CN110703259B - Underwater acoustic array channel phase consistency calibration method based on moving sound source - Google Patents

Underwater acoustic array channel phase consistency calibration method based on moving sound source Download PDF

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CN110703259B
CN110703259B CN201911005557.3A CN201911005557A CN110703259B CN 110703259 B CN110703259 B CN 110703259B CN 201911005557 A CN201911005557 A CN 201911005557A CN 110703259 B CN110703259 B CN 110703259B
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underwater acoustic
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CN110703259A (en
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兰华林
张思琪
靳建嘉
吕云飞
梅继丹
滕婷婷
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Harbin Engineering University
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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
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • 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
    • G01S7/52004—Means for monitoring or calibrating
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

A method for calibrating phase consistency among underwater acoustic array channels based on a moving sound source relates to an external field calibration method for phase consistency among underwater acoustic array channels, and belongs to the field of parameter estimation. The problem of when under the external field condition under the underwater matrix passageway phase calibration, because the sound source position is inaccurate, lead to poor phase calibration precision between the matrix passageway is solved. The invention utilizes a single motion sound source to send broadband signals, and utilizes the real-time position coordinates of the test ship and the real-time position coordinates of the underwater acoustic array to obtain the azimuth information of the test ship, thereby obtaining the real phase difference between the channels of the underwater acoustic array as reference, further obtaining the phase difference deviation value between the channels, and further calibrating the signals received by each detection channel. The method mainly calibrates the phases among the channels of the underwater acoustic array.

Description

Underwater acoustic array channel phase consistency calibration method based on moving sound source
Technical Field
The invention relates to an external field calibration method for phase consistency among underwater acoustic array channels, and belongs to the field of parameter estimation.
Background
The quaternary cross array has direction-finding capability, and is a concrete expression form of the underwater matrix, but when phase difference exists between channels of the underwater matrix, the azimuth estimation result is deteriorated, so that the phase difference between the channels of the matrix needs to be calibrated. In general, if the relative position of the sound source to the quaternary crosshair is known, the orientation of the sound source relative to the quaternary crosshair can be obtained.
But the phase difference calibration between the channels of the array is difficult to meet the free field condition in a pool and is particularly obvious under the low-frequency condition; in the external field condition, the sound source is usually towed on a ship, the sound source is in soft connection with the ship, and the accurate position of the sound source is difficult to measure by using a GPS (global positioning system), so that the direction of the sound source relative to the quaternary cross array and a reference value for calibrating the phase difference between array elements corresponding to the direction are difficult to obtain. Therefore, the above problems need to be solved.
Disclosure of Invention
The invention provides a method for calibrating phase consistency between underwater acoustic array channels based on a moving sound source, which aims to solve the problem of poor phase calibration precision between the array channels due to inaccurate sound source positions when the phases between the underwater array channels are calibrated under the condition of an external field.
The calibration method is realized based on a sound source transmitting system and a receiving system;
the sound source transmitting system comprises a test ship, a No. 1 GPS and a low-frequency sound source; the No. 1 GPS is fixed on a test ship, and a low-frequency sound source is hung at the stern of the test ship;
the receiving system comprises a buoy, a No. 2 GPS, an underwater acoustic array and a compass; the No. 2 GPS is fixed above the buoy, the underwater acoustic array is hung below the buoy, and the compass is fixed on the underwater acoustic array;
the underwater acoustic array comprises a plurality of array elements;
the calibration method comprises the following steps:
s1, arranging a sound source transmitting system and a sound source receiving system in an underwater test environment, fixing the underwater acoustic array at the water bottom in an anchoring mode, enabling a test ship to do uniform linear motion on the water surface, and enabling the nearest passing distance of the test ship relative to the underwater acoustic array to be 10 times of water depth;
s2, enabling a low-frequency sound source to emit a sound source signal, carrying out real-time azimuth estimation on the low-frequency sound source by the underwater acoustic array according to the received sound source signal and the course information of the underwater acoustic array measured by the compass to obtain azimuth estimation values of the low-frequency sound source relative to the underwater acoustic array at n moments, simultaneously measuring the real-time position coordinate of the test ship through the No. 1 GPS, and measuring the real-time position coordinate of the underwater acoustic array through the No. 2 GPS;
s3, obtaining the actual azimuth value of the test ship relative to the underwater acoustic array at n moments by using the real-time position coordinates of the test ship and the real-time position coordinates of the underwater acoustic array;
s4, obtaining the actual values of the low-frequency sound source relative to the underwater acoustic array azimuth at n moments by using the azimuth estimated value of the low-frequency sound source relative to the underwater acoustic array at n moments and the actual value of the azimuth of the test ship relative to the underwater acoustic array at n moments;
s5, obtaining reference phase differences at each frequency point between each detection channel of the underwater acoustic array at each moment by using course information acquired by a compass at each moment and an actual value of a low-frequency sound source relative to the azimuth of the underwater acoustic array;
s6, respectively carrying out Fourier transform on time domain waveform data of sound source signals received by all detection channels of the underwater acoustic array at each moment to obtain actual phase differences at all frequency points among all detection channels of the underwater acoustic array at each moment;
s7, subtracting the reference phase difference at each frequency point between the detection channels at the corresponding time from the actual phase difference at each frequency point between the detection channels of the underwater acoustic array at each time to obtain phase consistency calibration error data between the detection channels at each frequency point of a group of frequency points of the underwater acoustic array at each time, thereby obtaining phase consistency calibration error data between the detection channels at each frequency point of n groups of frequency points at n times, wherein the total number of the frequency points is L;
s8, denoising the n phase consistency calibration error data of each frequency point at n moments to obtain denoised calibration data of all the frequency points, and calibrating the phases among the detection channels of the underwater acoustic array by using the denoised calibration data of all the frequency points, thereby completing the calibration of the phase consistency among the channels of the underwater acoustic array.
Preferably, the acoustic source signal is a high power broadband signal.
Preferably, in step S1, the low frequency sound source and the underwater acoustic array are located in the same horizontal plane or close to the same horizontal plane.
Preferably, in step S4, the specific process of obtaining the actual values of the azimuth of the low-frequency sound source relative to the underwater acoustic array at n times by using the estimated values of the azimuth of the low-frequency sound source relative to the underwater acoustic array at n times and the actual values of the azimuth of the test ship relative to the underwater acoustic array at n times includes:
s41, carrying out differential operation on the azimuth estimated values of the low-frequency sound source relative to the underwater acoustic array at n moments to obtain a moment 1 corresponding to the position of the maximum value;
s42, carrying out differential operation on the azimuth actual values of the test ship relative to the underwater acoustic array at n moments to obtain a moment 2 corresponding to the position of the maximum value;
s43, making a difference between the time 1 and the time 2, and taking an absolute value to obtain a time delay difference value;
and S44, according to the time delay difference, performing time delay compensation on the actual value of the azimuth of the corresponding test ship relative to the underwater acoustic array at each time to obtain the actual value of the azimuth of the low-frequency sound source relative to the underwater acoustic array at n times.
Preferably, in step S5, the specific process of obtaining the reference phase difference at each frequency point between the detection channels of the underwater acoustic array at each time by using the heading information acquired by the compass at each time and the actual value of the low-frequency sound source relative to the underwater acoustic array azimuth at each time is as follows:
s51, establishing a matrix coordinate system in a horizontal plane where the underwater acoustic matrix is located, correcting the orientation of the low-frequency sound source relative to the underwater acoustic matrix by using the course information acquired by the compass at each moment, and obtaining the relative orientation of the low-frequency sound source relative to the underwater acoustic matrix in the matrix coordinate system at each moment;
s52, obtaining the time delay difference of sound source signals received between the detection channels of the underwater acoustic array at each moment by using the relative direction obtained in the step S51 and the relative position between the array elements of the underwater acoustic array;
and S53, obtaining the reference phase difference at each frequency point between the detection channels of the underwater acoustic array at each moment by using the time delay difference corresponding to each moment obtained in the step S52.
Preferably, in step S8, the denoising process is performed on n phase consistency calibration error data of each frequency point at n times, and the specific process of obtaining the denoised calibration data of all frequency points is as follows:
and carrying out arithmetic mean on n phase consistency calibration error data of each frequency point at n moments so as to obtain the de-noised calibration data of each frequency point and further realize the acquisition of the de-noised calibration data of all the frequency points.
The underwater acoustic array test system has the beneficial effects that a single motion sound source is utilized to send broadband signals, and the real-time position coordinates of the test ship and the real-time position coordinates of the underwater acoustic array are utilized to obtain the azimuth information of the test ship, so that the real phase difference between the underwater array channels is obtained as a reference, and further the phase difference deviation value between the channels is obtained. In the calibration process, firstly, azimuth estimated values of low-frequency sound sources relative to an underwater acoustic array at all moments and azimuth actual values of a test ship relative to the underwater acoustic array at all moments are obtained, and then the actual values of the low-frequency sound sources relative to the underwater acoustic array at all moments are obtained according to the two results; obtaining a reference phase difference at each frequency point between each detection channel of the underwater acoustic array at the current moment according to the actual value of the low-frequency sound source azimuth; and correcting the actual phase difference at each frequency point between the detection channels of the underwater acoustic array according to the reference phase difference to obtain accurate phase consistency errors between the channels of the underwater acoustic array, wherein the accurate phase consistency calibration errors can be used for calibrating signals received by the detection channels, and the azimuth estimation precision and the detection capability of the underwater detection array are effectively improved.
Drawings
FIG. 1 is a diagram of the relative positions of a test vessel, a low frequency sound source and an underwater acoustic array, where R0 is the closest passing distance of the test vessel relative to the underwater acoustic array;
FIG. 2 is a diagram of the relationship between an acoustic source transmission system and a receiving system;
FIG. 3 is a diagram of relative positions of array elements in an underwater acoustic array;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
Referring to fig. 1 and fig. 2, the embodiment is described, and the calibration method for phase consistency between channels of an underwater acoustic array based on a moving sound source is implemented based on a sound source transmitting system 1 and a receiving system 2;
the sound source transmitting system 1 comprises a test ship 1-1, a No. 1 GPS1-2 and a low-frequency sound source 1-3; the No. 1 GPS1-2 is fixed on the test ship 1-1, and the low-frequency sound source 1-3 is hung at the stern of the test ship 1-1;
the receiving system 2 comprises a buoy 2-1, a No. 2 GPS2-2, an underwater acoustic array 2-3 and a compass 2-4; the GPS2-2 No. 2 is fixed above the buoy 2-1, the underwater acoustic array 2-3 is hung below the buoy 2-1, and the compass 2-4 is fixed on the underwater acoustic array 2-3;
the underwater acoustic array 2-3 comprises a plurality of array elements;
the calibration method comprises the following steps:
s1, arranging a sound source transmitting system 1 and a receiving system 2 in an underwater test environment, fixing an underwater acoustic array 2-3 at the water bottom in an anchoring mode, enabling a test ship 1-1 to do uniform linear motion on the water surface, and enabling the nearest passing distance of the test ship 1-1 relative to the underwater acoustic array 2-3 to be 10 times of water depth;
s2, enabling the low-frequency sound source 1-3 to emit sound source signals, carrying out real-time azimuth estimation on the low-frequency sound source 1-3 by the underwater acoustic array 2-3 according to the received sound source signals and the course information of the underwater acoustic array 2-3 measured by the compass 2-4 to obtain azimuth estimation values of the low-frequency sound source 1-3 relative to the underwater acoustic array 2-3 at n moments, simultaneously measuring the real-time position coordinates of the test ship 1-1 through the No. 1 GPS1-2, and measuring the real-time position coordinates of the underwater acoustic array 2-3 through the No. 2 GPS 2-2;
s3, obtaining the actual azimuth value of the test ship 1-1 relative to the underwater acoustic array 2-3 at n moments by using the real-time position coordinates of the test ship 1-1 and the real-time position coordinates of the underwater acoustic array 2-3;
s4, obtaining the actual values of the low-frequency sound source 1-3 relative to the underwater acoustic array 2-3 at n moments by using the azimuth estimated value of the low-frequency sound source 1-3 relative to the underwater acoustic array 2-3 at n moments and the actual azimuth value of the test ship 1-1 relative to the underwater acoustic array 2-3 at n moments;
s5, obtaining reference phase differences at each frequency point between detection channels of the underwater acoustic array 2-3 at each moment by using the course information collected by the compass 2-4 at each moment and the actual value of the low-frequency sound source 1-3 relative to the azimuth of the underwater acoustic array 2-3;
s6, respectively carrying out Fourier transform on time domain waveform data of sound source signals received by the detection channels of the underwater acoustic array 2-3 at each moment to obtain actual phase differences at frequency points among the detection channels of the underwater acoustic array 2-3 at each moment;
s7, subtracting the reference phase difference at each frequency point between the detection channels at the corresponding time from the actual phase difference at each frequency point between the detection channels of the underwater acoustic array 2-3 at each time to obtain phase consistency calibration error data between the detection channels at each frequency point of a group of the underwater acoustic array 2-3 at each time, thereby obtaining phase consistency calibration error data between the detection channels at each frequency point of n groups of frequency points at n times, wherein the total number of the frequency points is L;
s8, denoising the n phase consistency calibration error data of each frequency point at n moments to obtain denoised calibration data of all the frequency points, and calibrating the phases among the detection channels of the underwater acoustic array 2-3 by using the denoised calibration data of all the frequency points, thereby completing the calibration of the phase consistency among the channels of the underwater acoustic array.
Further, the sound source signal is a high-power broadband signal.
Further, in step S1, the low frequency sound source 1-3 and the underwater acoustic array 2-3 are located in the same horizontal plane or close to the same horizontal plane.
Further, in step S4, the specific process of obtaining the actual values of the azimuth of the low-frequency sound source 1-3 at n times relative to the underwater acoustic array 2-3 by using the estimated value of the azimuth of the low-frequency sound source 1-3 at n times relative to the underwater acoustic array 2-3 and the actual value of the azimuth of the test ship 1-1 at n times relative to the underwater acoustic array 2-3 is as follows:
s41, carrying out differential operation on the azimuth estimated values of the low-frequency sound sources 1-3 at n moments relative to the underwater acoustic array 2-3 to obtain a moment 1 corresponding to the maximum position;
s42, carrying out differential operation on the azimuth actual values of the test ship 1-1 relative to the underwater acoustic array 2-3 at n moments to obtain a moment 2 corresponding to the maximum position;
s43, making a difference between the time 1 and the time 2, and taking an absolute value to obtain a time delay difference value;
s44, according to the time delay difference, time delay compensation is carried out on the actual value of the azimuth of the corresponding test ship 1-1 relative to the underwater acoustic array 2-3 at each time, and the actual value of the azimuth of the low-frequency sound source 1-3 relative to the underwater acoustic array 2-3 at n times is obtained.
Further, in step S5, the specific process of obtaining the reference phase difference at each frequency point between the detection channels of the underwater acoustic array 2-3 at each time by using the heading information acquired by the compass 2-4 at each time and the actual value of the low-frequency sound source 1-3 with respect to the orientation of the underwater acoustic array 2-3 at each time is as follows:
s51, establishing a matrix coordinate system in a horizontal plane where the underwater acoustic matrix 2-3 is located, correcting the orientation of the low-frequency sound source 1-3 relative to the underwater acoustic matrix 2-3 by using course information acquired by the compass 2-4 at each moment, and obtaining the relative orientation of the low-frequency sound source 1-3 relative to the underwater acoustic matrix 2-3 in the matrix coordinate system at each moment;
s52, obtaining the time delay difference of sound source signals received between the detection channels of the underwater acoustic array 2-3 at each moment by using the relative orientation obtained in the step S51 and the relative position between the array elements of the underwater acoustic array 2-3;
and S53, obtaining the reference phase difference at each frequency point between the detection channels of the underwater acoustic array 2-3 at each moment by using the time delay difference corresponding to each moment obtained in the step S52.
Further, in step S8, the denoising process is performed on the n phase consistency calibration error data of each frequency point at n times, and the specific process of obtaining the denoised calibration data of all frequency points is as follows:
and carrying out arithmetic mean on n phase consistency calibration error data of each frequency point at n moments so as to obtain the de-noised calibration data of each frequency point and further realize the acquisition of the de-noised calibration data of all the frequency points.
In the present embodiment, as shown in fig. 3, an underwater acoustic array 2-3 is taken as an example to explain the quaternary cross array, where the quaternary cross array includes four array elements, and each array element corresponds to 1 detection channel;
for time n, the GPS position of the test vessel is (x)ship(n),yship(n)), the GPS position of the underwater acoustic array 2-3 is (x)array(n),yarray(n)), calculating the actual value theta of the test ship relative to the underwater acoustic array orientation at the momentship(n) is:
Figure GDA0003032360800000061
in the formula tan-1(. cndot.) denotes the inverse tangent.
The sequence of actual values of the test vessel orientation at all times is then θship(N), where N is 1. ltoreq. n.ltoreq.N, N being the number of azimuths.
To thetaship(n) carrying out difference and taking absolute value to obtain a difference sequence delta theta of the actual value of the azimuth of the test shipship(n)：
Δθship(n)＝|θship(n+1)-θship(n)| (2)
N is more than or equal to 1 and less than or equal to N-1 in the formula 2;
finding Delta thetashipTime n corresponding to the maximum value of (n)1，n1For the moment when the test ship is closest to the underwater acoustic array:
Figure GDA0003032360800000071
the method is realized by utilizing the received signals of the channels of the underwater acoustic array 2-3 and the course information measured by the compass to calculate the direction of the low-frequency sound source:
for the array type shown in FIG. 3, (0, a), (0, -a), (a, 0), and (-a, 0) represent the coordinates of 4 array elements, respectively. Thus array element 1 and array element 3 are at a distance d13，d132a, the distance between the array element 2 and the array element 4 is d24：d242 a. The broadband signals received by the four channels and transmitted by the low-frequency sound source at the time n are respectively sj(T, n), j is 1,2,3,4,0 ≦ T, T being the observed signal time length. Channels 1 to 4 respectively represent channels of array elements 1 to 4;
computing a channel 1 time n signal s1(t, n) and channel 3 time n signal s3Correlation result R of (t, n)13(τ,n)：
Figure GDA0003032360800000072
In the formula s3(t- τ, n) is the signal s at time n3(t, n) a signal delayed by- τ;
computing a channel 2 time n signal s2(t, n) and channel 4 time n signal s4Correlation result R of (t, n)24(τ,n)：
Figure GDA0003032360800000073
In the formula s4(t- τ, n) is the signal s at time n4(t, n) delay- τ.
Respectively obtain R13(τ, n) and R24τ corresponding to the maximum position of (τ, n) is recorded as the time delay difference between channel 1 and channel 3
Figure GDA0003032360800000074
Delay difference of sum channel 2 and channel 4
Figure GDA0003032360800000075
Figure GDA0003032360800000076
Figure GDA0003032360800000077
The low frequency sound source orientation is found using the following equation:
Figure GDA0003032360800000078
compass data theta using underwater acoustic array time nc(n) for low frequency sound source orientation
Figure GDA0003032360800000081
Correcting to obtain the actual value of the azimuth of the low-frequency sound source
Figure GDA0003032360800000082
Figure GDA0003032360800000083
For all time instants
Figure GDA0003032360800000084
Carrying out difference and taking absolute value to obtain a difference sequence of actual values of the low-frequency sound source azimuth acoustic array
Figure GDA0003032360800000085
Figure GDA0003032360800000086
Where 1. ltoreq. n.ltoreq.N-1;
obtaining
Figure GDA0003032360800000087
Time n corresponding to the maximum value of (1)2：
Figure GDA0003032360800000088
Advancing the time sequence n corresponding to the GPS estimation result of the azimuth of the test ship by n2-n1And obtaining the actual azimuth of the low-frequency sound source:
θ(n)＝θship(n-n1+n2) (12)；
compass data theta using underwater acoustic array time nc(n) reversely correcting the actual azimuth theta (n) of the low-frequency sound source to obtain the relative azimuth of the low-frequency sound source in the underwater acoustic array coordinate system:
θre(n)＝θ(n)-θc(n) (13)；
here, the north direction of the compass is the same as the direction in which the underwater acoustic array cell 3 points to the cell 1.
θre(n) is the azimuth angle of the sound source relative to the underwater acoustic array 2-3 under the underwater acoustic array coordinate system at the moment n, and according to the array type of the quaternary cross, the method comprises the following steps:
Figure GDA0003032360800000089
Figure GDA00030323608000000810
then there is
Figure GDA00030323608000000811
Figure GDA0003032360800000091
Where f represents the frequency of the signal,
Figure GDA0003032360800000092
is the reference phase difference of the array element 1 and the array element 3,
Figure GDA0003032360800000093
The reference phase difference of the array element 2 and the array element 4 is obtained; tau is240(n) is the reference time delay difference of the array element 2 and the array element 4, tau130And (n) is the reference time delay difference of the array element 1 and the array element 3.
For the purpose of the invention, 4 channel signals s of an underwater acoustic array are subjected toj(t) Fourier transform to obtain Sj(f)：
Sj(f)＝FT(sj(t)) (18)；
Here, FT (-) denotes fourier transform.
The Fourier transform result of the underwater acoustic array channel m and channel n signals is multiplied in a conjugate mode to obtain a cross-spectrum result Pm,n(f)；
Pm,n(f)＝Sm(f)Sn(f)H (19)；
H represents conjugation.
According to the formula, 1 and 3 detection channel cross spectra P can be obtained1,3(f) And 2, 4 cross-spectra P of the detection channels2,4(f) In that respect And (3) obtaining a corresponding phase difference estimation result by taking the argument of the cross spectrum at the frequency f:
Figure GDA0003032360800000094
Figure GDA0003032360800000095
in the formula, Arg (-) represents the argument of the complex number.
Subtracting the phase difference of the received signal from the reference phase difference to obtain a system phase difference:
Figure GDA0003032360800000096
Figure GDA0003032360800000097
and phase consistency calibration errors of the channel 1 and the channel 3 and phase consistency calibration errors of the channel 2 and the channel 4 are obtained, and phase consistency calibration errors among other detection channels are calculated in the same way.
And repeating the calculation process for all the moments n in the sound source emission period, and respectively averaging the results of each frequency point to obtain the phase consistency calibration error after the noise influence is removed, namely the accurate phase consistency calibration error.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.

Claims (6)

1. The calibration method for the phase consistency among the underwater acoustic array channels based on the moving sound source is realized based on a sound source transmitting system (1) and a receiving system (2);
the sound source transmitting system (1) comprises a test ship (1-1), a No. 1 GPS (1-2) and a low-frequency sound source (1-3); the No. 1 GPS (1-2) is fixed on the test ship (1-1), and the low-frequency sound source (1-3) is hung at the stern of the test ship (1-1);
the receiving system (2) comprises a buoy (2-1), a No. 2 GPS (2-2), an underwater acoustic array (2-3) and a compass (2-4); the GPS2 (2-2) is fixed above the buoy 2-1, the underwater acoustic array 2-3 is hoisted below the buoy 2-1, and the compass 2-4 is fixed on the underwater acoustic array 2-3;
the underwater acoustic array (2-3) comprises a plurality of array elements;
the calibration method is characterized by comprising the following steps:
s1, arranging a sound source transmitting system (1) and a receiving system (2) in an underwater test environment, fixing an underwater acoustic array (2-3) at the bottom of a water in an anchoring mode, enabling a test ship (1-1) to do uniform linear motion on the water surface, and enabling the nearest passing distance of the test ship (1-1) relative to the underwater acoustic array (2-3) to be 10 times of water depth;
s2, enabling a low-frequency sound source (1-3) to emit sound source signals, carrying out real-time azimuth estimation on the low-frequency sound source (1-3) by an underwater acoustic array (2-3) according to the received sound source signals and the course information of the underwater acoustic array (2-3) measured by a compass (2-4), obtaining azimuth estimation values of the low-frequency sound source (1-3) relative to the underwater acoustic array (2-3) at n moments, simultaneously measuring the real-time position coordinates of a test ship (1-1) through a No. 1 GPS (1-2), and measuring the real-time position coordinates of the underwater acoustic array (2-3) through a No. 2 GPS (2-2);
s3, obtaining the actual azimuth value of the test ship (1-1) relative to the underwater acoustic array (2-3) at n moments by using the real-time position coordinate of the test ship (1-1) and the real-time position coordinate of the underwater acoustic array (2-3);
s4, obtaining the actual values of the azimuth of the low-frequency sound source (1-3) relative to the underwater acoustic array (2-3) at n moments by using the azimuth estimated value of the low-frequency sound source (1-3) relative to the underwater acoustic array (2-3) at n moments and the actual value of the azimuth of the test ship (1-1) relative to the underwater acoustic array (2-3) at n moments;
s5, acquiring reference phase differences at frequency points among detection channels of the underwater acoustic array (2-3) at each moment by using course information acquired by the compass (2-4) at each moment and actual values of the low-frequency sound source (1-3) relative to the orientation of the underwater acoustic array (2-3);
s6, respectively carrying out Fourier transform on time domain waveform data of sound source signals received by all detection channels of the underwater acoustic array (2-3) at each moment to obtain actual phase difference at all frequency points among all detection channels of the underwater acoustic array (2-3) at each moment;
s7, subtracting the reference phase difference at each frequency point between the detection channels at the corresponding time from the actual phase difference at each frequency point between the detection channels of the underwater acoustic array (2-3) at each time to obtain phase consistency calibration error data between the detection channels of the underwater acoustic array (2-3) at each frequency point of a group at each time, thereby obtaining phase consistency calibration error data between the detection channels at each frequency point of n groups at n times, wherein the total number of the frequency points is L;
s8, denoising the n phase consistency calibration error data of each frequency point at n moments to obtain denoised calibration data of all the frequency points, and calibrating the phases among the detection channels of the underwater acoustic array (2-3) by using the denoised calibration data of all the frequency points, thereby completing the calibration of the phase consistency among the channels of the underwater acoustic array.
2. The method for calibrating the phase consistency between the channels of the underwater acoustic array based on the moving sound source according to claim 1, wherein the sound source signal is a high-power broadband signal.
3. The method for calibrating the inter-channel phase consistency of the underwater acoustic array based on the moving sound source as claimed in claim 1, wherein in step S1, the low-frequency sound source (1-3) and the underwater acoustic array (2-3) are located in the same horizontal plane or close to the same horizontal plane.
4. The method for calibrating the inter-channel phase congruency of the underwater acoustic array based on the moving sound source according to claim 1, wherein in step S4, the specific process of obtaining the actual values of the azimuth of the low-frequency sound source (1-3) relative to the underwater acoustic array (2-3) at n times by using the azimuth estimated value of the low-frequency sound source (1-3) relative to the underwater acoustic array (2-3) at n times and the actual value of the azimuth of the test ship (1-1) relative to the underwater acoustic array (2-3) at n times is as follows:
s41, carrying out difference operation on the azimuth estimated values of the low-frequency sound source (1-3) relative to the underwater acoustic array (2-3) at n moments to obtain a moment 1 corresponding to the position of the maximum value;
s42, carrying out difference operation on the azimuth actual values of the test ship (1-1) relative to the underwater acoustic array (2-3) at n moments to obtain a moment 2 corresponding to the position of the maximum value;
s43, making a difference between the time 1 and the time 2, and taking an absolute value to obtain a time delay difference value;
s44, according to the time delay difference, time delay compensation is carried out on the actual value of the azimuth of the corresponding test ship (1-1) relative to the underwater acoustic array (2-3) at each moment, and the actual value of the azimuth of the low-frequency sound source (1-3) relative to the underwater acoustic array (2-3) at n moments is obtained.
5. The method for calibrating the inter-channel phase consistency of the underwater acoustic array based on the moving sound source according to claim 1, wherein in step S5, the specific process of obtaining the reference phase difference at each frequency point between the detection channels of the underwater acoustic array (2-3) at each time by using the heading information collected by the compass (2-4) at each time and the actual value of the orientation of the low-frequency sound source (1-3) relative to the underwater acoustic array (2-3) is as follows:
s51, establishing a matrix coordinate system in a horizontal plane where the underwater acoustic matrix (2-3) is located, correcting the orientation of the low-frequency sound source (1-3) relative to the underwater acoustic matrix (2-3) by using course information acquired by the compass (2-4) at each moment, and obtaining the relative orientation of the low-frequency sound source (1-3) relative to the underwater acoustic matrix (2-3) in the matrix coordinate system at each moment;
s52, obtaining the time delay difference of sound source signals received between the detection channels of the underwater acoustic array (2-3) at each moment by using the relative azimuth obtained in the step S51 and the relative position between the array elements of the underwater acoustic array (2-3);
and S53, obtaining the reference phase difference at each frequency point between the detection channels of the underwater acoustic array (2-3) at each moment by using the time delay difference corresponding to each moment obtained in the step S52.
6. The underwater acoustic array channel phase consistency calibration method based on the moving sound source as claimed in claim 1, wherein in step S8, the denoising process is performed on n phase consistency calibration error data of each frequency point at n times, and the specific process of obtaining the denoised calibration data of all frequency points is as follows:
and carrying out arithmetic mean on n phase consistency calibration error data of each frequency point at n moments so as to obtain the de-noised calibration data of each frequency point and further realize the acquisition of the de-noised calibration data of all the frequency points.
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