CN110764092A - Underwater sound target orientation tracking method and system based on orientation history map - Google Patents

Underwater sound target orientation tracking method and system based on orientation history map Download PDF

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CN110764092A
CN110764092A CN201911016360.XA CN201911016360A CN110764092A CN 110764092 A CN110764092 A CN 110764092A CN 201911016360 A CN201911016360 A CN 201911016360A CN 110764092 A CN110764092 A CN 110764092A
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azimuth
target
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current time
azimuth angle
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CN110764092B (en
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李超
林一超
王海斌
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Institute of Acoustics CAS
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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
    • G01S15/66—Sonar tracking systems
    • 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
    • G01S15/006—Theoretical aspects
    • 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
    • G01S7/537—Counter-measures or counter-counter-measures, e.g. jamming, anti-jamming
    • 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

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Abstract

The invention discloses an underwater sound target position tracking method and system based on a position history chart, wherein the method comprises the following steps: step 1) establishing an underwater sound target azimuth course map; step 2) a previous time Tn‑1The target azimuth angle is used as a search center, and the current time T is establishednThe matching template of (2); step 3) based on Tn‑1The matching template of the time is used for searching the current time T within a certain azimuth angle searching rangenThe azimuth history chart is subjected to two-dimensional matching search, and the azimuth corresponding to the position with the highest matching degree is taken as TnThe orientation of the time; and 4) adding 1 to n, and turning to the step 2) until the target disappears. The method can effectively inhibit multi-target interference and realize stable and continuous tracking of the weak target direction.

Description

Underwater sound target orientation tracking method and system based on orientation history map
Technical Field
The invention relates to the technical field of passive sonar signal and information processing, in particular to an underwater sound target direction tracking method and system based on a direction history chart.
Background
Radiated noise of an underwater sound target, such as engine noise, underwater sound detection pulse, underwater sound communication pulse and the like, can be utilized by the passive detection sonar array for target directional tracking.
The method for finding and automatically tracking the target by means of the underwater sound target position history map is a commonly used method for finding and automatically tracking the underwater sound target. And if the underwater sound source exists in the current azimuth direction, the amplitudes of the array element signals after time compensation can be superposed in the same direction in the fusion process, otherwise, the amplitudes can be completely or partially offset. Thus, the energy of the synthesized beam at the target location may be higher than the synthesized beams at other locations. If the noise source exists continuously, a stable bright track is presented on the underwater sound target azimuth process chart, and the track generates corresponding inclination or bending change along with the change of the azimuth angle of the target sound source.
In practical applications, if a user finds a bright track on the underwater acoustic target azimuth history map, the corresponding azimuth may be considered to have the target. The track is tracked, and the azimuth tracking of the target can be realized. In order to reduce the workload of the user in executing the duty task, the target position can be tracked in an automatic tracking mode. The existing automatic underwater sound target position tracking method comprises the following specific steps:
1. user is at TnAfter the target is found at any moment, manually initializing a target azimuth angle;
2. at the next moment Tn+1Automatic tracking system with TnThe target azimuth angle at the moment is taken as the center, the synthetic beam with the maximum energy is searched in the limited azimuth angle range, and the corresponding azimuth angle is taken as Tn+1A target azimuth of time;
3. by Tn+1The target azimuth angle measured at the moment is taken as the next Tn+2Searching the synthetic beam with the maximum energy in a limited azimuth angle range by using the searching center of the target azimuth angle at the moment, and taking the corresponding azimuth angle as Tn+2A target azimuth of time;
in practical application, the track tracking of the underwater acoustic azimuth history chart faces the problem of multi-target cross interference. The method is characterized in that when other interference objects appear near the position of an interest target, a cross track appears on a position process diagram, and tracking deviation is caused. Especially, when the noise intensity of the target of interest is weaker than that of the interfering target, the conventional tracking method inevitably causes tracking deviation.
Disclosure of Invention
The invention aims to overcome the technical defects and provides an underwater sound target position tracking method based on a position history chart, which comprises the following steps:
step 1) establishing an underwater sound target azimuth course map;
step 2) a previous time Tn-1The target azimuth angle is used as a search center, and the current time T is establishednThe matching template of (2);
step 3) based on the current time TnThe matching template of (2) is used for searching the current time T within a certain azimuth angle searching rangenThe azimuth process chart is subjected to two-dimensional matching search, and the azimuth angle corresponding to the position with the highest matching degree is taken as the current time TnThe azimuth of (d);
and 4) adding 1 to n, and turning to the step 2) until the target disappears.
As an improvement of the above method, the step 2) specifically includes:
step 201) carrying out motion trail analysis on the interest target on an azimuth process diagram to obtain an azimuth change situation in the previous delta T time period;
the bright track on the target azimuth process diagram is described as t ═ k α + b, t represents time, α represents the azimuth angle of the target at the time t, and k and b are parameters to be estimated;
the parameters k and b are estimated by means of minimum variance, and the following parameters are obtained:
Figure BDA0002245838380000021
Figure BDA0002245838380000022
wherein, αn-1-iRepresents Tn-1-iA target azimuth of time; i is more than or equal to 1 and less than or equal to m; m is the number of snapshots used for motion analysis; at initial moment, by manual discoveryA target, acquiring an azimuth angle of the target;
step 202) according to the motion trail analysis result in the step 201), establishing the current time T on the target azimuth course mapnThe matching template of (2);
establishing a matrix G of a matching template, wherein each row of the G corresponds to a snapshot time point, each column corresponds to an observation angle, and the calculation mode of the value of each element of the G is as follows:
Figure BDA0002245838380000023
wherein
x1＝x cosθ+y sinθ
y1＝-x sinθ+y cosθ
Wherein,
Figure BDA0002245838380000031
gamma is the space aspect ratio of the stripe, delta is the standard deviation of the Gaussian factor, and lambda is the adjustment parameter of the stripe width.
As an improvement of the above method, the step 3) specifically includes:
at the current time TnAt a previous time Tn-1The target azimuth of the template is taken as the center, and the sliding matching is carried out along the abscissa by taking the matrix G of the matched template as the standard in the limited azimuth range;
calculating a correlation parameter Corr in the sliding process:
Figure BDA0002245838380000032
wherein [ - β]The range of values of the azimuth angle corresponding to the matrix G,
Figure BDA0002245838380000033
as an azimuth history map
Figure BDA0002245838380000034
The corresponding energy value at the node;
Figure BDA0002245838380000035
is azimuth angle, value range [ αn-1-β，αn-1+β](ii) a Tau is time and value range [ Tn-ΔT，Tn]；αn-1Is Tn-1A target azimuth of time;
when the correlation parameter Corr is maximum, its corresponding azimuth angle
Figure BDA0002245838380000038
For the target at the current time TnIs measured.
The invention also provides an underwater sound target position tracking system based on the position history chart, which comprises:
the azimuth process map establishing module is used for establishing an underwater sound target azimuth process map;
a matching template establishing module for establishing the current time Tn-1The target azimuth angle is used as a search center, and the current time T is establishednThe matching template of (2);
a search module for searching for a search result based on the current time TnThe matching template of (2) is used for searching the current time T within a certain azimuth angle searching rangenThe azimuth process chart is subjected to two-dimensional matching search, and the azimuth angle corresponding to the position with the highest matching degree is taken as the current time TnIs measured.
As an improvement of the above system, the specific implementation process of the matching template establishing module is as follows:
analyzing the motion trail of the interest target on the azimuth process diagram to obtain the azimuth change situation in the previous delta T time period;
the bright track on the target azimuth process diagram is described as t ═ k α + b, t represents time, α represents the azimuth angle of the target at the time t, and k and b are parameters to be estimated;
the parameters k and b are estimated by means of minimum variance, and the following parameters are obtained:
wherein, αn-1-iRepresents Tn-1-iA target azimuth of time; i is more than or equal to 1 and less than or equal to m; m is the number of snapshots used for motion analysis; at the initial moment, manually finding a target to obtain the azimuth angle of the target;
according to the motion trail analysis result, the current time T on the target azimuth process chart is establishednThe matching template of (2);
establishing a matrix G of a matching template, wherein each row of the G corresponds to a snapshot time point, each column corresponds to an observation angle, and the calculation mode of the value of each element of the G is as follows:
Figure BDA0002245838380000041
wherein
x1＝x cosθ+y sinθ
y1＝-x sinθ+y cosθ
Wherein,
Figure BDA0002245838380000042
gamma is the space aspect ratio of the stripe, delta is the standard deviation of the Gaussian factor, and lambda is the adjustment parameter of the stripe width.
As an improvement of the above system, the specific implementation process of the search module is as follows:
at the current time TnAt a previous time Tn-1The target azimuth of the template is taken as the center, and the sliding matching is carried out along the abscissa by taking the matrix G of the matched template as the standard in the limited azimuth range;
calculating a correlation parameter Corr in the sliding process:
Figure BDA0002245838380000043
wherein [ - β]The range of values of the azimuth angle corresponding to the matrix G,
Figure BDA0002245838380000044
as an azimuth history map
Figure BDA0002245838380000045
The corresponding energy value at the node;
Figure BDA0002245838380000046
is azimuth angle, value range [ αn-1-β，αn-1+β](ii) a Tau is time and value range [ Tn-ΔT，Tn]；αn-1Is Tn-1A target azimuth of time;
when the correlation parameter Corr is maximum, its corresponding azimuth angle
Figure BDA0002245838380000047
For the target at the current time TnIs measured.
The invention has the advantages that:
the method can effectively inhibit multi-target interference and realize stable and continuous tracking of the weak target direction.
Drawings
FIG. 1 is an original diagram of a target azimuth map for testing;
FIG. 2 is a tracking result of a conventional tracking method;
FIG. 3 is a schematic diagram illustrating the results of the underwater acoustic target direction finding method based on the azimuth history map.
Detailed Description
The method of the present invention will be described in detail below.
The invention provides an underwater sound target position tracking method based on a position history chart, which specifically comprises the following steps:
step 1) establishing an underwater acoustic target azimuth course map, which specifically comprises the following steps:
1. intercepting sonar array receiving signals with fixed length according to a certain time interval;
2. calculating the time difference of target noise received by each array element under a corresponding azimuth angle according to a certain azimuth angle interval by taking a certain array element of the sonar array as a reference;
3. according to the time difference of the target noise received by each array element, performing time compensation on the received signals of each array element (translating a signal delay time axis to enable the initial phases of the received target noise of each array element to be consistent);
4. carrying out weighting or equal-weight fusion on the received signals after time compensation to obtain synthetic beams under corresponding azimuth angles;
5. calculating the total energy value of the synthesized beam under the corresponding azimuth angle to obtain a beam energy spectrum with the azimuth angle as a horizontal coordinate and the energy amplitude value as a vertical coordinate, wherein the beam energy spectrum is called as the azimuth energy spectrum of the synthesized beam;
6. and establishing a time-azimuth angle space coordinate system, and representing the beam energy amplitude corresponding to the < time azimuth > by using a gray value to obtain an underwater sound target azimuth course map.
Step 2) a previous time Tn-1The target azimuth of the target is used as a search center, and a matching template is established;
step 201) carrying out motion trail analysis on the interest target on an azimuth process diagram to obtain the azimuth change situation in the time period of near delta T;
the azimuth corresponding to the target at the time T is α, considering that the azimuth of the underwater sound target generally changes slowly and can be approximately linearly changed within a certain short time period delta T, a bright track on a target azimuth process diagram can be described as T ═ k α + b, wherein T represents time, α represents the azimuth of the target at the time T, k and b are parameters to be estimated, and parameters k and b are estimated by adopting a minimum variance-based method, so that the method comprises the following steps:
the parameters k and b are estimated by means of minimum variance, and the following parameters are obtained:
Figure BDA0002245838380000051
wherein, αn-1-iRepresents Tn-1-iA target azimuth of time; i is more than or equal to 1 and less than or equal to m; m is the number of snapshots used for motion analysis; at the initial moment, manually finding a target to obtain the azimuth angle of the target;
step 202) assuming a target current time TnThe motion situation of the target is the same as the motion situation presented in the previous delta T time period, and then the T on the target azimuth course graph can be obtained by an image simulation method according to the motion track analysis result in the step 201)nMatching templates of the time;
establishing a matrix G of a matching template, wherein each row of the G corresponds to a snapshot time point, each column corresponds to an observation angle, and the calculation mode of the value of each node of the G is as follows:
Figure BDA0002245838380000061
wherein
x1＝x cosθ+y sinθ
y1＝-x sinθ+y cosθ
In the above formula
Figure BDA0002245838380000062
Gamma is the space aspect ratio of the stripe, delta is the standard deviation of the Gaussian factor, and lambda is the adjustment parameter of the stripe width.
Step 3) based on TnMatching template of time, searching current T in certain azimuth anglenPerforming two-dimensional matching search on the azimuth history chart at the moment, and taking the azimuth corresponding to the position with the highest matching degree as TnThe target can be tracked by the latest direction at all times;
at the current time TnAt a previous time Tn-1The target azimuth of the template is taken as the center, and the sliding matching is carried out along the abscissa by taking the matrix G of the matched template as the standard in the limited azimuth range;
calculating a correlation parameter Corr in the sliding process:
Figure BDA0002245838380000063
wherein [ - β]The range of values of the azimuth angle corresponding to the matrix G,
Figure BDA0002245838380000064
as an azimuth history map
Figure BDA0002245838380000065
The corresponding energy value at the node;
Figure BDA0002245838380000066
is azimuth angle, value range [ αn-1-β，αn-1+β](ii) a Tau is time and value range [ Tn-ΔT，Tn]；αn-1Is Tn-1A target azimuth of time;
when the correlation parameter Corr is maximum, its corresponding azimuth angle
Figure BDA0002245838380000067
Is targeted at TnAzimuth of time.
And 4) adding 1 to n, and turning to the step 2) until the target disappears.
The invention also provides an underwater sound target position tracking system based on the position history chart, which comprises:
the azimuth process map establishing module is used for establishing an underwater sound target azimuth process map;
a matching template establishing module for establishing the current time Tn-1The target azimuth angle is used as a search center, and the current time T is establishednThe matching template of (2);
a search module for searching for a search result based on the current time TnThe matching template of (2) is used for searching the current time T within a certain azimuth angle searching rangenThe azimuth process chart is subjected to two-dimensional matching search, and the azimuth angle corresponding to the position with the highest matching degree is taken as the current time TnIs measured.
Example verification:
FIG. 1 shows an original image of a course map of an orientation target for testing. The brighter the trace in fig. 1, the stronger the target intensity. There are 3 targets from left to right at the bottom of fig. 1, where the leftmost target is a weak target of interest and the remaining two targets are strong interfering targets. The weak target of interest forms a crossover with two strong interfering targets simultaneously.
Fig. 2 shows the tracking result of the conventional tracking method based on the energy maximum, which is indicated by green crosses in the azimuth history chart. It is clearly seen that a tracking deviation is induced at the first strong target disturbance, resulting in a tracking failure.
Fig. 3 shows the tracking result of the method of the present invention. The priori information is data of 90 snapshots, the width of a matching template G is 20 observation azimuth intervals, the height of G is 30 snapshot intervals, the spatial aspect ratio gamma of the stripes is 0.05, the standard deviation delta of Gaussian factors is 2.4, and the width lambda of the stripes is 30. The method effectively avoids the interference of strong targets at the multi-target intersection points, and successfully tracks the weak track of the interested target in the direction.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (6)

1. An underwater acoustic target position tracking method based on a position history map, the method comprising:
step 1) establishing an underwater sound target azimuth course map;
step 2) a previous time Tn-1The target azimuth angle is used as a search center, and the current time T is establishednThe matching template of (2);
step 3) based on the current time TnThe matching template of (2) is used for searching the current time T within a certain azimuth angle searching rangenThe azimuth process chart is subjected to two-dimensional matching search, and the azimuth angle corresponding to the position with the highest matching degree is taken as the current time TnThe azimuth of (d);
and 4) adding 1 to n, and turning to the step 2) until the target disappears.
2. The method according to claim 1, wherein the step 2) specifically comprises:
step 201) carrying out motion trail analysis on the interest target on an azimuth process diagram to obtain an azimuth change situation in the previous delta T time period;
the bright track on the target azimuth process diagram is described as t ═ k α + b, t represents time, α represents the azimuth angle of the target at the time t, and k and b are parameters to be estimated;
the parameters k and b are estimated by means of minimum variance, and the following parameters are obtained:
Figure FDA0002245838370000011
Figure FDA0002245838370000012
wherein, αn-1-iRepresents Tn-1-iA target azimuth of time; i is more than or equal to 1 and less than or equal to m; m is the number of snapshots used for motion analysis; at the initial moment, manually finding a target to obtain the azimuth angle of the target;
step 202) according to the motion trail analysis result in the step 201), establishing the current time T on the target azimuth course mapnThe matching template of (2);
establishing a matrix G of a matching template, wherein each row of the G corresponds to a snapshot time point, each column corresponds to an observation angle, and the calculation mode of the value of each element of the G is as follows:
wherein
x1＝x cosθ+y sinθ
y1＝-x sinθ+y cosθ
Wherein,
Figure FDA0002245838370000014
gamma is the spatial aspect ratio of the fringes, delta is the standard deviation of the gaussian factor, and lambda is the adjustment variable for the fringe width.
3. The method according to claim 2, wherein the step 3) comprises in particular:
at the current time TnAt a previous time Tn-1The target azimuth of the template is taken as the center, and the sliding matching is carried out along the abscissa by taking the matrix G of the matched template as the standard in the limited azimuth range;
calculating a correlation parameter Corr in the sliding process:
Figure FDA0002245838370000021
wherein [ - β]The range of values of the azimuth angle corresponding to the matrix G,
Figure FDA0002245838370000024
as an azimuth history map
Figure FDA0002245838370000025
The corresponding energy value at the node;
Figure FDA0002245838370000026
is azimuth angle, value range [ αn-1-β，αn-1+β](ii) a Tau is time and value range [ Tn-ΔT，Tn]；αn-1Is Tn-1A target azimuth of time;
when the correlation parameter Corr is maximum, its corresponding azimuth angle
Figure FDA0002245838370000027
For the target at the current time TnIs measured.
4. An underwater acoustic target position tracking system based on position history maps, the system comprising:
the azimuth process map establishing module is used for establishing an underwater sound target azimuth process map;
a matching template establishing module for establishing the current time Tn-1The target azimuth angle is used as a search center, and the current time T is establishednThe matching template of (2);
a search module for searching for a search result based on the current time TnThe matching template of (2) is used for searching the current time T within a certain azimuth angle searching rangenThe azimuth process chart is subjected to two-dimensional matching search, and the azimuth angle corresponding to the position with the highest matching degree is taken as the current time TnIs measured.
5. The system of claim 4, wherein the matching template establishing module is implemented by:
analyzing the motion trail of the interest target on the azimuth process diagram to obtain the azimuth change situation in the previous delta T time period;
the bright track on the target azimuth process diagram is described as t ═ k α + b, t represents time, α represents the azimuth angle of the target at the time t, and k and b are parameters to be estimated;
the parameters k and b are estimated by means of minimum variance, and the following parameters are obtained:
Figure FDA0002245838370000023
wherein, αn-1-iRepresents Tn-1-iA target azimuth of time; i is more than or equal to 1 and less than or equal to m; m is the number of snapshots used for motion analysis; at the initial moment, manually finding a target to obtain the azimuth angle of the target;
according to the motion trail analysis result, the current time T on the target azimuth process chart is establishednThe matching template of (2);
establishing a matrix G of a matching template, wherein each row of the G corresponds to a snapshot time point, each column corresponds to an observation angle, and the calculation mode of the value of each element of the G is as follows:
Figure FDA0002245838370000031
wherein
x1＝x cosθ+y sinθ
y1＝-x sinθ+y cosθ
Wherein,
Figure FDA0002245838370000032
gamma is the space aspect ratio of the stripe, delta is the standard deviation of the Gaussian factor, and lambda is the adjustment parameter of the stripe width.
6. The system of claim 5, wherein the search module is implemented by:
at the current time TnAt a previous time Tn-1The target azimuth of the template is taken as the center, and the sliding matching is carried out along the abscissa by taking the matrix G of the matched template as the standard in the limited azimuth range;
calculating a correlation parameter Corr in the sliding process:
Figure FDA0002245838370000033
wherein [ - β]The range of values of the azimuth angle corresponding to the matrix G,
Figure FDA0002245838370000034
as an azimuth history map
Figure FDA0002245838370000035
The corresponding energy value at the node;is azimuth angle, value range [ αn-1-β，αn-1+β](ii) a Tau is time and value range [ Tn-ΔT，Tn]；αn-1Is Tn-1A target azimuth of time;
when the correlation parameter Corr is maximum, its corresponding azimuth angle
Figure FDA0002245838370000037
For the target at the current time TnIs measured.
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