CN111381212A - Virtual ultrashort baseline positioning method based on subarray division - Google Patents
Virtual ultrashort baseline positioning method based on subarray division Download PDFInfo
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- CN111381212A CN111381212A CN202010144254.6A CN202010144254A CN111381212A CN 111381212 A CN111381212 A CN 111381212A CN 202010144254 A CN202010144254 A CN 202010144254A CN 111381212 A CN111381212 A CN 111381212A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
A virtual ultra-short baseline positioning method based on subarray division solves the problem that an existing ultra-short baseline positioning system is low in underwater positioning accuracy under the condition of low signal-to-noise ratio, and belongs to the technical field of ultra-short baseline positioning. The invention comprises the following steps: s1, dividing the receiving array into four sub-arrays, and forming a group of virtual ultra-short baselines by the reference centers of the four sub-arrays; s2, respectively forming beams by the four sub-arrays to obtain array output signals of the four sub-arrays; and S3, performing ultra-short baseline positioning by using the output signals of the four sub-arrays to obtain a target position. The method can effectively utilize the array gain advantage of the array and accurately estimate the position of the underwater target under the condition of low signal-to-noise ratio.
Description
Technical Field
The invention relates to a virtual ultra-short baseline positioning algorithm based on subarray division, and belongs to the technical field of ultra-short baseline positioning.
Background
The underwater sound positioning technology is the key for human beings to enter deep sea, detect deep sea and develop deep sea by relying on a plurality of underwater vehicles, and in recent years, along with the continuous improvement of the attention degree of various countries to the sea, the underwater sound positioning technology has wide application in the fields of marine surveying and mapping, marine physics, marine engineering, marine resource development and the like.
The underwater acoustic positioning technology estimates the relative distance and the direction to a target by receiving the acoustic waves transmitted by the underwater transponder through the transducer array on the water surface and estimating the time delay difference among all elements, thereby realizing the accurate estimation of the position of the target. The classification of the underwater sound positioning system according to the length of a base line comprises: a long baseline positioning system, a short baseline positioning system and an ultra-short baseline positioning system. The ultra-short baseline positioning system obtains a target position through a shipborne acoustic array, and then coordinates are converted by combining external equipment such as a GPS (global positioning system) and an attitude sensor so as to obtain geodetic coordinates of an underwater target. The ultra-short baseline positioning system has the advantages of simple composition, convenient operation, convenience for large-scale maneuvering operation and the like, can provide technical support for various high-precision operations such as underwater exploration, underwater target positioning and tracking, underwater remote control operation and the like, and plays an increasingly important role in the fields of marine resource investigation and scientific research. However, the existing ultra-short baseline positioning system has low underwater positioning accuracy under the condition of low signal-to-noise ratio.
Disclosure of Invention
The invention provides a virtual ultra-short baseline positioning method based on subarray division, aiming at the problem that the underwater positioning accuracy of the existing ultra-short baseline positioning system is not high under the condition of low signal-to-noise ratio.
The invention discloses a virtual ultrashort baseline positioning method based on subarray division, which comprises the following steps:
s1, dividing the receiving array into four sub-arrays, and forming a group of virtual ultra-short baselines by the reference centers of the four sub-arrays;
s2, respectively forming beams by the four sub-arrays to obtain array output signals of the four sub-arrays;
and S3, performing ultra-short baseline positioning by using the output signals of the four sub-arrays to obtain a target position.
Preferably, the method for determining the reference centers of the four sub-arrays comprises the following steps: the reference centers of the four sub-arrays are respectively positioned at the vertex of the prism, and the center of the prism is coincided with the center of the receiving array.
Preferably, in S2, the method for performing beamforming includes:
the data received by the sub-array is weighted to form a beam in the set beam direction, and when a signal enters the receiving array from a direction other than the main beam direction, the signal is suppressed.
Preferably, the S2 further includes compensating the delay value of the received signal for the set beam pointing direction.
Preferably, the delay value is obtained from beam pointing, cell spacing, and received signal frequency.
Preferably, the receiving array is located on the water surface, the water surface receiving array transmits an inquiry signal to the underwater target, and the target transmits a corresponding response signal after receiving the inquiry signal and transmits the response signal to the water surface receiving array through a seawater channel.
Preferably, in S3, the method for performing ultrashort baseline positioning using output signals of four sub-arrays includes:
and estimating an included angle between an incident signal and a certain direction by using the time delay difference of arrival time of two primitive received signals in the direction. And estimating the distance between the target and the receiving array by using the propagation time of the signal from the sound source to the receiving array, and further estimating the position of the target in a receiving array coordinate system by using the distance and the direction.
The method has the advantages that the method can effectively inhibit noise and has simple realization and strong robustness by utilizing the conventional beam forming, a group of virtual ultra-short baselines is formed by selecting four proper sub-arrays, and then the position of the underwater target is estimated by utilizing the output signals of the sub-arrays. The method can effectively utilize the array gain advantage of the array and accurately estimate the position of the underwater target under the condition of low signal-to-noise ratio.
Drawings
FIG. 1 is an ultra-short baseline basic model of the present invention;
FIG. 2 is a basic model of a received signal;
FIG. 3 illustrates a sub-array partitioning scheme;
FIG. 4 is a spatial azimuth spectrum;
fig. 5 is a comparison of angle estimation accuracy.
Detailed Description
The virtual ultrashort baseline positioning method based on subarray division can perform accurate underwater positioning under the condition of low signal-to-noise ratio, and comprises the following steps:
dividing a receiving matrix into four sub-matrices, and forming a group of virtual ultra-short baselines by reference centers of the four sub-matrices;
step two, respectively forming beams by the four sub-arrays to obtain array output signals of the four sub-arrays;
and thirdly, performing ultra-short baseline positioning by using output signals of the four sub-arrays to obtain a target position.
The receiving matrix of the present embodiment is a uniform planar array composed of a plurality of cells.
In the first step of this embodiment, the virtual ultra-short baseline is formed by four sub-arrays, and the geometric center of the sub-arrays is the primitive of the ultra-short baseline. When the subarray is selected, the geometric centers of the subarrays are respectively positioned at the vertexes of the prismatic shapes, and the centers of the prismatic shapes are coincident with the centers of the receiving matrixes. The primitives contained by the different sub-arrays may be common.
In a preferred embodiment, in step two of this embodiment, a conventional beamforming algorithm is used to perform weighting processing on data received by a cell, so that the data is beamformed in a specific direction, and when a signal enters a receiving matrix from a direction other than a main beam, the signal is suppressed. And adding the weighted data of each element of the subarray and averaging to obtain the output of the subarray, namely the input signal of a certain element in the ultra-short baseline. The specific principle is as follows:
assuming that the receiving matrix is a uniform array composed of N elements, and a target sound source is located in the far field, the signals received by the receiving matrix can be expressed as:
X(t)＝[x1(t)，x2(t)，…，xN(t)]
wherein, the signal X (t) of the receiving matrix is a matrix of N × L, and L is the snapshot number of the receiving signal.
Setting the pitch angle and corresponding to the main lobe of the desired beamThe azimuth angles are theta and
the output signal of the receiving matrix is:
wherein the content of the first and second substances,
referred to as a weight vector.
And adding the output signals of all the primitives to obtain the output of the array.
The spatial spectrum can be obtained by changing the beam direction to perform spatial beam scanning:
wherein, M is the angle number of the space angle scanning, and the more the angle number is, the higher the precision is.
In a preferred embodiment, the second step of this embodiment further includes performing delay value compensation on the received signal for the set beam direction, so as to improve the positioning accuracy.
The medium delay value of the present embodiment is obtained from the beam pointing direction, the cell pitch, and the received signal frequency.
The third step of the embodiment is to perform ultra-short baseline positioning, and the basic principle is as follows: the method comprises the steps of firstly estimating the arrival time of an expected signal through a cross correlation method according to output data of a subarray, then estimating an included angle between an incident signal and a coordinate axis direction by using the time delay difference of the arrival times of two primitive receiving signals in the coordinate axis direction, estimating the distance between a target and a receiving array by using the propagation time of the signal from a sound source to the receiving array, and further estimating the position of the target in a receiving array coordinate system through the distance and the direction. The specific principle is as follows:
as shown in FIG. 1, taking the most basic binary receiving matrix model as an example, the receiving matrix is composed of two isotropic elements, the distance between the elements is d, the far-field signal and the angle found by the receiving matrix is theta, and then
Where c is the signal propagation velocity, t2,t1Respectively the time delay of the signal arriving at the two primitives.
The distance between the target and the receiving matrix can be expressed as
s＝(t2+t1)c
Thus, the position of the target is
x＝s sinθ
The receiving array of the embodiment is positioned on the water surface, the water surface receiving array transmits an inquiry signal to an underwater target, and the target can transmit a corresponding response signal after receiving the inquiry signal and reaches the water surface receiving array through seawater channel transmission.
The received signal model is shown in fig. 2, and assuming that the receiving matrix is a uniform planar array composed of 7 × 7 primitives with a primitive pitch of 5cm, 4 sub-arrays are selected from the receiving matrix according to the design principle, as shown in fig. 3.
A target sound source is positioned in a far field, so that sound waves incident to the surface of a receiving array can be regarded as far-field plane waves, the pitching angle and the azimuth angle are respectively 45.2 degrees and 20.8 degrees, the signal bandwidth is 9-15kHZ of a linear frequency modulation signal, the pulse width is 10ms, the noise is white Gaussian noise, and the signal-to-noise ratio is 0 dB.
The ultra-short baseline is used for determining the position of the target by estimating the distance and the direction between the target and the receiving matrix, wherein the direction estimation precision is greatly influenced by the signal-to-noise ratio, so that the embodiment mainly compares the difference of the algorithm of the invention and the traditional beam forming algorithm in direction estimation.
Firstly, the directions of the target are estimated to be 45.2 degrees and 20.7 degrees directly through the geometric centers of the No. 11, 23, 27 and 39 primitives close to the positions of the virtual primitives, namely four sub-arrays by an ultra-short baseline positioning algorithm. The results are compared below by the method proposed by the present invention.
The approximate azimuth of the target is first obtained by an azimuth estimation method according to the received signals of the array, in this embodiment, the approximate azimuth is obtained by using a conventional beam scanning method, the interval of the angle scanning is 1 °, and the spatial azimuth spectrum of the signals is shown in fig. 4. From fig. 4, the approximate incident pitch angle and azimuth angle of the target can be obtained as 45 degrees and 1 degree, respectively, so that when designing the beam, the pitch angle and azimuth angle corresponding to the main beam of the four sub-arrays should be 45 degrees and 1 degree, respectively, then the output data of each sub-array is obtained through beam forming as the received data of the virtual ultra-short baseline, and the azimuth angles of the target can be obtained as 45.2 degrees and 20.7 degrees through the ultra-short baseline positioning algorithm.
For further analysis of the performance of the method of the present invention, the signal-to-noise ratio was changed from-20 dB to 10dB with an interval of 2dB, and the positioning performance of the method of the present invention and the conventional ultra-short baseline positioning method under different signal-to-noise ratios can be obtained, as shown in fig. 5. According to the results shown in fig. 5, it can be seen that the ultra-short baseline positioning algorithm based on subarray division provided by the invention can have higher positioning accuracy under low signal-to-noise ratio.
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 (7)
1. A virtual ultrashort baseline positioning method based on subarray division is characterized by comprising the following steps:
s1, dividing the receiving array into four sub-arrays, and forming a group of virtual ultra-short baselines by the reference centers of the four sub-arrays;
s2, respectively forming beams by the four sub-arrays to obtain array output signals of the four sub-arrays;
and S3, performing ultra-short baseline positioning by using the output signals of the four sub-arrays to obtain a target position.
2. The method for virtually positioning ultrashort baseline based on subarray division according to claim 1, wherein the reference centers of the four subarrays are determined by: the reference centers of the four sub-arrays are respectively positioned at the vertex of the prism, and the center of the prism is coincided with the center of the receiving array.
3. The method of claim 1, wherein in S2, the method of performing beam forming is:
the data received by the sub-array is weighted to form a beam in the set beam direction, and when a signal enters the receiving array from a direction other than the main beam direction, the signal is suppressed.
4. The method of claim 3, further comprising compensating the delay value of the received signal for the set beam pointing direction in S2.
5. The subarray division based virtual ultrashort baseline positioning method of claim 4, wherein the delay value is obtained according to beam pointing direction, element spacing and received signal frequency.
6. The method as claimed in claim 1, wherein the receiving matrix is located on the water surface, the receiving matrix on the water surface transmits an interrogation signal to the underwater target, and the target transmits a corresponding response signal after receiving the interrogation signal, and the response signal is transmitted to the receiving matrix on the water surface through a seawater channel.
7. The method for virtually positioning an ultra-short baseline based on subarray division according to claim 1, wherein in S3, the method for positioning an ultra-short baseline by using output signals of four subarrays comprises:
and estimating an included angle between an incident signal and a certain direction by using the time delay difference of arrival time of two primitive received signals in the direction. And estimating the distance between the target and the receiving array by using the propagation time of the signal from the sound source to the receiving array, and further estimating the position of the target in a receiving array coordinate system by using the distance and the direction.
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| CN113093108A (en) * | 2021-03-18 | 2021-07-09 | 天津大学 | Method and device for inverting long/ultrashort baseline for self-positioning and navigation of underwater target |
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