CN110836981A - Layered water flow high-resolution radial acoustic Doppler frequency measurement method - Google Patents
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Abstract
The invention discloses a layered water flow high-resolution radial acoustic Doppler frequency measurement method, which comprises the following steps: (1) emitting vertical multi-beam underwater acoustic signals by adopting a Mills cross array; (2) receiving the array echo signals by a Mills cross array and forming transverse orthogonal multi-beams; (2) setting relevant parameters, and selecting a standard layer thickness and a time window; (3) time window layering of multi-beam uniform resolution; (4) high-precision overlapping complex autocorrelation estimates the Doppler frequency offset of each orthogonal wave beam; (5) and taking truncation average for multiple measurements and drawing an angle depth radial flow velocity distribution diagram of a measurement sector. The method realizes one-time receiving measurement through the multi-beam sonar to obtain the radial acoustic Doppler frequency space distribution in a sector, and provides basic data for high-resolution flow velocity distribution measurement of a space water flow field.
Description
Technical Field
The invention relates to a layered water flow high-resolution radial acoustic Doppler frequency measurement method, in particular to a layered water flow high-resolution radial acoustic Doppler frequency measurement method based on orthogonal receiving and transmitting multi-beams, and belongs to the technical field of sonar signal processing.
Background
In underwater acoustic engineering, the test of a flow field is an important component, acoustic measurement has the advantages of rapidness, accuracy, convenience and the like, the research on the acoustic characteristics of the flow field is urgent in the military fields of ship blanking, wake flow self-guided torpedo and the like, the research on the civil fields of port and river bank base flushing, reservoir flow monitoring and the like has increasingly prominent effects, and the research on the characteristics of the space flow field is increasingly emphasized by the research fields of various science and technology.
The strip depth-sounding sonar is one of multi-beam depth-sounding sonars and is widely applied to the field of seabed depth sounding. The principle is that a transmitting transducer array is used for transmitting sound waves of a wide coverage sector to the seabed, a receiving transducer array is used for receiving narrow beams of seabed echoes, the transmitting beams and the receiving beams intersect in a strip area perpendicular to the ship-line direction on the seabed, and the depth information of the whole strip is measured through beam forming. The multi-beam depth-sounding sonar has become one of the most important ocean survey instruments in ocean activities such as ocean scientific research, ocean bottom resource development, ocean engineering construction and the like at home and abroad. The existing multi-beam depth-sounding sonar develops towards the trend of ultra-wide coverage, high resolution, high precision and multifunctional integrated detection, and still has great challenges in ultra-wide coverage matrix technology, seabed scattering signal fine signal processing technology, acoustic seabed classification technology, multi-beam depth-sounding sonar field calibration and laboratory precision evaluation technology and the like.
The flow velocity is an important flow field characteristic, the mechanical measurement mode of the stagnation point method is adopted in the early stage of flow velocity measurement, and along with the development of the acoustic technology, people begin to adopt an acoustic measurement method, the early acoustic measurement method is used for measuring the relative flow velocity between two points, and along with the appearance of a Doppler flow velocity profiler (hereinafter referred to as ADCP), the acoustic Doppler flow velocity measurement technology enters a brand new development stage, the limitation that the two points must be uniformly distributed in the past flow measurement is changed, the layered flow measurement is realized, the flow velocity measurement effect is greatly improved, and the large-scale scanning measurement can be realized by matching with a GPS.
However, the flow velocity must have horizontal uniformity during the flow measurement of the ADCP, that is, the water flow can be layered only in the depth direction, which can be basically satisfied only in the case of the large-range flow field of the ocean, and is difficult to be established for the flow field of small and medium-sized rivers. The reason is that the width of the river is limited, the central flow velocity is usually fast, the two sides flow velocity are slow, on the other hand, the inherent bending characteristic of the river under natural conditions is adopted, the flow field can change along with the change of the river terrain, the horizontal uniformity of the flow field is difficult to guarantee, the flow velocity measurement is greatly limited, and the accurate estimation of the horizontal flow field change is difficult.
The traditional method is to adopt a physical modeling method to carry out modeling analysis on the river flow and the flow field, but the modeling method can only solve the measurement of a natural flow field and is difficult to adapt to the complicated and variable river terrain change. Besides the natural flow field, the flow field characteristics can be influenced by the human navigation activity and the mechanical stirring of the propeller in water, so that an artificial non-uniform flow field is generated. Non-uniformity includes two aspects, non-uniformity in flow velocity and non-uniformity in scattering intensity of scatterers, such as bubbles from mechanical agitation. The measurement of the non-uniform horizontal flow field characteristics must adopt a high-resolution acoustic method, and a multi-beam measurement mode is a feasible method.
Disclosure of Invention
The purpose of the invention is as follows: the invention discloses a layered water flow high-resolution radial acoustic Doppler frequency measurement method based on orthogonal receiving and transmitting multi-beam, aiming at the problem that the existing Doppler current profiler cannot measure a horizontal non-uniform flow field.
The technical scheme is as follows: a layered water flow high-resolution radial acoustic Doppler frequency measurement method comprises the following steps:
(1) transmitting vertical multi-beam underwater acoustic signals by the Mills cross array;
(2) orthogonally receiving array echo signals by using a Mills cross array of a multi-beam sonar;
(3) setting relevant parameters, and selecting a standard layer thickness and a time window;
(4) forming a beam to obtain a plurality of beam signals, dividing each beam according to the standard layer thickness, and intercepting a signal with the standard time window length from the middle of a corresponding echo section as a signal to be detected;
(5) introducing overlapping layering on the basis of uniform resolution, improving layering precision, and estimating Doppler frequency offset by using complex self-correlation to convert the Doppler frequency offset into radial flow velocity;
(6) and measuring the average truncation result for multiple times, and drawing the angular depth radial flow velocity distribution map of the measuring sector.
In the step (1), the following method is adopted to emit vertical multi-beam underwater acoustic signals:
the transmitting-receiving array type selects a Mills cross array in the multi-beam sonar, the two long linear arrays are mutually vertical, the transmitting array is vertical to the transmitting array to transmit beams at a certain inclination angle, and the inclination angle range of the transmitting array is limited by the array type characteristics of the transmitting array.
In step (2), the following method is adopted to obtain the array receiving signal of the measuring sector:
the transmitting array forms a transmitting sector in space, scatterers in the irradiation area of the transmitting sector contribute to echoes, and the receiving end Mills cross array element array receives array echo signals of the whole measuring sector at the same time:
X＝[x1(t),x2(t),…,xM(t)]T
wherein M is the number of array elements of the receiving array.
In step (3), the standard layer thickness and time window are set as follows:
taking the thickness of the layered layer perpendicular to the side-emitting direction of the receiving array as a standard, the length of a standard time window is consistent with the length of the pulse width of a transmitting signal, and the corresponding standard layer thickness deltaz is half of the propagation distance in the time window:
in the step (4), the time window layering of the multi-beam uniform resolution is carried out by adopting the following method:
performing time domain beam forming on the array echo signals, firstly calculating the delay tau of each array element under each beam anglej(θi)：
τj(θi)＝-(j-1)d cosθi/c
Wherein, i is 1,2, the.. Q represents the beam number, j is 1,2, the.. M represents the number of the array elements, d is the distance between two adjacent array elements, c is the sound velocity in water, and thetaiIs the azimuth of the i-th beam.
Then according to the incoming wave direction thetaiCarrying out corresponding time delay compensation on each array element signal, and superposing to obtain a beam angle thetaiThe echo signal of (a):
wherein xj(t) is the received signal of the jth array element, nj(t) is the noise signal of the jth array element, τj(θi) Is the delay correction quantity of the ith beam relative to the jth array element, thetaiIs the azimuth of the i-th beam. Echo signals of multiple beams can then be obtained:
Y＝[y1(t),y2(t),…,yQ(t)]T
and dividing each beam according to the standard layer thickness to obtain corresponding echo sections, wherein the length of the echo sections is changed along with the change of the beam angle. In order to unify the spatial resolution of Doppler estimation, time window layering with uniform resolution is carried out on each beam signal, and the length W of a segment under each beamiCan useThe following formula is calculated:
Wi＝T/cosθi
where T is the pulse width of the transmitted signal, θiIs the azimuth of beam number i.
Dividing echo segments of different wave beams according to time windows, and obtaining a measuring unit signal S by intercepting a signal with the length of T from the middleij(t)：
Sij(t)＝yi(t)·Wij(t)
Wherein Wij(t) is a time window function of the jth layer of the ith beam, WiThe length of an echo segment corresponding to the ith wave beam under the standard layer thickness is T, and the T is the pulse width of a transmitting signal.
In the step (5), the high-precision overlap layering and complex autocorrelation estimation of the Doppler frequency offset are carried out by adopting the following method:
and (4) introducing overlapping layers on the basis of the time window layers with the unified resolution in the step (4), wherein the overlapping layers are also layered by taking the beam in the side-emitting direction as the reference, the adjacent two layers are layered by taking the line with the overlapping rate of five decimal percent, and the return wave band corresponding to the beam is intercepted by the time window in the step (4).
Estimation of Doppler frequency offset D using complex autocorrelation on intercepted measurement element signalsijAnd converted into radial flow velocity V by a flow velocity formulaijThe method comprises the following specific steps:
(5-1) carrying out quadrature down-conversion processing on the layered unit signals, obtaining baseband signals of a real part and an imaginary part through a low-pass filter, and combining to obtain a complex analysis signal:
f(t)＝f1(t)+j·Hilbert{f1(t)}＝f1(t)+j·f2(t)
wherein f is1(t) is the orthogonal component, f2(t) is the homodromous component;
(5-2) then calculating the autocorrelation function R (tau) of the signal to be measured:
where τ represents a time difference value when the autocorrelation value is calculated, and is related to the length information of the transmitted signal.
(5-3) calculating the phase of the Complex autocorrelation function
Where Im { R (τ) } is the imaginary part of the complex autocorrelation function, and Re { R (τ) } is the real part of the complex autocorrelation function R (τ);
(5-4) calculating the mean value μ (f) of the Doppler frequencies of the measurement cellsd)：
(5-5) calculating the radial flow velocity from the Doppler frequency:
wherein f iscIs the carrier frequency and c is the speed of sound in water.
In the step (6), the measurement averaging is repeatedly carried out for a plurality of times by adopting the following method, and a distribution diagram of the measurement sector is drawn:
and (3) repeatedly measuring for many times, and calculating the average value after removing a maximum value and a minimum value from the measurement result:
where α denotes the truncation factor, X1,X2,…,XnRepresenting the ordered sequence after sorting.
Then, drawing a high-precision radial flow velocity distribution diagram of the measuring sector by using matlab, and comprises the following steps:
(6-1) selecting a reference system, taking the geometric center of the array as the origin of a reference coordinate system, taking the parallel direction of the array as a horizontal x coordinate axis, and taking the direction which is vertical to the array and is parallel to the plane of the transmitted beam as a y axis;
(6-2) converting the corresponding beam numbers and the depth unit layers into corresponding position coordinates in an instrument coordinate system;
(6-3) drawing a curve of radial flow velocity and energy in a three-dimensional space by using a surf drawing function of matlab, and setting a grid line edgecolor as a none;
(6-4)) finally projected to the xoy plane through the view (2), and a radial flow velocity and energy distribution graph of a measuring sector under the real instrument coordinate of the two-dimensional plane is drawn.
Has the advantages that: compared with the traditional Doppler flow measurement mode, the layered water flow high-resolution acoustic radial Doppler frequency measurement method based on the orthogonal receiving and transmitting multi-beam has the following advantages: (1) the multi-beam flow measurement can realize the effective measurement of a horizontal non-uniform flow field; (2) the multi-beam flow measurement has the characteristics of wider coverage range, higher measurement efficiency and simultaneous measurement of a plurality of angles, and the flow field distribution in one sector can be measured by utilizing one-time emission of the beam; (3) the overlapping layering mode is adopted to have higher spatial resolution.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
fig. 2 is a high-precision overlay layering schematic diagram of multi-beam uniform resolution;
FIG. 3 is a single beam multi-layer radial flow velocity measurement;
FIG. 4 is a single beam multi-layer radial flow velocity error value;
FIG. 5 is a fan radial flow velocity measurement profile;
FIG. 6 is a distribution diagram of the true fan radial flow velocity.
Detailed Description
The present invention is further illustrated by the following examples, which are intended to be purely exemplary and are not intended to limit the scope of the invention, as various equivalent modifications of the invention will occur to those skilled in the art upon reading the present disclosure and fall within the scope of the appended claims.
Example (b):
as shown in fig. 1, the layered water flow high-resolution acoustic radial acoustic doppler frequency measurement method based on orthogonal transmit-receive multi-beams disclosed in this embodiment is used for measuring the distribution characteristics of a spatial non-uniform flow field, and has the characteristics of high efficiency, wide coverage, and the like.
The method is carried out on the basis of a multi-beam array echo signal, Doppler frequency shift is superposed on scatterer echoes, radial Doppler factors carried by each scatterer are related to a function of a flow field space position, Gaussian white noise is superposed, and the signal-to-noise ratio is 10 dB. The method comprises the following specific steps:
in the step (1), the number M of array elements of the receiving uniform linear array of the mils cross array is 64, and the array element spacing d is the half wavelength of the transmission signal. The transmitted signal is in the form of four-times repeated seven-bit Barker code, and the pulse width T of single code element p40 mus, total length of transmitted pulse T1.12 ms, carrier frequency 300kHz, sampling frequency 3MHz, sound velocity in water c 1500 m/s.
In the step (2), the mils cross array obtains array echo signals through orthogonal reception:
X＝[x1(t),x2(t),…,x64(t)]T
in the step (3), the layer thickness in the end-fire direction perpendicular to the receiving array is taken as a standard, the standard time window is consistent with the pulse width length of the transmitting signal, the corresponding standard layer thickness Δ z is half of the propagation distance in the time window, and the specific standard layer thickness is 0.84 m.
In the step (4), the multi-beam signal is obtained by time-domain beam forming, the single-side opening angle of the beam is 60 °, the interval angle during the reception beam forming is 1.5 °, and the number Q of the beams is 81. Echo signals of multiple beams can then be obtained:
Y＝[y1(t),y2(t),…,y81(t)]T
dividing each beam according to standard layer thickness to obtain corresponding echo segments, the length of the echo segments is changed along with the change of beam angle, and each angle thetaiThe length of the echo segment of (a) can be represented as Wi＝T/cosθi。
Dividing echo segments of different wave beams according to time windows, and obtaining a measuring unit signal S by intercepting a signal with the length of T from the middleij(t)：
Sij(t)＝yi(t)·Wij(t)
Wherein Wij(t) is a time window function of the jth layer of the ith beam, WiThe length of an echo segment corresponding to the ith wave beam under the standard layer thickness is T, and the T is the pulse width of a transmitting signal.
In the step (5), based on the time window layering of the unified resolution in the step (3), an overlapping layering is introduced, as shown in a high-precision overlapping layering schematic diagram of the multi-beam unified resolution in fig. 2, the overlapping layering also uses the end-fire direction beam as a reference, two adjacent layering are layered by fifty percent of the overlapping rate, and the corresponding return wave bands of the other beams take a signal with the middle length being the standard pulse width window length as a unit signal to be measured.
Estimation of Doppler frequency offset D using complex autocorrelation on intercepted measurement element signalsijAnd converted into radial flow velocity V by a flow velocity formulaijThe method comprises the following specific steps:
(5-1) carrying out quadrature down-conversion processing on the layered unit signals, obtaining baseband signals of a real part and an imaginary part through a low-pass filter, and combining to obtain a complex analysis signal:
f(t)＝f1(t)+j·Hilbert{f1(t)}＝f1(t)+j·f2(t)
wherein f is1(t) is the orthogonal component, f2(t) is the homodromous component;
(5-2) then calculating the autocorrelation function R (tau) of the signal to be measured:
(5-3) calculating the phase of the Complex autocorrelation function
Where Im { R (τ) } is the imaginary part of the complex autocorrelation function, and Re { R (τ) } is the real part of the complex autocorrelation function R (τ);
(5-4) calculating the mean value μ (f) of the Doppler frequencies of the measurement cellsd)：
(5-5) calculating the radial flow velocity from the Doppler frequency:
wherein f iscIs the carrier frequency and c is the speed of sound in water.
In the step (6), a truncated average is taken for the results after 10 repeated measurements, and specifically, an average value is calculated after one maximum value and one minimum value are removed:
wherein α denotes the truncation factor of 0.1, X1,X2,…,XnPresentation orderingIn the latter ordered sequence, n is 10.
And then, drawing a high-precision radial flow velocity distribution graph of the measuring sector by using matlab.
Referring to fig. 3 and 4, which are radial flow velocity measurements and errors of selected single beams, it can be seen that the measurement results are distributed below the theoretical value due to the influence of interlayer interference, and the flow velocity measurement error is within 0.25 m/s.
For example, fig. 5 and 6 are angle depth radial flow velocity distribution diagrams in the whole measurement sector, when comparing with a real value, the distribution result of the measured value is substantially consistent with the real value, and the measurement of the spatial high-resolution radial flow velocity is effectively realized.
Claims (8)
1. A layered water flow high-resolution radial acoustic Doppler frequency measurement method is characterized by comprising the following steps:
(1) transmitting vertical multi-beam underwater acoustic signals by the Mills cross array;
(2) orthogonally receiving array echo signals by using a Mills cross array of a multi-beam sonar;
(3) setting relevant parameters, and selecting a standard layer thickness and a time window;
(4) forming a beam to obtain a plurality of beam signals, dividing each beam according to the standard layer thickness, and intercepting a signal with the standard time window length from the middle of a corresponding echo section as a signal to be detected;
(5) introducing overlapping layering on the basis of uniform resolution, improving layering precision, and estimating Doppler frequency offset by using complex autocorrelation to convert the Doppler frequency offset into radial flow velocity;
(6) and measuring the average truncation result for multiple times, and drawing the angular depth radial flow velocity distribution map of the measuring sector.
2. The layered water flow high-resolution radial acoustic Doppler frequency measurement method according to claim 1, wherein in the step (1), the vertical multi-beam underwater acoustic signals are transmitted by adopting the following method:
the transmitting-receiving array type adopts a Mills cross array in the multi-beam sonar, two long linear arrays are mutually vertical, and a transmitting array is vertical to a transmitting beam of the transmitting array at a certain inclination angle.
3. The method for measuring the high-resolution radial acoustic Doppler frequency of the basal laminar water flow according to claim 1, wherein in the step (2), the array receiving signals of the measuring sector are acquired by adopting the following method:
the receiving end MIELS cross array element array simultaneously receives array echo signals of the whole measuring sector:
X＝[x1(t),x2(t),…,xM(t)]T
wherein M is the number of array elements of the receiving array.
4. The method for measuring the layered water flow high-resolution radial acoustic Doppler frequency according to claim 1, wherein in the step (3), the standard layer thickness and the time window are set by the following method:
taking the thickness of the layered layer perpendicular to the side-emitting direction of the receiving array as a standard, the length of a standard time window is consistent with the length of the pulse width of a transmitting signal, and the corresponding standard layer thickness deltaz is half of the propagation distance in the time window:
5. the method for measuring the high-resolution radial acoustic Doppler frequency of the layered water flow according to claim 1, wherein in the step (4), the time window layering of the multi-beam uniform resolution is performed by adopting the following method:
performing time domain beam forming on the array echo signals, firstly calculating the delay tau of each array element under each beam anglej(θi)：
τj(θi)＝-(j-1)d cosθi/c
Wherein i is 1,2, …, Q represents the beam number, j is 1,2, …, M represents the number of the array element, d is the distance between two adjacent array elements, c is the sound velocity in water, and thetaiIs the azimuth of beam # i;
then according to the incoming wave direction thetaiCarrying out corresponding time delay compensation on each array element signal, and superposing to obtain a beam angle thetaiThe echo signal of (a):
wherein xj(t) is the received signal of the jth array element, nj(t) is the noise signal of the jth array element, τj(θi) Is the delay correction quantity of the ith beam relative to the jth array element, thetaiIs the azimuth of beam # i; echo signals of multiple beams can then be obtained:
Y＝[y1(t),y2(t),…,yQ(t)]T
dividing each wave beam according to the standard layer thickness to obtain corresponding echo sections, wherein the lengths of the echo sections change along with the change of the wave beam angle, time window layering with uniform resolution is needed to be carried out on each wave beam signal for unifying the spatial resolution of Doppler estimation, and the length W of the subsections under each wave beamiCalculated using the formula:
Wi＝T/cosθi
where T is the pulse width of the transmitted signal, θiIs the azimuth of the ith beam;
dividing echo segments of different wave beams according to time windows, and intercepting a signal with the length of T from the middle to obtain a signal S of a measuring unitij(t)：
Sij(t)＝yi(t)·Wij(t)
Wherein Wij(t) is a time window function of the jth layer of the ith beam, WiThe length of an echo segment corresponding to the ith wave beam under the standard layer thickness is T, and the T is the pulse width of a transmitting signal.
6. The method for measuring the layered water flow high-resolution radial acoustic Doppler frequency according to claim 1, wherein in the step (5), the high-precision overlap-layering and complex autocorrelation Doppler frequency shift estimation is performed by adopting the following method:
on the basis of the uniform resolution time window layering in the step (4), introducing overlapping layering, wherein the overlapping layering also takes a beam in a side-emitting direction as a reference, layering two adjacent layering by a line with an overlapping rate of five decimal percent, and intercepting the time window by a return wave band corresponding to the beam by the method in the step (4);
estimation of Doppler frequency offset D using complex autocorrelation on intercepted measurement element signalsijAnd converted into radial flow velocity V by a flow velocity formulaijThe method comprises the following specific steps:
(5-1) carrying out quadrature down-conversion processing on the layered unit signals, obtaining baseband signals of a real part and an imaginary part through a low-pass filter, and combining to obtain complex analytic signals:
f(t)＝f1(t)+j·Hilbert{f1(t)}＝f1(t)+j·f2(t)
wherein f is1(t) is the orthogonal component, f2(t) is the homodromous component;
(5-2) then calculating the autocorrelation function R (tau) of the signal to be measured:
(5-3) calculating the phase of the Complex autocorrelation function
Where Im { R (τ) } is the imaginary part of the complex autocorrelation function, and Re { R (τ) } is the real part of the complex autocorrelation function R (τ);
(5-4) calculating the mean value μ (f) of the Doppler frequencies of the measurement cellsd)：
(5-5) calculating the radial flow velocity from the Doppler frequency:
wherein f iscIs the carrier frequency and c is the speed of sound in water.
7. The method for measuring the layered water flow high-resolution radial acoustic Doppler frequency according to claim 1, wherein in the step (6), the measurement averaging is performed repeatedly for a plurality of times by adopting the following method, and a distribution map of the measurement sector is drawn:
and (3) repeatedly measuring for many times, and calculating the average value after removing a maximum value and a minimum value from the measurement result:
where α denotes the truncation factor, X1,X2,…,XnRepresenting the ordered sequence after sorting.
8. The method for measuring the layered water flow high-resolution radial acoustic Doppler frequency according to claim 7, wherein the step of drawing the high-precision radial velocity distribution map of the measurement sector by using matlab comprises the following steps:
(6-1) selecting a reference system, taking the geometric center of the array as the origin of a reference coordinate system, taking the parallel direction of the array as a horizontal x coordinate axis, and taking the direction which is vertical to the array and is parallel to the plane of the transmitted beam as a y axis;
(6-2) converting the corresponding beam numbers and the depth unit layers into corresponding position coordinates in an instrument coordinate system;
(6-3) drawing a curved surface of radial flow velocity and energy in a three-dimensional space by using a surf drawing function of matlab, and setting a grid line edgecolor as a none;
and (6-4) finally projecting the image to the xoy plane through the view (2), and drawing a distribution diagram of the radial flow velocity and the energy of the measuring sector under the real instrument coordinate of the two-dimensional plane.
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