CN111123275B - Matching method and system for side-scan sonar echo signals - Google Patents

Matching method and system for side-scan sonar echo signals Download PDF

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CN111123275B
CN111123275B CN202010000915.8A CN202010000915A CN111123275B CN 111123275 B CN111123275 B CN 111123275B CN 202010000915 A CN202010000915 A CN 202010000915A CN 111123275 B CN111123275 B CN 111123275B
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闫路
许枫
蒋立军
刘佳
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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
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting

Abstract

The invention discloses a matching method and a system for side-scan sonar echo signals, wherein the method comprises the following steps: calculating the incidence angle of the real-time echo signal; and selecting a corresponding template signal from a pre-established template signal library according to the incident angle so as to achieve the best matching between the template signal and the echo signal. The method of the invention increases the quality of the far-end signal of the side-scan sonar and can effectively increase the working distance on the premise of keeping the distance resolution of the existing side-scan sonar unchanged.

Description

Matching method and system for side-scan sonar echo signals
Technical Field
The invention belongs to the field of digital signal processing and underwater detection; in particular to a matching method and a system of side-scan sonar echo signals.
Background
Side-scan sonar is a marine detection device that uses the echo sounding principle to detect submarine geomorphology and underwater objects, and is also called side sonar or submarine geomorphology instrument. The transducer arrays of the side-scan sonar system are generally arranged on two sides of an underwater towed body or a ship bottom, the left and right transducer linear arrays respectively transmit acoustic pulses in an inclined mode to the water, a narrow trapezoidal seabed with the transducer as the center is irradiated, and then sonar images with different light and shade are generated by processing the backscattered echo intensity of the seabed.
For side-scan sonar, two criteria are important, one is range and one is range resolution. The range resolution is the minimum distinguishable distance between two objects perpendicular to the drag direction, and is calculated as:
Figure BDA0002353361520000011
where C is the speed of sound and τ is the transmit pulse width (in seconds).
It can be seen that the distance resolution is related to the transmission pulse width, and in order to increase the resolution, the transmission pulse width is reduced, and in practical applications, the transmission pulse width is limited by the range, that is, in order to increase the range, the energy of the transmitted sound wave must be increased, and the transmission pulse length is lengthened, which results in a decrease in the distance resolution. In order to solve the contradiction, it is proposed to adopt chirp technology, i.e. a chirp pulse with bandwidth of Δ f is transmitted, matched filtering is carried out during receiving, and an echo pulse with pulse width about equal to 1/Δ f is obtained, so that the distance resolution is equal to C/2 Δ f and is independent of the transmitted pulse width, thus solving the contradiction between the working distance and the distance resolution.
However, in the side scan sonar using chirp technology, when the incident angle α of the echo signal is too large, the correlation between the echo signal and the transmitted signal is deteriorated, so that the resolution at a distance is rapidly lowered and the working distance is reduced.
Disclosure of Invention
The invention aims to find the reason of signal mismatch by analyzing the linear frequency modulation echo signal, thereby matching the echo signal with the template signal by changing the template signal, fully playing the advantages of the linear frequency modulation side-scan sonar, and increasing the working distance of the side-scan sonar on the premise of keeping high distance resolution.
In order to achieve the above object, the present invention provides a method for matching side-scan sonar echo signals, including:
calculating the incidence angle of the real-time echo signal;
and selecting a corresponding template signal from a pre-established template signal library according to the incident angle so as to achieve the best matching between the template signal and the echo signal.
As an improvement of the above method, the method further comprises: the step of establishing a template signal library specifically comprises the following steps:
according to the height H of the sonar array from the seabed and the minimum action distance rminIs minimizedAngle of incidence alphaminAccording to the height H of the sea floor and the maximum distance of action rmaxObtaining the maximum incident angle alphamax；
Will [ alpha ] bemin,αmax]Is divided into N intervals with the same length, and the length of the interval is
Figure BDA0002353361520000021
Then:
αi＝αmin+(i-1)Δα
wherein i is more than or equal to 1 and less than or equal to N +1, alpha1＝αmin，αN+1＝αmax(ii) a The first interval being [ alpha ]1,α2]The second interval is [ alpha ]2,α3]…, the Nth interval being [ alpha ]N,αN+1]；
According to alphaminObtaining a first template signal
Figure BDA0002353361520000022
Wherein
Figure BDA0002353361520000023
Wherein, mu1The modulation coefficient of a first template signal is T, the pulse length of a sonar emission signal is T, delta omega is the maximum frequency shift in T, A is the amplitude of the signal, omega is the central frequency of the signal, and T represents time;
calculating the modulation coefficient mu of the ith template signali：
Figure BDA0002353361520000024
According to the cross-correlation ratio between two adjacent template signals, the self-correlation loss is minus 3dB, and the signal is composed of the (i-1) th template signal and muiObtaining the ith template signal si(ii) a And so on until reaching the maximum action distance rmaxCorresponding maximum angle of incidence alphamaxN +1 th template signal sN+1；
The template signal library comprises an incident angle alphaiAnd corresponding theretoTemplate signal si。
As an improvement of the above method, the selecting a corresponding template signal from a pre-established template signal library according to an incident angle to achieve an optimal match with the echo signal specifically includes:
finding an interval [ alpha ] where the incident angle alpha of the real-time echo signal is positioned in N intervalsn,αn+1) Then the template signal of the echo signal is snN is more than or equal to 1 and less than or equal to N, when alpha is alphamax＝αN+1When the template signal of the echo signal is sN+1。
The invention also provides a matching system of the side-scan sonar echo signal, which comprises the following components: the device comprises a template signal library, an incident angle calculation module and a matching module;
the incidence angle calculation module is used for calculating the incidence angle of the real-time echo signal;
and the matching module is used for selecting the corresponding template signal from the template signal library according to the incident angle so as to achieve the best matching between the template signal and the echo signal.
As an improvement of the above system, the template signal library includes a plurality of incident angles and corresponding template signals, and the calculation process includes:
according to the height H of the sonar array from the seabed and the minimum action distance rminObtaining the minimum incident angle alphaminAccording to the height H of the sea floor and the maximum distance of action rmaxObtaining the maximum incident angle alphamax；
Will [ alpha ] bemin,αmax]Is divided into N intervals with the same length, and the length of the interval is
Figure BDA0002353361520000031
Then:
αi＝αmin+(i-1)Δα
wherein i is more than or equal to 1 and less than or equal to N +1, alpha1＝αmin，αN+1＝αmax(ii) a The first interval being [ alpha ]1,α2]The second interval is [ alpha ]2,α3]…, N thInterval is [ alpha ]N,αN+1]；
According to alphaminObtaining a first template signal
Figure BDA0002353361520000032
Wherein
Figure BDA0002353361520000033
Wherein, mu1The modulation coefficient of a first template signal is T, the pulse length of a sonar emission signal is T, delta omega is the maximum frequency shift in T, A is the amplitude of the signal, omega is the central frequency of the signal, and T represents time;
calculating the modulation coefficient mu of the ith template signali：
Figure BDA0002353361520000034
According to the cross-correlation ratio between two adjacent template signals, the self-correlation loss is minus 3dB, and the signal is composed of the (i-1) th template signal and muiObtaining the ith template signal si(ii) a And so on until reaching the maximum action distance rmaxCorresponding maximum angle of incidence alphamaxN +1 th template signal sN+1。
As an improvement of the above system, the specific implementation process of the matching module is as follows:
finding an interval [ alpha ] where the incident angle alpha of the real-time echo signal is positioned in N intervalsn,αn+1) Then the template signal of the echo signal is snN is more than or equal to 1 and less than or equal to N, when alpha is alphamax＝αN+1When the template signal of the echo signal is sN+1。
The invention has the advantages that:
1. the matching method is compatible with the existing method, and only the matched template is replaced in the calculation process, so that the method does not need to increase the hardware of the equipment and only needs to modify the corresponding software;
2. the method of the invention increases the quality of the far-end signal of the side-scan sonar and can effectively increase the working distance on the premise of keeping the distance resolution of the existing side-scan sonar unchanged.
Drawings
Fig. 1 is a schematic diagram of an echo signal matching method according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description.
The invention provides a matching method of side-scan sonar echo signals, which is characterized in that the quality of output signals is optimized by calculating the direction of the echo signals and selecting proper template signals and the echo signals for matched filtering.
The matching method is established on the basis of the existing fixed template method, so that the method does not need to increase the hardware of equipment, and only needs to make proper modification on software, and the method can increase the quality of the far-end signal of the side-scan sonar on the basis of ensuring that the performance of the existing system is not changed, thereby increasing the acting distance of the sonar.
Let the transmission signal be
Figure BDA0002353361520000041
T ≦ T, where μ is the modulation coefficient, μ ═ Δ ω/T, Δ ω is the maximum frequency shift within T, ω is the center frequency of the signal, a is the amplitude of the signal; if the echo signal has only a modulation of the delay τ and the amplitude, i.e. if the echo signal is
Figure BDA0002353361520000042
The best matching can be obtained by using the transmitted signal as the template signal, but in the special application of the side-scan sonar (the signal is obliquely incident), the echo signal not only changes in amplitude and time, but also changes in length, the change rule can be approximate to T/cos alpha, the direct effect is that the modulation coefficient of the signal changes,
Figure BDA0002353361520000043
the echo signal becomes
Figure BDA0002353361520000044
If the transmit signal is matched at this time, the output signal is significantly distorted.
In order to achieve the purpose of undistorted output signals, the modulation rule of template signals is theoretically required to change along with echo signals, but the method is not feasible in engineering implementation.
The invention provides a matching method of side-scan sonar echo signals, which comprises the following specific steps:
step 1) according to the height H of the sonar basic array from the sea bottom and the minimum action distance rminThe smallest incident angle alpha can be obtainedmin(ii) a Similarly, the height H and the maximum acting distance r of the seabed can be determinedmaxThe maximum incident angle alpha can be obtainedmax；
Step 2) according to the requirement of precision, the [ alpha ] is adjustedmin,αmax]Is divided into N intervals with the same length, and the length of the interval is
Figure BDA0002353361520000051
Then:
αi＝αmin+(i-1)Δα
wherein i is more than or equal to 1 and less than or equal to N, alpha1＝αmin，αN+1＝αmax(ii) a The first interval being [ alpha ]1,α2]The second interval is [ alpha ]2,α3]…, the Nth interval being [ alpha ]N,αN+1]。
Step 3) according to alphaminA first template signal can be obtained
Figure BDA0002353361520000052
Wherein
Figure BDA0002353361520000053
According to the incident angle alpha of the 2 nd template signal2Estimating the corresponding modulation factor
Figure BDA0002353361520000054
Then, according to the cross-correlation ratio auto-correlation loss-3 dB between two adjacent template signals, the second template signal s is obtained by calculation according to the modulation coefficients of the first template signal and the second template signal2；
According to the incident angle alpha of the ith template signaliEstimating the corresponding frequency modulation rate (modulation factor)
Figure BDA0002353361520000055
Then, the self-correlation loss is-3 dB according to the cross-correlation ratio between two adjacent template signals, so that the i-1 st template signal and the mu are obtainediThe ith template signal s is obtained by calculationi；
And so on until reaching the maximum action distance rmaxCorresponding maximum angle of incidence alphamaxN +1 th template signal sN+1。
Step 4) calculating the incidence angle alpha of the real-time echo signal according to the distance between the real-time echo signal and the sonar array, and finding the interval [ alpha ] where alpha is located in N intervalsn,αn+1) Then the template signal of the echo signal is snN is 1. ltoreq. N, in particular when α ═ αmax＝αN+1When the template signal of the echo signal is sN+1。
Example (c):
in this example, the system parameters are: the working frequency of the system is 100kHz, the sound velocity c is 1500m/s, the pulse length T of the sonar is 10ms, and the modulation frequency of the signal is 95kHz to 105 kHz. The height H of the sonar array from the seabed is 50 meters, and the minimum action distance rminIs 100 m, the maximum action distance rmaxIs 500 m. As shown in fig. 1.
The calculation process of the template is as follows:
(1) according to the height H of the sonar array from the seabed and the minimum acting distance rminMaximum distance of action rmaxThe smallest incident angle alpha can be obtainedmin60 °, maximum angle of incidence αmax＝84.26°；
(2) According to alphaminA first template signal s can be obtained1＝Acos(2π*105t+π*106t2)；
(3) Setting the angular interval to 1 degree according to s1And-3 dB criterion, can be obtained
α2＝61°，s2＝Acos(2π*105*103t+9.7π*105t2)；
Introducing a criterion for the later template signal, namely the cross-correlation ratio autocorrelation loss of-3 dB between two adjacent template signals, so that the later template signal can be obtained by calculation according to the first template signal until the maximum action distance r is reachedmax。
The invention also provides a matching system of the side-scan sonar echo signal, which comprises the following components: the device comprises a template signal library, an incident angle calculation module and a matching module;
the template signal library comprises a plurality of incident angles and template signals corresponding to the incident angles, and the calculation process comprises the following steps:
according to the height H of the sonar array from the seabed and the minimum action distance rminObtaining the minimum incident angle alphaminAccording to the height H of the sea floor and the maximum distance of action rmaxObtaining the maximum incident angle alphamax；
Will [ alpha ] bemin,αmax]Is divided into N intervals with the same length, and the length of the interval is
Figure BDA0002353361520000061
Then:
αi＝αmin+(i-1)Δα
wherein i is more than or equal to 1 and less than or equal to N +1, alpha1＝αmin，αN+1＝αmax(ii) a The first interval being [ alpha ]1,α2]The second interval is [ alpha ]2,α3]…, the Nth interval being [ alpha ]N,αN+1]；
According to alphaminObtaining a first template signal
Figure BDA0002353361520000062
Wherein
Figure BDA0002353361520000063
Wherein, mu1The modulation coefficient of a first template signal is T, the pulse length of a sonar emission signal is T, delta omega is the maximum frequency shift in T, A is the amplitude of the signal, omega is the central frequency of the signal, and T represents time;
calculating the modulation coefficient mu of the ith template signali：
Figure BDA0002353361520000064
According to the cross-correlation ratio between two adjacent template signals, the self-correlation loss is minus 3dB, and the signal is composed of the (i-1) th template signal and muiObtaining the ith template signal si(ii) a And so on until reaching the maximum action distance rmaxCorresponding maximum angle of incidence alphamaxN +1 th template signal sN+1。
The incidence angle calculation module is used for calculating the incidence angle of the real-time echo signal;
the matching module is used for selecting a corresponding template signal from a template signal library according to an incident angle so as to achieve the best matching between the template signal and an echo signal, and specifically comprises the following steps:
finding an interval [ alpha ] where the incident angle alpha of the real-time echo signal is positioned in N intervalsn,αn+1) Then the template signal of the echo signal is snN is more than or equal to 1 and less than or equal to N, when alpha is alphamax＝αN+1When the template signal of the echo signal is sN+1。
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 (4)

1. A method of matching side-scan sonar echo signals, the method comprising:
calculating the incidence angle of the real-time echo signal;
selecting a corresponding template signal from a pre-established template signal library according to the incident angle so as to achieve the best matching between the template signal and the echo signal;
the method further comprises the following steps: the step of establishing a template signal library specifically comprises the following steps:
according to the height H of the sonar array from the seabed and the minimum action distance rminObtaining the minimum incident angle alphaminAccording to the height H of the sea floor and the maximum distance of action rmaxObtaining the maximum incident angle alphamax；
Will [ alpha ] bemin,αmax]Is divided into N intervals with the same length, and the length of the interval is
Figure FDA0003302078200000011
Then:
αi＝αmin+(i-1)Δα
wherein alpha isiIs the incident angle of the ith template signal; i is more than or equal to 1 and less than or equal to N +1, alpha1＝αmin，αN+1＝αmax(ii) a The first interval being [ alpha ]1,α2]The second interval is [ alpha ]2,α3]…, the Nth interval being [ alpha ]N,αN+1]；
According to alphaminObtaining a first template signal
Figure FDA0003302078200000012
Wherein
Figure FDA0003302078200000013
Wherein, mu1Is the first template signalThe modulation coefficient, T is the pulse length of the sonar emission signal, delta omega is the maximum frequency shift in T, A is the amplitude of the signal, omega is the central frequency of the signal, and T represents time;
calculating the modulation coefficient mu of the ith template signali：
Figure FDA0003302078200000014
According to the cross-correlation ratio between two adjacent template signals, the self-correlation loss is minus 3dB, and the signal is composed of the (i-1) th template signal and muiObtaining the ith template signal si(ii) a And so on until reaching the maximum action distance rmaxCorresponding maximum angle of incidence alphamaxN +1 th template signal sN+1；
The template signal library comprises an incident angle alphaiAnd its corresponding template signal si。
2. The method for matching side-scan sonar echo signals according to claim 1, wherein the method for selecting the corresponding template signal from a pre-established template signal library according to the incident angle to achieve the best matching with the echo signal comprises:
finding an interval [ alpha ] where the incident angle alpha of the real-time echo signal is positioned in N intervalsn,αn+1) Then the template signal of the echo signal is snN is more than or equal to 1 and less than or equal to N, when alpha is alphamax＝αN+1When the template signal of the echo signal is sN+1。
3. A system for matching side-scan sonar echo signals, the system comprising: the device comprises a template signal library, an incident angle calculation module and a matching module;
the incidence angle calculation module is used for calculating the incidence angle of the real-time echo signal;
the matching module is used for selecting a corresponding template signal from a template signal library according to an incident angle so as to achieve the best matching between the template signal and an echo signal;
the template signal library comprises a plurality of incident angles and template signals corresponding to the incident angles, and the calculation process comprises the following steps:
according to the height H of the sonar array from the seabed and the minimum action distance rminObtaining the minimum incident angle alphaminAccording to the height H of the sea floor and the maximum distance of action rmaxObtaining the maximum incident angle alphamax；
Will [ alpha ] bemin,αmax]Is divided into N intervals with the same length, and the length of the interval is
Figure FDA0003302078200000021
Then:
αi＝αmin+(i-1)Δα
wherein alpha isiIs the incident angle of the ith template signal; i is more than or equal to 1 and less than or equal to N +1, alpha1＝αmin，αN+1＝αmax(ii) a The first interval being [ alpha ]1,α2]The second interval is [ alpha ]2,α3]…, the Nth interval being [ alpha ]N,αN+1]；
According to alphaminObtaining a first template signal
Figure FDA0003302078200000022
Wherein
Figure FDA0003302078200000023
Wherein, mu1The modulation coefficient of a first template signal is T, the pulse length of a sonar emission signal is T, delta omega is the maximum frequency shift in T, A is the amplitude of the signal, omega is the central frequency of the signal, and T represents time;
calculating the modulation coefficient mu of the ith template signali：
Figure FDA0003302078200000024
According to mutual correlation between two adjacent template signalsThe correlation auto-correlation loss is-3 dB, and is formed by the i-1 st template signal and muiObtaining the ith template signal si(ii) a And so on until reaching the maximum action distance rmaxCorresponding maximum angle of incidence alphamaxN +1 th template signal sN+1。
4. The matching system of the side-scan sonar echo signal of claim 3, wherein the matching module is implemented by:
finding an interval [ alpha ] where the incident angle alpha of the real-time echo signal is positioned in N intervalsn,αn+1) Then the template signal of the echo signal is snN is more than or equal to 1 and less than or equal to N, when alpha is alphamax＝αN+1When the template signal of the echo signal is sN+1。
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