CN110488301A - A kind of sonar integration objective recognition methods of Multi-source Information Fusion - Google Patents
A kind of sonar integration objective recognition methods of Multi-source Information Fusion Download PDFInfo
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- CN110488301A CN110488301A CN201910647367.5A CN201910647367A CN110488301A CN 110488301 A CN110488301 A CN 110488301A CN 201910647367 A CN201910647367 A CN 201910647367A CN 110488301 A CN110488301 A CN 110488301A
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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
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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 present invention relates to a kind of sonar target integrated recognition methods of multiple information sources fusion.Aiming at the problem that target identification accuracy is promoted sonar during searching latent, analyze sonar target feature and its obtaining means, study sonar target feature extraction, analysis and recognition methods, integrated use sonar detection echo character information, spectrum information, audio-frequency information, target moving element information, radar information, the information such as AIS information carry out joint identification, profound level excavates target signature information, pass through map characteristic, frequency domain character, audition identification, the multidimensional identifications such as kinematicchain element, by what is isolated, the data of fragment are converted to Information Superiority, to be converted to Information Superiority, the identification process of formation standard, improve sonar target recognition correct rate.
Description
Technical field
The invention belongs to sonar target identification technology fields.The present invention proposes a kind of integrated use sonar detection echo character
The information such as information, spectrum information, audio-frequency information, target moving element information, radar information, AIS information carry out joint identification
The sonar target integrated recognition method of multiple information sources fusion, and pass through map characteristic, frequency domain character, audition identification, kinematicchain element
Etc. multidimensional identifications, isolated, fragment data are converted to Information Superiority, the comprehensive identification of sonar target for forming standard uses stream
Journey, to improve target identification accuracy.
Background technique
Sonar target identification is under the premise of finding target based on sonar equipment, and sonar duty hand is according to sonar equipment detection mesh
Information is marked, the process and sound of objective attribute target attribute are distinguished using integrated informations such as atlas analysis, audition identification, kinematicchain element analyses
Receive equipment postposition data processing important link.The key for completing Underwater Targets Recognition is the invariant features for utilizing target.So far
Until, the domestic and international report in relation to Underwater Targets Recognition belongs to more composes structure according to target, but due to the deficiency of priori data, causes
The identification of this mode implements have biggish difficulty.It is even more hardly possible to go identification according to spectrum structure for echo signal
To realize.In view of the complexity of Acoustic Object Classification and Identification, general trend develops towards comprehensive identification direction, that is, uses data fusion
Mode various utilizable informixes are got up, except system provide identification information in addition to, it is also contemplated that positional factor,
Human factor and various priori knowledges etc., finally judge.Target classification identification generally comprises feature extraction and classification judgement
Two stages are to extract feature in collected signal first, are then classified according to extracted feature.As it can be seen that right
The Classification and Identification most important condition of target is to obtain good echo signal, therefrom extracts target signature.Otherwise, the classification of target
Recognition accuracy will decline.
Summary of the invention
For the too low problem of sonar target recognition correct rate, a kind of sonar integration objective recognition methods, comprehensive fortune are proposed
With sonar detection echo character information, spectrum information, audio-frequency information, target moving element information, radar information, AIS information etc.
Information identified, achieve the purpose that quickly, accurately identify target.
The invention mainly solves the technical problem of providing a kind of sonar integration objective recognition methods of Multi-source Information Fusion.
The technical solution of the present invention is as follows:
(1) sonar target identifies
Sonar target identification is under the premise of finding target based on sonar equipment, and sonar duty hand is according to sonar equipment detection target letter
Breath distinguishes the process of objective attribute target attribute using integrated informations such as atlas analysis, audition identification, kinematicchain element analyses；
(2) general thought is identified
Sonar is used to perceive target information in marine environment, specifically include that naval vessels radiated noise feature and passive sonar systems,
Naval vessels sound reflecting feature and active sonar, shallow sea/deep-sea marine environment measurement.The target bearing information of sonar detection, away from
From information, radial velocity information, spectrum information and audio-frequency information, wanted for passive sonar, active sonar detection identification, target movement
Element resolving etc. provides the support of actual measurement means.Sonar target type is broadly divided into echo target and noise targets two types.Sound
It receives target acoustic signal feature architecture, discloses and Submarine Target propeller paddle number, number of blade, scale/tonnage, shape, structure, mesh
Mark the associated radiation sounds of attributes, scattering sound two major classes acoustical signal fine-feature formation mechenism, mould such as external material, goal behavior
Type and rule.Sonar detection target echo feature, radiated noise characteristic and target scale/tonnage and specific mechanical periodic motion,
The correlations such as propeller, target shape, target internal structure and material, goal behavior feature, sound field interference/distortion, Auditory Perception
Echo and radiated noise signals it is closely related.
Currently, the information due to priori is insufficient, in the also very limited feelings of sonar equipment automatic target detection level and ability
Under condition, proposes that target signature information depth excavates the method extracted, take echo character information, spectrum information, audio-frequency information, mesh
The information such as mark kinematicchain element information, radar information carry out the operational exertion pattern of comprehensive identification, become and promote sonar target identification
The important means of accuracy.Therefore, the man-computer cooperation of sonar target characteristic information depth extraction, sonar duty hand based target integrated identification
Identification method is the effective way for promoting sonar target recognition correct rate to be promoted.
To sum up, commander and sonar duty hand integrated use sonar detection echo character information, spectrum information, audio-frequency information,
The battlefield situation informations such as target moving element information, radar information and information are mutually investigated by exclusive method and confirmation method,
Energy is quick, accurately identifies target, to improve sonar target recognition correct rate.The detailed process of sonar target characteristic information identification
It is as follows:
1. the water surface/Underwater Targets Recognition
Waterborne target (team member's warship, the merchant ship, steel formed into columns including search is excluded by exclusive method first with radar or AIS information
Matter fishing boat etc.), primarily determine that target is submarine target.
2. port and starboard identifies
For hull(mounted) sonar, equipment can technically differentiate target port and starboard；For towed linear-array sonar, if ternary
Battle array, technically, have at present using each array element contain there are three hydrophone triple linear array, using vector hydrophone, adopt
It dragged with double, led passively mode etc. and solve, it can automatic discrimination target port and starboard；But for one-dimensional towing line array, due to line
Hydrophone in array be it is non-direction, often there is left and right blooming.To solve this problem, from tactics, generally
It takes certain motor-driven measure of this warship to carry out the situation of change in observed object orientation, can just make the judgement to target angle.
3. motion estimate
By the kinematicchain elements such as antisubmarine defence system solving target course, the speed of a ship or plane or inspection target, whether there is or not obvious mechanical noises, propeller
The features such as noise, accidental pulse determine that target is moving target or non-athletic target.Usual active sonar output only have orientation and
Two parameters of distance.The length, speed and target strength of target will can be obtained after resolving apart from the output of the parameter in orientation.
4. metal target identifies
It is identified by accurate location of the sea chart to seabed hillside, trench, submerged reef, raised peak, to target reflectance signature and instead
It penetrates coefficient and determines that target is metal target or nonmetallic target.
5. target signature identifies
Determine whether target is the submarine for sitting heavy seabed by the way that whether inspection seabed has shipwreck, shipwreck is due to the length of time that sinks
Relationship, surface layer can adsorb the marine growth of different-thickness, reflection coefficient and echo, echo, chromatogram characteristic and submarine area to target
It is more unobvious.
It, can be from information contained on LOFAR figure for experienced sonar operator in actual use
Find out the identification and analysis for facilitating moving target.Such as some target is most strong on some wave beam；That target has Doppler's frequency
It moves, this shows that the target has certain movement velocity or track to change；Pass through the frequency recognizable object etc. of line spectrum.
6. more way target identifications
For active sonar, often Multi-path interference is less under smooth bottom or good hydrologic condition, but for slope seabed, rise
It lies prostrate under seabed or severe hydrologic condition, acoustic propagation multi-path effect becomes seriously, to cause sonar clutter point more, need clutter background
In target is recognized accurately.
Search form into columns or other naval vessels when the location point of calibration cannot find target simultaneously, in view of target whether be
The target in other remote sea areas due to this warship sonar transmission sound wave by multiple reflections discovery, can convert sound at this time
It receives range or signal processing form carries out detection identification.
The invention has the advantages that: believed by integrated use sonar detection echo character information, spectrum information, audio
The information such as breath, target moving element information, radar information, AIS information carry out the integration objective recognition methods of multiple information sources fusion,
Can by fragmentation formula, dispersion, isolated data fusion get up, to be converted to Information Superiority, form the identification process of standard,
Improve sonar target recognition correct rate.
Detailed description of the invention
Fig. 1 is the comprehensive identification process figure of sonar target of multiple information sources fusion,
Fig. 2 is sonar target identification information source composition figure.
Specific embodiment
A kind of sonar integration objective recognition methods of Multi-source Information Fusion of the present invention provides a kind of sonar that can be had strong operability
Target identification method.Its specific implementation method can the water surface/Underwater Targets Recognition in technical solution according to the invention, port and starboard
The related contents such as identification, motion estimate, metal target identification, target signature identification, more way target identifications are implemented.Comprehensive fortune
With sonar detection echo character information, spectrum information, audio-frequency information, target moving element information, radar information, AIS information etc.
Information is identified that profound level excavates target signature information, passes through map characteristic, frequency domain character, audition identification, kinematicchain element etc.
Isolated, fragment data are converted to Information Superiority, improve sonar target recognition correct rate under Resisting Condition by multidimensional identification,
For reasonable employment sonar equipment, gives full play to sonar detection efficiency support is provided；Secondly, an important reason of integration objective identification
It reads, exactly establishes sonar target property data base, the data of different data sources, many years history and the following acquisition are passed through into " integration ",
Form an organized data environment convenient for analysis mining.Big data, which is introduced Acoustic Object identification with theory, to be
Underwater Targets Recognition, Battle Assistant Decision-making provide data supporting and information support.
Establish sonar target data collecting standard, combat data, situation data, information data, radar data, AIS data
Deng all full-time acquisition and import database.
(1) sonar target identifies
Sonar target identification is under the premise of finding target based on sonar equipment, and sonar duty hand is according to sonar equipment detection target letter
Breath distinguishes the process of objective attribute target attribute using integrated informations such as atlas analysis, audition identification, kinematicchain element analyses；
(2) general thought is identified
Sonar is used to perceive target information in marine environment, specifically include that naval vessels radiated noise feature and passive sonar systems,
Naval vessels sound reflecting feature and active sonar, shallow sea/deep-sea marine environment measurement.The target bearing information of sonar detection, away from
From information, radial velocity information, spectrum information and audio-frequency information,
Detailed process is as follows:
1. the water surface/Underwater Targets Recognition
Waterborne target (team member's warship, the merchant ship, steel formed into columns including search is excluded by exclusive method first with radar or AIS information
Matter fishing boat etc.), primarily determine that target is submarine target.
2. port and starboard identifies
For hull(mounted) sonar, equipment can technically differentiate target port and starboard；For towed linear-array sonar, if ternary
Battle array, technically, have at present using each array element contain there are three hydrophone triple linear array, using vector hydrophone, adopt
It dragged with double, led passively mode etc. and solve, it can automatic discrimination target port and starboard；But for one-dimensional towing line array, due to line
Hydrophone in array be it is non-direction, often there is left and right blooming.To solve this problem, from tactics, generally
It takes certain motor-driven measure of this warship to carry out the situation of change in observed object orientation, can just make the judgement to target angle.Through grinding
Study carefully, can be turned to according to this warship it is motor-driven after the changing rule of target angle relatively former angle on the bow differentiate port and starboard, can according to
Under judgement principle:
A) this warship turns to the left
Target angle increases, and target is astarboard；
Target angle reduces, and target is in larboard.
B) this warship turns to the right
Target angle increases, and target is in larboard；
Target angle reduces, and target is astarboard.
C) for the target bearing fuzzy problem as caused by multi-path effect, then target can be placed in by the side of a ship by ship manoeuvre
In lateral beam, then again by a), b) two criterion make decisions.
When finding target for one-dimensional towed linear-array sonar, distinguish after its type that this warship should machine immediately using narrow band detection
Turn is to differentiating the topside of target, motor-driven method is: assuming that it is located at this warship according to the possible attacking direction of target first
The a certain side of a ship judges its port and starboard then to another topside directional steering and the situation of change in object observing orientation.
3. motion estimate
By the kinematicchain elements such as antisubmarine defence system solving target course, the speed of a ship or plane or inspection target, whether there is or not obvious mechanical noises, propeller
The features such as noise, accidental pulse determine that target is moving target or non-athletic target.Usual active sonar output only have orientation and
Two parameters of distance.The length, speed and target strength of target will can be obtained after resolving apart from the output of the parameter in orientation.
A) speed of submarine
It is continuously provided when a certain apart from shelvesWithWhen, corresponding orientationWith, due to some sweep time apart from shelvesCentainly, then the speed of submarine are as follows:
Radial velocity (1)
Tangential velocity (2)
Ground speed (3)
In formula:
--- first time target range；
--- second of target range；
--- first time target bearing；
--- second of target bearing；
--- sweep time；
B) submarine reflected intensity
According to active sonar equation (4)
In formula:
--- transmitting source level；
--- background noise level；
--- propagation loss；
--- target strength；
--- the spatial gain of battle array；
--- the time gain of postpositive disposal.
In the detection process, received signal surplus is, thenIt is expressed as follows:
(5)
(6)
In formula:
--- there is energy when signal；
--- noise energy when no signal.
The foundation of type is sentenced according to active sonar and target spectrogram is shown, in conjunction with search warship tactical maneuver, antisubmarine fire control system
The parameters such as the bogey heading, the speed of a ship or plane that calculate distinguish the state of motion of objective attribute target attribute and master goal.It, can for passive sonar
The propeller revolution of target is determined using " the propeller bat " of target and estimates the target speed of a ship or plane.
4. metal target identifies
It is identified by accurate location of the sea chart to seabed hillside, trench, submerged reef, raised peak, to target reflectance signature and instead
It penetrates coefficient and determines that target is metal target or nonmetallic target.
5. target signature identifies
Determine whether target is the submarine for sitting heavy seabed by the way that whether inspection seabed has shipwreck, shipwreck is due to the length of time that sinks
Relationship, surface layer can adsorb the marine growth of different-thickness, reflection coefficient and echo, echo, chromatogram characteristic and submarine area to target
It is more unobvious.
It, can be from information contained on LOFAR figure for experienced sonar operator in actual use
Find out the identification and analysis for facilitating moving target.Such as some target is most strong on some wave beam；That target has Doppler's frequency
It moves, this shows that the target has certain movement velocity or track to change；Pass through the frequency recognizable object etc. of line spectrum.
6. more way target identifications
For active sonar, often Multi-path interference is less under smooth bottom or good hydrologic condition, but for slope seabed, rise
It lies prostrate under seabed or severe hydrologic condition, acoustic propagation multi-path effect becomes seriously, to cause sonar clutter point more, need clutter background
In target is recognized accurately.
Search form into columns or other naval vessels when the location point of calibration cannot find target simultaneously, in view of target whether be
The target in other remote sea areas due to this warship sonar transmission sound wave by multiple reflections discovery, can convert sound at this time
It receives range or signal processing form carries out detection identification.
Claims (3)
1. a kind of sonar integration objective recognition methods of Multi-source Information Fusion, integrated use sonar detection echo character information, frequency
Spectrum information, audio-frequency information, target moving element information, radar information, AIS information are identified, which is characterized in that particular content
Include:
Sonar target identification, detailed process are as follows:
(1) water surface/Underwater Targets Recognition
Waterborne target is excluded by exclusive method first with radar or AIS information, primarily determines that target is submarine target；
(2) port and starboard identifies
For hull(mounted) sonar, target port and starboard is technically differentiated；For towed linear-array sonar, if ternary array, from skill
In art, have at present using each array element contain there are three hydrophone triple linear array, using vector hydrophone, using it is double drag,
Main passively mode solves, automatic discrimination target port and starboard；For one-dimensional towing line array, due to the hydrophone in linear array
Be it is non-direction, take the motor-driven measure of this warship to carry out the situation of change in observed object orientation, make the judgement to target angle；
(3) motion estimate
By antisubmarine defence system solving target course, speed of a ship or plane kinematicchain element or inspection target, whether there is or not obvious mechanical noise, propellers to make an uproar
Sound, accidental pulse characteristics determine that target is moving target or non-athletic target, and active sonar output only has azimuth-range two
Parameter will obtain the length, speed and target strength of target apart from the output of the parameter in orientation after resolving；
(4) metal target identifies
It is identified by accurate location of the sea chart to seabed hillside, trench, submerged reef, raised peak, to target reflectance signature and instead
It penetrates coefficient and determines that target is metal target or nonmetallic target；
(5) target signature identifies
Determine whether target is the submarine for sitting heavy seabed by the way that whether inspection seabed has shipwreck；
(6) mostly way target identification
For active sonar, often Multi-path interference is less under smooth bottom or good hydrologic condition, but for slope seabed, rise
It lies prostrate under seabed or severe hydrologic condition, acoustic propagation multi-path effect becomes seriously, to cause sonar clutter point more, need clutter background
In target is recognized accurately.
2. a kind of sonar integration objective recognition methods of Multi-source Information Fusion according to claim 1, which is characterized in that institute
State starboard identification, according to this warship turn to it is motor-driven after the changing rule of target angle relatively former angle on the bow differentiate port and starboard, according to
Under judgement principle:
A) this warship turns to the left
Target angle increases, and target is astarboard；
Target angle reduces, and target is in larboard；
B) this warship turns to the right
Target angle increases, and target is in larboard；
Target angle reduces, and target is astarboard；
C) for the target bearing fuzzy problem as caused by multi-path effect, then target is placed in by side of a ship lateral beam by ship manoeuvre
It is interior, then again by a), b) two criterion make decisions；
When finding target for one-dimensional towed linear-array sonar, this warship should be motor-driven immediately turn after distinguishing its type using narrow band detection
To differentiating the topside of target, method is: assuming that it is located at a certain side of a ship of this warship according to the possible attacking direction of target first, so
The situation of change of backward another topside directional steering and object observing orientation, judges its port and starboard.
3. a kind of sonar integration objective recognition methods of Multi-source Information Fusion according to claim 1, which is characterized in that institute
State the identification of target velocity and target strength specifically:
(1) target velocity identifies
It is continuously provided when a certain apart from shelvesWithWhen, corresponding orientationWith, due to some sweep time apart from shelvesCentainly, then the speed of submarine are as follows:
Radial velocity (1)
Tangential velocity (2)
Ground speed (3)
In formula:
--- first time target range；
--- second of target range；
--- first time target bearing；
--- second of target bearing；
--- sweep time；
(2) target strength identifies
According to active sonar equation (4)
In formula:
--- transmitting source level；
--- background noise level；
--- propagation loss；
--- target strength；
--- the spatial gain of battle array；
--- the time gain of postpositive disposal；
In the detection process, received signal surplus is, thenIt is expressed as follows:
(5)
(6)
In formula:
--- there is energy when signal；
--- noise energy when no signal.
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| CN112163461A (en) * | 2020-09-07 | 2021-01-01 | 中国海洋大学 | Underwater target identification method based on multi-mode fusion |
| CN112987726A (en) * | 2021-02-05 | 2021-06-18 | 中国人民解放军海军工程大学 | Tugboat maneuvering method for towing linear array to continuously contact target |
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| CN111830493B (en) * | 2020-06-24 | 2023-12-22 | 上海交通大学 | System and method for forecasting strength of middle-high frequency sound target in underwater target receiving and transmitting division |
| CN112163461A (en) * | 2020-09-07 | 2021-01-01 | 中国海洋大学 | Underwater target identification method based on multi-mode fusion |
| CN112163461B (en) * | 2020-09-07 | 2022-07-05 | 中国海洋大学 | Underwater target identification method based on multi-mode fusion |
| CN112987726A (en) * | 2021-02-05 | 2021-06-18 | 中国人民解放军海军工程大学 | Tugboat maneuvering method for towing linear array to continuously contact target |
| CN114545422A (en) * | 2022-04-25 | 2022-05-27 | 杭州应用声学研究所(中国船舶重工集团公司第七一五研究所) | Active sonar target identification method based on multiple physical characteristics |
| CN114545422B (en) * | 2022-04-25 | 2022-07-19 | 杭州应用声学研究所(中国船舶重工集团公司第七一五研究所) | Active sonar target identification method based on multiple physical characteristics |
| CN115630288A (en) * | 2022-12-20 | 2023-01-20 | 中国电子科技集团公司第十四研究所 | Multi-source characteristic multi-level comprehensive identification processing framework |
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