the estimation robustness of more way delay inequalitys under low signal-to-noise ratio environment.
A kind of the technical solution adopted by the present invention to solve the technical problems: more ways based on cross-correlation function delay summation
Time delay estimation method, its main feature is that the following steps are included:
Step 1: vertical linear array acquires Broad band target echo signal, if sample rate is fs, array received signal is expressed as xi
(n), i=1,2 ..., I, n=1,2 ..., N.Wherein, subscript i indicates hydrophone number, and i=1 indicates that vertical linear array is most shallow
Hydrophone, i=I indicate that the most deep hydrophone of vertical linear array, n indicate discrete sampling point.When acquiring signal when a length of T, N=
T*fs。
Step 2: calculating the cross-correlation function of i-th and the received broadband signal of j-th of hydrophone, it is denoted as Rij(m),
In formula, m indicates cross-correlation function time delay points, and requires j > i.Calculate cross-correlation function between different hydrophones
All combined situations, one is obtained I (I-1)/2 cross-correlation function.
Step 3: way delay inequality postpones summing function more than the building first kind,
In formula, q indicate delay summation time delay points, search range be [0, | dfs/ c |], operator | | to take absolute value, d
For the array element spacing of vertical linear array, c is with reference to the velocity of sound.y1(m, q) output maximum value and corresponding two of second largest value position are prolonged
Summation points q value late, the small average D-D delay inequality indicated between two neighboring hydrophone of q value, is denoted as qD；The big expression phase of q value
Average SR-SR delay inequality between adjacent two hydrophones, is denoted as qSR。
Step 4: way delay inequality postpones summing function more than the second class of building,
In formula, e is modifying factor, the q obtained by step 3DAnd qSRIt determines, e=qSR-qD。y2(m, q) exports maximum value
The corresponding cross-correlation function time delay in position is counted m value, and the D-SR delay inequality at as No. 1 hydrophone position is denoted as qD-SR。
Under the typical deep-sea 5000m Munk Sound speed profile environment, vertical linear array depth is greater than 4400m, and array number is greater than
8, target range range is 0~30km, and target depth range is 20~300m.
The beneficial effects of the present invention are: vertical linear array is laid near deep seafloor by this method first, coastal waters is received
Area Objects broadband signal；Then the cross-correlation function between the received broadband signal of every two hydrophone is calculated, and according to array element
Between direct wave and sea surface reflection wave delay inequality linear relationship, construct the first kind more than way delay inequality postpone summing function, obtain phase
D-D delay inequality and SR-SR delay inequality between adjacent two hydrophones；Finally, opposite using direct wave and sea surface reflection wave phase
The characteristics of, delay inequality delay summing function in way more than the second class is constructed, the D-SR time delay at No. 1 (most shallow) hydrophone position is obtained
Difference.It is summed by the delay of cross-correlation function, realizes the relevant enhancing of signal time delay peak value, improve under low signal-to-noise ratio environment
The estimation robustness of more way delay inequalitys.
The present invention is by the cross-correlation function delay summation to obtaining between vertical linear array difference hydrophone, so that mutually
The direct wave and sea surface reflection wave correlation peak coherent superposition in function are closed, and incoherent noise contribution is power averaging,
Compared to bi_hydrophone, output signal-to-noise ratio improves 10lg [I (I-1)/2] decibel, and the present invention is suitable under low signal-to-noise ratio environment
More way time delay estimations.Further, since the method for the present invention requires retardation q to be positive, therefore avoided in delay summation output
The influence of bottom echo.
It elaborates with reference to the accompanying drawings and detailed description to the present invention.
Detailed description of the invention
Fig. 1 is the method for the present invention simulated environment schematic diagram, Hai Shen 4390m, 16 yuan of vertical linear array array element spacing 4m, the 1st
Number (most shallow) hydrophone depth 4158m, No. 16 (most deep) hydrophone depth 4218m；Broadband sound source horizontal distance 10km, sound source
Depth 200m.
Fig. 2 is emulation Sound speed profile, surveys Sound speed profile for South Sea sea area.
Fig. 3 is emulation time domain Broad band target echo signal.
Fig. 4 is that Broad band target echo signal time domain under noiseless interference environment mostly way reaches structure, the signal of display mostly way at
Divide mainly direct wave (D), sea surface reflection wave (SR), bottom echo (BR) and sea bottom echo (SRBR).
Fig. 5 is the time domain Broad band target echo signal that vertical linear array receives under low signal-to-noise ratio environment, way ingredient quilt more than signal
Noise floods.
Fig. 6 is that way delay inequality more than the method for the present invention first kind postpones summing function normalized output under low signal-to-noise ratio environment,
The corresponding time delay point q value of maximum value position is average SR-SR time delay estimation value, q between two neighboring hydrophone in figureSR=
25；The corresponding time delay point q value in second largest value position is average D-D time delay estimation value, q between two neighboring hydrophoneD=22.
Fig. 7 is that way delay inequality more than the second class of the method for the present invention postpones summing function normalized output under low signal-to-noise ratio environment,
The corresponding time delay point m value of maximum value position is the D-SR time delay estimation value at No. 1 hydrophone position, m=2227 in figure.
Fig. 8 be under low signal-to-noise ratio environment No. 1 hydrophone and No. 16 hydrophone cross-correlation function as a result, in figure three articles hang down
Straight dotted line from left to right respectively corresponds the actual position of D-D delay inequality, SR-SR delay inequality and D-SR delay inequality.Signal peak quilt
Noise is flooded.
Specific embodiment
Referring to Fig.1-8.The present invention is based on more way time delay estimation method specific steps of cross-correlation function delay summation such as
Under:
1. underwater acoustic channel and Broad band target echo signal modeling.
Simulated environment is South Sea typical case deep-marine-environment, and Hai Shen 4390m, Sound speed profile is that Sound speed profile is surveyed in certain sea area, from
The velocity of sound of 0m to 1660m depth is conductivity-temperature-depth system in-site measurement value, is fitted from 1661m to Bottom sound speed according to sound velocity gradient
It arrives.
16 yuan of equidistant vertical linear array cloth are placed near seabed, array element spacing 4m, and the depth of No. 1 array element is 4158m, and 16
The depth of number array element is 4218m.Broadband target sound source horizontal distance 10km, sound source depth 200m.It is reached from target position vertical
The strong multi-path signals of the energy of linear array are mainly direct wave (D) and sea surface reflection wave (SR).
In simulations, certain explosion ping is as Broad band target echo signal, when signal of interception a length of 0.05s.Signal
Bandpass filtering, band connection frequency are 100~200Hz.Signal amplitude normalization.
2. echo signal mostly way reaches structure.
It receives signal modeling method and uses ray model software BELLHOP.Way arriving signal more than 4 kinds as seen from the figure, point
It Wei not direct wave (D), sea surface reflection wave (SR), bottom echo (BR) and sea bottom echo (SRBR).Wherein, due to sea
The decaying that class arrival is reflected at bottom is larger, and therefore, the arrival amplitude of bottom echo and sea bottom echo is much smaller than direct wave
With sea surface reflection wave.Average D-D delay inequality q under the simulated conditions, as theoretical value, between two neighboring hydrophoneD=
22, average SR-SR delay inequality qSRD-SR delay inequality q at=25, No. 1 element positionD-SR=2230.
3. more way time delay estimations under low signal-to-noise ratio environment.
In order to emulate low signal-to-noise ratio environment, white Gaussian noise passes through the bandpass filter that passband is 100~200Hz first,
Then noise is amplified and is superimposed with glitch-free multi-path signals.Under Low SNR, single hydrophone is received
Time domain Broad band target echo signal can not tell direct wave and sea surface reflection wave.
16 yuan of vertical linear arrays of step 1 acquire Broad band target echo signal, sample rate fs=25kHz, signal acquisition duration T=
0.4s, signal total length N=T*fs=10000.Array received signal is expressed as xi(n), i=1,2 ..., 16, n=1,2 ...,
10000.Wherein, subscript i indicates hydrophone number, and i=1 indicates that the most shallow hydrophone of vertical linear array, i=16 indicate vertical line
The most deep hydrophone of array, n indicate discrete sampling point.
Step 2 calculates i-th and the cross-correlation function of the received broadband signal of j-th of hydrophone, is denoted as Rij(m),
In formula, m is integer, indicates cross-correlation function time delay points, and the value range section of m is [0 3000].Successively count
Calculate the cross-correlation function of the 1st with the 2 to 16th received broadband signal of hydrophone.It then, is reference with the 2nd hydrophone,
The cross-correlation function of itself and the 3 to 16th received broadband signal of hydrophone is successively calculated, and so on, what is finally calculated is
15 with the cross-correlation function of the 16th received broadband signal of hydrophone.By this step, one is obtained I (I-1)/2=120
Cross-correlation function Rij(m).Each cross-correlation function Rij(m) the signal peak position in is related with hydrophone serial number i and j.
Step 3 constructs delay inequality delay summing function in way more than the first kind,
In formula, q indicates that delay summation time delay points, maximum value are no more than the corresponding maximum delay of two neighboring hydrophone
Amount, i.e., | dfs/ c |, in formula, operator | | to take absolute value, array element spacing d=4m, with reference to velocity of sound c=1500m/s.Therefore, q
Search range be [0 67].According to the relationship that more way delay inequalitys change with array element spaced linear, work as q=qDWhen, cross-correlation letter
Number Rij(m) all direct wave delay inequality peak delays summation coherent accumulation in, in y1It is theoretically shown as in (m, q) output complete
Office's maximum value.Similarly, work as q=qSRWhen, cross-correlation function Rij(m) all sea surface reflection wave delay inequality peak delays in are asked
And coherent accumulation, since the energy of sea surface reflection wave is lower than direct wave, in y1The overall situation is theoretically shown as in (m, q) output
Second largest value.Also, according to virtual source theory, since sea surface reflection wave is equivalent to the direct wave being emitted from the virtual source location of sound source, In
Angle of arrival is slightly larger than direct wave angle of arrival at vertical linear array, so qSR>qD.But if sea surface reflection wave energy is stronger, by
In the influence of more way acoustic propagation plane wave approximation errors, y may result in1(m, q) output maximum value corresponds to SR-SR delay inequality,
Second largest value corresponds to D-D delay inequality.Therefore, in practical applications, by comparing the big of the corresponding q value of maximum value and second largest value position
Small differentiation D-D delay inequality and SR-SR delay inequality.From the figure, it can be seen that qD=22, qSR=25, the method for the present invention estimated value with
Aforementioned theoretical value is consistent.
Step 4 constructs delay inequality delay summing function in way more than the second class,
In formula, modifying factor e=qSR-qD=3, for correcting the D-SR delay inequality at each hydrophone position, postponing
When summation, the D-SR delay inequality at No. 1 hydrophone position is made it equal to.Due to direct wave and sea surface reflection wave phase on the contrary,
So delay summation output is multiplied by -1, therefore y2(m, q) exports the corresponding cross-correlation function time delay points m of maximum value position and indicates
D-SR delay inequality at No. 1 hydrophone position, from the figure, it can be seen that qD-SR=m=2227.The method of the present invention obtain
The error between D-SR time delay estimation value and true value at No. 1 hydrophone position is 3.Error it is existing the reason is that, due to
More way delay inequalitys and non-critical linear relationship between hydrophone, the D-D delay inequality and SR-SR time delay that the method for the present invention obtains
Difference is that the average delay between two neighboring hydrophone is poor, and therefore, modifying factor e is a statistical average as a result, causing
It will appear deviation when correcting the D-SR delay inequality at each hydrophone position.But in this emulation, No. 1 hydrophone position
The D-SR delay inequality error at the place of setting is only 0.12ms, does not influence subsequent target location accuracy.Theoretically, when sample rate continues to increase
Greatly, when the Delay that each sampled point represents is sufficiently small, D-SR time delay estimation error can be further decreased.
4. the time delay estimation result of way more than bi_hydrophone.
In order to compare with the method for the present invention, No. 1 and No. 16 hydrophone receiving wide-band signal do cross-correlation, can see
It arrives, signal peak is flooded by noise peak.Under the simulated conditions, way delay inequality more than any one can not have been differentiated,
The failure of time delay estimation method in way more than bi_hydrophone cross-correlation function.
Claims (2)
1. a kind of more way time delay estimation methods based on cross-correlation function delay summation, it is characterised in that the following steps are included:
Step 1: vertical linear array acquires Broad band target echo signal, if sample rate is fs, array received signal is expressed as xi(n), i=
1,2 ..., I, n=1,2 ..., N；Wherein, subscript i indicates hydrophone number, and i=1 indicates the most shallow hydrophone of vertical linear array,
I=I indicates that the most deep hydrophone of vertical linear array, n indicate discrete sampling point；When acquiring signal when a length of T, N=T*fs；
Step 2: calculating the cross-correlation function of i-th and the received broadband signal of j-th of hydrophone, it is denoted as Rij(m),
In formula, m indicates cross-correlation function time delay points, and requires j > i；Calculate the institute of cross-correlation function between different hydrophones
There is combined situation, one is obtained I (I-1)/2 cross-correlation function；
Step 3: way delay inequality postpones summing function more than the building first kind,
In formula, q indicate delay summation time delay points, search range be [0, | dfs/ c |], operator | | to take absolute value, d is vertical
The array element spacing of straight line array, c are with reference to the velocity of sound；y1(m, q) output maximum value and corresponding two delays in second largest value position are asked
With points q value, the small average D-D delay inequality indicated between two neighboring hydrophone of q value is denoted as qD；The big expression of q value adjacent two
Average SR-SR delay inequality between a hydrophone, is denoted as qSR；
Step 4: way delay inequality postpones summing function more than the second class of building,
In formula, e is modifying factor, the q obtained by step 3DAnd qSRIt determines, e=qSR-qD；y2(m, q) exports maximum value position pair
The cross-correlation function time delay points m value answered, the D-SR delay inequality at as No. 1 hydrophone position are denoted as qD-SR。
2. more time delay estimation methods in way according to claim 1 based on cross-correlation function delay summation, feature exist
In: under the typical deep-sea 5000m Munk Sound speed profile environment, vertical linear array depth is greater than 4400m, and array number is greater than 8, target
Distance range is 0~30km, and target depth range is 20~300m.
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