CN112162287A - Amplitude comparison direction finding method based on non-uniform linear array - Google Patents
Amplitude comparison direction finding method based on non-uniform linear array Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
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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
- 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 a non-uniform linear array-based amplitude comparison direction finding method, which comprises the steps of firstly, setting a non-uniform sensor linear array, and generating a plurality of beams at intervals by the sensor linear array by utilizing a conventional beam forming method, wherein each beam corresponds to one direction; when a sound source signal is incident into the non-uniform sensor linear array at any angle, the output amplitude of the beam closest to the incident direction of the sound source signal in the beam direction of the non-uniform sensor linear array is the largest, the amplitudes of the adjacent left and right beams are the second, and finally the target azimuth is calculated by using a three-beam interpolation method. The distance between adjacent array elements of the non-uniform linear array is not limited by half wavelength, larger array aperture can be obtained, and the direction-finding precision is improved.
Description
Technical Field
The invention belongs to the field of signal processing, and particularly relates to a direction finding method.
Background
One of the important tasks of sonar systems is to determine the position of the target, which is an important research item in the estimation of target parameters. The target orientation estimation has a plurality of methods such as a multi-beam orientation technology based on conventional beam forming and modern high-resolution orientation estimation. Considering the complexity of algorithm implementation, a direction finding method which is more common in practical application is a beam amplitude comparison direction finding method.
The direction-finding method is related to the structure of an acoustic system, and the array formed by different numbers of array elements and arrangement modes has different direction-finding methods and effects. The linear array has simple structure and is easy to realize in engineering technology.
Array signal processing arranges a group of sensors at spatially different positions in a certain manner to form a sensor array, and the sensor array is used for receiving spatial signals. In the prior art, uniform linear arrays are generally adopted, but when the spacing between array elements of the uniform linear arrays is greater than half wavelength, direction finding blur occurs, namely, a plurality of spectral peaks exist in one direction, and regular multi-beam cannot be formed, so that the direction finding precision is influenced. Compared with the uniform linear array, the non-uniform linear array is used as a receiving base array, the distance between adjacent array elements is not limited by half wavelength, and larger array aperture can be obtained.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a amplitude comparison direction-finding method based on an inhomogeneous linear array, which comprises the steps of firstly setting the inhomogeneous sensor linear array, generating a plurality of beams at intervals by the sensor linear array by using a conventional beam forming method, wherein each beam corresponds to one direction; when a sound source signal is incident into the non-uniform sensor linear array at any angle, the output amplitude of the beam closest to the incident direction of the sound source signal in the beam direction of the non-uniform sensor linear array is the largest, the amplitudes of the adjacent left and right beams are the second, and finally the target azimuth is calculated by using a three-beam interpolation method. The distance between adjacent array elements of the non-uniform linear array is not limited by half wavelength, larger array aperture can be obtained, and the direction-finding precision is improved.
The technical scheme adopted by the invention for solving the technical problem comprises the following steps:
step 1: arranging a sensor linear array;
the total number of array elements in the sensor linear array is N, and the maximum adjacent distance P of the array elementsmaxCalculated from the following formula:
according to PmaxConstructing a set of adjacent array element intervals, wherein the set is divided into three parts: the first part has two elements, the element values are: 1 and Pmax-3; the second partial element values are all PmaxThe number of elements is N-Pmax(ii) a The third part of elements is a set of element values 2 and 3, like: {2, 3,2.. 2}, wherein the number of elements 2 in the set is (P)max-4), the element 2 is evenly distributed on both sides of the element 3; combining the three parts to obtain an adjacent array element spacing set M ═ 1, Pmax-3,Pmax,…, P max2,3,2.. 2}, wherein the total number of elements in the set M is N-1; the real distance of the array elements in the sensor linear array is the product of the element value in the set M and the half wavelength of a signal sent by a sound source in a medium where the sensor linear array is located, and therefore the non-uniform sensor linear array is generated;
step 2: the non-uniform sensor linear array generates a plurality of beams at intervals within-60 degrees to 60 degrees by using a conventional beam forming method, all the beams are intersected at-3 db, and each beam corresponds to one direction;
the two non-uniform linear arrays are arranged at an included angle of 120 degrees, are used for direction finding at the front end of the aircraft, and can cover the direction finding range from 0 degree to 180 degrees in front of the aircraft;
and step 3: when a signal generated by a sound source is incident into the non-uniform sensor linear arrays at any angle, the beam with the beam output direction of the non-uniform sensor linear arrays being closest to the incident direction of the sound source signal outputs the maximum amplitude in the beams of all the non-uniform sensor linear arrays; defining the wave beam with the maximum amplitude output by the non-uniform sensor linear array as lambda2Wave beam lambda2Two adjacent beams are lambda respectively1And λ3；
If the wave beam lambda2For edge beams, i.e. only one adjacent beam, take the beam lambda2The central orientation value is a direction finding result;
if the wave beam lambda2If the beam is a middle beam, namely two adjacent beams exist, the step 4 is carried out;
and 4, step 4: calculating the target azimuth by a three-beam amplitude-comparison interpolation method;
assuming an acoustic source signal and a beam lambda1、λ2And λ3The generated three intersection points are respectively points a, b and c; in the wave beam lambda1Finding point a1 with the same amplitude as point a in the main polar direction and obtaining a beam lambda2Big end of the main poleFind the point b1 with the same amplitude as the point b upwards, at the beam lambda3Finding a point c1 with the same amplitude as the point c in the main polar direction;
knowing that three points a1, b1 and c1 are equally spaced, the coordinates of the three points a1, b1 and c1 are (x)0,y0)、(x1,y1) And (x)2,y2) (ii) a Performing quadratic polynomial interpolation on three points of a1, b1 and c1, wherein the polynomial is in the form of y-mx2+ nx + k, resulting in a virtual beam λ passing through the three points a1, b1, c14；
Quadratic interpolation polynomial y ═ mx2The coefficients m, n, k for + nx + k are calculated as follows:
solving the equation set (1) to obtain coefficients m, n and k;
for virtual beam λ4，
Is a virtual beam lambda4Abscissa of principal maximum direction, therefore
And obtaining a final direction finding result.
The amplitude comparison direction finding method based on the non-uniform linear array has the following beneficial effects:
1. the non-uniform linear array is selected as a receiving array, and compared with the uniform linear array, the distance between adjacent array elements of the non-uniform linear array is not limited by half wavelength, so that a larger array aperture can be obtained.
2. When the distance between linear array elements is longer than half wavelength, direction finding blur can occur, namely, a plurality of spectral peaks exist in one direction, and regular multi-beam can not be formed, so that the direction finding precision is influenced, and the problem can be solved by non-uniform linear arrays.
3. Compared with the uniform linear array, the nonuniform linear array with a certain length has wider frequency range and higher accuracy in direction finding based on the amplitude-comparison direction finding method of the nonuniform linear array.
Drawings
FIG. 1 is a system block diagram of the method of the present invention.
Fig. 2 is a non-uniform linear array structure according to an embodiment of the invention.
FIG. 3 shows an array layout according to an embodiment of the present invention.
Fig. 4 is a beam comparison diagram of the non-uniform linear arrays and the uniform linear arrays in the embodiment of the invention.
FIG. 5 is a schematic diagram of the three-beam amplitude-comparison direction finding method of the present invention.
Fig. 6 is a multi-beam forming diagram of an embodiment of the present invention.
FIG. 7 is a diagram of the results of the direction finding of the embodiment of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, a magnitude comparing and direction finding method based on an inhomogeneous line array includes the following steps:
step 1: arranging a sensor linear array;
the total number of array elements in the sensor linear array is N, and the maximum adjacent distance P of the array elementsmaxCalculated from the following formula:
according to PmaxConstructing a set of adjacent array element intervals, wherein the set is divided into three parts: the first part has two elements, the element values are: 1 and Pmax-3; the second partial element values are all PmaxThe number of elements is N-Pmax(ii) a The third part of elements is a set of element values 2 and 3, like: {2, 3,2.. 2}, wherein the number of elements 2 in the set is (P)max-4), the element 2 is evenly distributed on both sides of the element 3; combining the three parts to obtain an adjacent array element spacing set M ═ 1, Pmax-3,Pmax,…, P max2,3,2.. 2}, wherein the total number of elements in the set M is N-1; the real distance of the array elements in the sensor linear array is the product of the element value in the set M and the sound source in the medium where the sensor linear array is positionedThe half wavelength of the signal, thus generating a non-uniform sensor linear array;
step 2: the non-uniform sensor linear array generates a plurality of beams at intervals within-60 degrees to 60 degrees by using a conventional beam forming method, all the beams are intersected at-3 db, and each beam corresponds to one direction;
the two non-uniform linear arrays are arranged at an included angle of 120 degrees, are used for direction finding at the front end of the aircraft, and can cover the direction finding range from 0 degree to 180 degrees in front of the aircraft;
and step 3: when a signal generated by a sound source is incident into the non-uniform sensor linear arrays at any angle, the beam with the beam output direction of the non-uniform sensor linear arrays being closest to the incident direction of the sound source signal outputs the maximum amplitude in the beams of all the non-uniform sensor linear arrays; defining the wave beam with the maximum amplitude output by the non-uniform sensor linear array as lambda2Wave beam lambda2Two adjacent beams are lambda respectively1And λ3；
If the wave beam lambda2For edge beams, i.e. only one adjacent beam, take the beam lambda2The central orientation value is a direction finding result;
if the wave beam lambda2If the beam is a middle beam, namely two adjacent beams exist, the step 4 is carried out;
and 4, step 4: calculating the target azimuth by a three-beam amplitude-comparison interpolation method;
assuming an acoustic source signal and a beam lambda1、λ2And λ3The generated three intersection points are respectively points a, b and c; in the wave beam lambda1Finding point a1 with the same amplitude as point a in the main polar direction and obtaining a beam lambda2Finding the point b1 with the same amplitude as the point b in the main polar direction, and obtaining the beam lambda3Finding a point c1 with the same amplitude as the point c in the main polar direction;
knowing that three points a1, b1 and c1 are equally spaced, the coordinates of the three points a1, b1 and c1 are (x)0,y0)、(x1,y1) And (x)2,y2) (ii) a Performing quadratic polynomial interpolation on three points of a1, b1 and c1, wherein the polynomial is in the form of y-mx2+ nx + k, resulting in a virtual beam λ passing through the three points a1, b1, c14；
Quadratic interpolation polynomial y ═ mx2The coefficients m, n, k for + nx + k are calculated as follows:
solving the equation set (1) to obtain coefficients m, n and k;
for virtual beam λ4，
Is a virtual beam lambda4Abscissa of principal maximum direction, therefore
And obtaining a final direction finding result.
The specific embodiment is as follows:
1. the maximum adjacent array element interval non-uniform linear array enlarges the maximum adjacent interval P as much as possible according to the array element number N and a certain mathematical rule relationmaxRegular adjacent array element spacing sets M can be obtained, so that the aperture of the array is enlarged, and meanwhile, the differential common array is ensured to be continuous ULA. The structure has a sparser non-uniform linear array structure and less logarithms of the spacing (the spacing is equal to half wavelength) between dense adjacent array elements.
The specific idea of array design in the embodiment is as follows: maximum adjacent pitch PmaxWill increase according to a certain proportion with the increase of n, PmaxMust be an even number; and then according to the obtained PmaxConstructing a set of adjacent array element intervals, wherein the set is divided into three parts: the first two elements: 1 and Pmax-3, the second partial elements are all PmaxThe number of elements is N-PmaxThe elements of the third part are a set of 2 and 3 symmetric about element 3 {2, amaxDetermined as (P)max-4), the element 2 is evenly distributed on both sides of the element 3; and finally obtaining an adjacent array element spacing set M, wherein the element in the M is multiplied by half wavelength to obtain an actual array element spacing set. The variation of the maximum adjacent array element spacing is accompanied by the variation of the third part element of the set MAnd an increase in the array aperture is performed. For a line array with 8 array elements, PmaxWith 6, M ═ 1,3,6,6,2,3,2, and the array element distribution map is shown in fig. 2.
Fig. 4 is a beam comparison diagram of an inhomogeneous linear array and a homogeneous linear array with an array aperture of 7.75m, the inhomogeneous linear array has a wider main lobe and a relatively lower side lobe level, no grating lobe appears within a certain degree of frequency range increase, the frequency range of direction finding is more consistent with the condition of multi-beam forming, and the frequency range of direction finding is wider.
Gathering non-uniform linear array element spacing: d ═ 0.35,1,2,2,0.7,1, 0.7.
Uniform linear array element spacing: d is 7.75/7.
2. Multiple beams are generated within-60 ° to 60 ° using conventional beamforming intervals, the multiple beams intersecting at-3 db, the curves of the individual beams being nearly identical, each beam corresponding to a direction.
When a sound source or a signal echo is incident at a certain angle, each beam is output, but the sizes of the beams are different, wherein the output amplitude of the beam pointing to the beam closest to the incident signal direction is the largest, the output amplitude of the two adjacent beams is the next to the output amplitude of the beam, and the output of other beams is smaller; when the multi-beam edge is incident, if only one adjacent beam exists, the direction value of the center of the beam with the maximum amplitude is taken as a direction finding result;
3. as shown in fig. 5, the maximum output beam obtained in step 3 and the amplitudes of two adjacent beams are used for quadratic interpolation, and the abscissa of the maximum value of the obtained quadratic polynomial is the target azimuth. Because the main lobe curve of the wave beam is similar to the quadratic curve, and the implementation of quadratic interpolation is simple and can meet the precision requirement.
In fig. 5, three solid curves represent three adjacent beams, points a, b, and c represent intersections of directions of arrival and the respective beams, points a1, b1, and c1 are amplitudes of virtual beams in the principal maximum direction of the respective actual beams, and the ordinate of the points a, b, and c is the same as the points a1, b1, and c 1. The dashed curves represent the virtual beams resulting from the quadratic interpolation, and the three vertical dashed lines represent the positions of points a1, b1, c1 corresponding to the respective beams. The geometric relationship of fig. 5 shows that the three points a1, b1 and c1 are equally spaced.
The coefficients m, n, k are solved from step 4, then
The final direction finding result is obtained.
Taking an 8-element non-uniform linear array as an example, the frequency is 1000HZ, the sound velocity is 1500m/s, and a beam forming application program is written in Matlab by using a conventional beam forming method to obtain 9 beams (the beams intersect at-3 db) which are uniformly distributed from-60 ° to 60 °, as shown in fig. 6, the x axis represents the azimuth angle, and the y axis represents the beam amplitude. The maximum output beam is determined every 2 deg. starting from-60 deg. and a direction finding operation is performed using its output at that angle with the beams on both sides, and the simulation results are shown in fig. 7.
The direction finding precision is within 2.5 degrees, the direction finding range of a single linear array in a certain frequency domain can reach 120 degrees, as shown in figure 3, array arrangement is carried out according to the method (two linear arrays are arranged at an included angle of 120 degrees), the method is applied to direction finding of the front end of an aircraft, and the direction finding range from 0 degree to 180 degrees in front of the aircraft can be covered.
Claims (1)
1. A amplitude comparison direction finding method based on a non-uniform linear array is characterized by comprising the following steps:
step 1: arranging a sensor linear array;
the total number of array elements in the sensor linear array is N, and the maximum adjacent distance P of the array elementsmaxCalculated from the following formula:
according to PmaxConstructing a set of adjacent array element intervals, wherein the set is divided into three parts: the first part has two elements, the element values are: 1 and Pmax-3; the second partial element values are all PmaxThe number of elements is N-Pmax(ii) a The third part of elements is a set of element values 2 and 3, like: {2, 3,2.. 2}, wherein the number of elements 2 in the set is (P)max-4) elements 2 are evenly distributed over the elementsTwo sides of element 3; combining the three parts to obtain an adjacent array element spacing set M ═ 1, Pmax-3，Pmax，...，Pmax2,3,2.. 2}, wherein the total number of elements in the set M is N-1; the real distance of the array elements in the sensor linear array is the product of the element value in the set M and the half wavelength of a signal sent by a sound source in a medium where the sensor linear array is located, and therefore the non-uniform sensor linear array is generated;
step 2: the non-uniform sensor linear array generates a plurality of beams at intervals within-60 degrees to 60 degrees by using a conventional beam forming method, all the beams are intersected at-3 db, and each beam corresponds to one direction;
the two non-uniform linear arrays are arranged at an included angle of 120 degrees, are used for direction finding at the front end of the aircraft, and can cover the direction finding range from 0 degree to 180 degrees in front of the aircraft;
and step 3: when a signal generated by a sound source is incident into the non-uniform sensor linear arrays at any angle, the beam with the beam output direction of the non-uniform sensor linear arrays being closest to the incident direction of the sound source signal outputs the maximum amplitude in the beams of all the non-uniform sensor linear arrays; defining the wave beam with the maximum amplitude output by the non-uniform sensor linear array as lambda2Wave beam lambda2Two adjacent beams are lambda respectively1And λ3；
If the wave beam lambda2For edge beams, i.e. only one adjacent beam, take the beam lambda2The central orientation value is a direction finding result;
if the wave beam lambda2If the beam is a middle beam, namely two adjacent beams exist, the step 4 is carried out;
and 4, step 4: calculating the target azimuth by a three-beam amplitude-comparison interpolation method;
assuming an acoustic source signal and a beam lambda1、λ2And λ3The generated three intersection points are respectively points a, b and c; in the wave beam lambda1Finding point a1 with the same amplitude as point a in the main polar direction and obtaining a beam lambda2Finding the point b1 with the same amplitude as the point b in the main polar direction, and obtaining the beam lambda3Finding a point c1 with the same amplitude as the point c in the main polar direction;
the three points a1, b1 and c1 are known to be equally spaced, and the three points a1, b1 and c1 are knownThe coordinates are respectively (x)0，y0)、(x1，y1) And (x)2，y2) (ii) a Performing quadratic polynomial interpolation on three points of a1, b1 and c1, wherein the polynomial is in the form of y-mx2+ nx + k, resulting in a virtual beam λ passing through the three points a1, b1, c14；
Quadratic interpolation polynomial y ═ mx2The coefficients m, n, k for + nx + k are calculated as follows:
solving the equation set (1) to obtain coefficients m, n and k;
for virtual beam λ4，
Is a virtual beam lambda4Abscissa of principal maximum direction, therefore
And obtaining a final direction finding result.
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