CN112269163A - Underwater sound source azimuth depth cooperative tracking method based on single three-dimensional vector hydrophone at bottom of seat - Google Patents
Underwater sound source azimuth depth cooperative tracking method based on single three-dimensional vector hydrophone at bottom of seat Download PDFInfo
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Abstract
The invention discloses an underwater sound source azimuth depth cooperative tracking method based on a single three-dimensional vector hydrophone at the bottom of a seat. Receiving an acoustic signal emitted by a sound source by using a single three-dimensional vector hydrophone placed at the depth of the sea bottom to generate sound pressure spectrum and vibration velocity spectrum data; obtaining a horizontal azimuth angle estimated value by horizontal and vertical sound intensity cross spectra; synthesizing a horizontal vibration velocity spectrum by using the estimated value; obtaining a vertical arrival angle estimation value from the vertical sound intensity cross spectrum and the synthesized horizontal sound intensity cross spectrum; carrying out high-resolution spectrum estimation on the sound intensity spectrum to obtain modulation frequency, and obtaining a sound source depth estimation result by using the modulation frequency; and carrying out sectional processing on the data of the sound source in any time period, and jointly drawing a tracking curve of a horizontal azimuth angle, a vertical arrival angle and a depth estimation result in different time periods. The invention solves the problem that the system for estimating and tracking the parameters of the sound source in water by using a large array through a space scanning and guide space matching method is complex in the prior art.
Description
Technical Field
The invention belongs to the field of target tracking in water; in particular to an underwater sound source azimuth depth cooperative tracking method based on a single three-dimensional vector hydrophone at the bottom of a seat.
Background
The estimation of parameters such as the azimuth, the distance and the depth of an underwater target is a core task of monitoring, detecting and tracking the underwater target. Generally, a large array is used, but due to the complexity of the system, the information processing pressure and the difficulty in offshore operation and deployment of the system, a more simplified system and an excellent tracking method are urgently needed.
Compared with the common sound pressure hydrophone which can only obtain the sound pressure information of the sound field, the three-dimensional vector hydrophone can synchronously measure the sound pressure and the particle vibration velocity information in the sound field at the same point, so that more favorable conditions are created for the comprehensive perception and acquisition of the sound field information, and a possible solution is provided for simplifying the system scale. The high-precision estimation of the target azimuth under the free field condition can be completed by using a single vector hydrophone, but the estimation of richer information of an underwater target cannot be realized, and the error between the vector hydrophone and the underwater target under the ocean channel environment is larger when the vector hydrophone is directly used, which is a big problem at present.
The method is characterized in that a sound pressure vibration velocity sound intensity cross-spectrum form of a signal received by a vector hydrophone is reconstructed by combining an ocean channel condition, and horizontal azimuth angle, vertical arrival angle and depth information of a sound source are hidden in the sound intensity cross-spectrum, so that the ocean channel condition and the vector information are more effectively utilized, and estimation results of the horizontal azimuth angle, the vertical arrival angle and the depth can be simultaneously obtained by resolving. Compared with the traditional vertical array processing mode, the vertical angle-of-arrival result similar to that of the array can be obtained only by using the three-dimensional vector hydrophone, and the depth estimation result can be obtained without utilizing channel mode filtering, and all the factors enable the idea to have great novelty. In addition, due to the adoption of the deployment and use mode of the base, the system has extremely high concealment after deployment, the background noise of the marine environment where the vector hydrophone receiving system is located is lower, the attitude of the hydrophone is stable after the installation of the fixed base, and the quality of received signals is better.
Disclosure of Invention
The invention provides an underwater sound source azimuth depth cooperative tracking method based on a single three-dimensional vector hydrophone at the bottom, which solves the problem that the system for estimating and tracking underwater sound source parameters by using a large array through a space scanning and guiding space matching method is complex in the prior art, and has the advantages of system simplification, high estimation precision and high tracking efficiency. And the system is distributed on the seabed, so that the stability and the concealment are better, rich horizontal azimuth angle, vertical arrival angle and depth combined information can be provided for tracking and detecting targets in water, and the system has wide application prospect.
The invention is realized by the following technical scheme:
an underwater sound source azimuth depth cooperative tracking method based on a single three-dimensional vector hydrophone at the bottom of a sea comprises the following steps:
step 1: receiving an acoustic signal emitted by a sound source close to the upper part of the sea surface by using a single three-dimensional vector hydrophone placed at the depth of the sea bottom to generate sound pressure spectrum and vibration velocity spectrum data;
step 2: based on the sound pressure spectrum and the vibration velocity spectrum data in the step 1, a horizontal azimuth angle estimated value is obtained by the sound intensity in the horizontal x direction and the sound intensity cross spectrum in the vertical y direction
And step 3: using the horizontal azimuth estimate of step 2
Synthetic horizontal vibration velocity spectrum Vr(rs,zs,ω)；
And 4, step 4: obtaining vertical arrival angle estimated value from vertical sound intensity cross spectrum and synthesized horizontal sound intensity cross spectrum
And 5: carrying out high-resolution spectrum estimation on the sound intensity spectrum in the step 2 to obtain a modulation frequency fperiodAnd using fperiodWith deployment depth z associated with the vector hydrophonesWave number k and weighted average angle of incidence θsObtaining sound source depth estimation result by related periodic modulation relation
Step 6: carrying out sectional processing on the data of the sound source in any time period to obtain horizontal azimuth angle estimated values in different time periods
Perpendicular angle of arrival
And depth
And estimating the result, and drawing a tracking curve in combination.
Further, in the step 1, specifically,
setting the position of the vector hydrophone as the origin of a reference coordinate system, and receiving the received signals (r) at the point according to the virtual source theorys,zs) The sound wave emitted by the sound source has a sound pressure spectrum expressed as,
wherein ,P1(rs,zs,ω) and P2(rs,zsω) represents the sound pressure of the direct wave and the sea surface reflected wave, respectively; when the sound velocity is c, the wave number is k ═ omega/c; omega belongs to [ omega ]l ωh]Is the angular frequency, omegal and ωhLower and upper limits of the analysis band, respectively; s (ω) is the sound source complex spectral amplitude; eta is the sea surface reflection coefficient, and eta is approximately equal to-1; rs- and Rs+Is the inclined distance of the path of the direct wave and the reflected wave from the sea surface, i.e.
When z isb＞＞zsConsidering only the phase difference between the direct wave and the sea surface reflected wave, equation (1) is expressed as:
wherein ,
sinθs＝H/Rsh isDepth of sea water, thetasThe weighted average incident angle of the direct wave and the sea surface reflected wave is used; z is a radical ofsIs the depth of sound source, rsThe horizontal distance from the sound source to the receiving hydrophone;
the horizontal x-direction and y-direction particle velocity spectra received by the vector hydrophone are expressed as:
wherein rho is the density of the seawater; phi is asIs the sound source incident azimuth angle; thetas1 and θs2The vertical arrival angles of the direct wave and the surface reflected wave respectively; theta due to the large depth separation between the source and receivers1 and θs2Are all close to thetasEquation (4) is approximated as
The particle velocity spectrum received by the vector hydrophone perpendicular to the z-direction is represented as:
further, the step 2 is specifically that,
horizontal x-direction intensity cross-spectrum Ix(rs,zsω) and y-direction intensity cross-spectra Iy(rs,zsω) are each:
wherein, (if there is a stroke error in the formula, it should be P (r)s,zsω), equations (8) and (9) have been modified. )*The complex conjugate operator is represented by a complex conjugate operator,
determining the horizontal azimuth angle according to the ratio of the mutual spectra of the sound intensity in the y direction and the x direction
Wherein arctan represents the arctan operation.
Further, the step 3 is specifically that,
point of direction
Resultant horizontal vibration velocity spectrum V of directionr(rs,zsω) is expressed as:
when in use
Then, the trigonometric function property is used to know that:
further, the step 4 is specifically that,
synthesized horizontal direction sound intensity cross spectrum Ir(rs,zsω) and vertical direction mutual intensity spectrum Iz(rs,zsω) are each:
estimating the vertical arrival angle according to the ratio of the vertical direction mutual sound intensity spectrum and the synthesized horizontal direction mutual sound intensity spectrum
Further, in the step 5, specifically,
the sound pressure spectrum approximation form in the formula (2) is utilized to obtain the sound intensity spectrum approximation as,
the above formula indicates thatsWave number k, weighted average incidence angle theta of direct wave and sea surface reflected wavesThe related periodic modulation item is estimated by high-resolution spectrum analysis of the sound intensity spectrum to obtain the modulation period frequency fperiodThe estimation result of (2);
obtaining the estimated value of the vertical angle of arrival
And sound source depth estimation result
On the basis of the modulation frequency fperiodSatisfy the requirement of
Then there are:
the invention has the beneficial effects that:
1. the invention utilizes the multi-path sound field structure of the water surface and the underwater sound source in the channel, receives the sound pressure and the vibration velocity signal through the single three-dimensional vector hydrophone, obtains the internal parameter relation of the sound pressure vibration velocity sound intensity, obtains the horizontal azimuth angle, the vertical arrival angle and the depth estimation result by utilizing the sound intensity cross-spectrum estimation, and realizes the joint tracking of the underwater sound source.
2. The invention has good anti-noise effect of sound intensity cross-spectrum estimation, is suitable for the underwater sound field environment under the general condition, and can bring higher received signal quality because the hydrophones are arranged near the seabed, the interference is small, and the arrangement stability of a receiving system is high.
3. Compared with a large array which is generally used, the method has the key characteristics that the system is simple in composition, estimation parameters are complete and rich, space scanning is not needed, and tracking efficiency is high, and the method has great advantages in practical application.
4. According to the invention, the estimation results of the horizontal azimuth angle, the vertical arrival angle and the depth can be obtained simultaneously only by using the single three-dimensional vector hydrophone, and the system scale, the information abundance degree, the estimation precision, the speed and the like are obviously improved. The method is suitable for the fields of underwater target monitoring, detection, tracking and the like.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
FIG. 2 is a schematic diagram of the arrangement and sound ray of the present invention.
FIG. 3 is a graph of the joint tracking of the present invention.
Fig. 4 is a horizontal azimuth tracking graph of the present invention.
FIG. 5 is a graph of the vertical angle of arrival tracking of the present invention.
Fig. 6 is a graph of the depth tracking of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
An underwater sound source azimuth depth cooperative tracking method based on a single three-dimensional vector hydrophone at the bottom of a sea comprises the following steps:
step 1: receiving an acoustic signal emitted by a sound source close to the upper part of the sea surface by using a single three-dimensional vector hydrophone placed at the depth of the sea bottom to generate sound pressure spectrum and vibration velocity spectrum data;
step 2: based on the sound pressure spectrum and the vibration velocity spectrum data in the step 1, a horizontal azimuth angle estimated value is obtained by the sound intensity in the horizontal x direction and the sound intensity cross spectrum in the vertical y direction
And step 3: using the horizontal azimuth estimate of step 2
Synthetic horizontal vibration velocity spectrum Vr(rs,zs,ω)；
And 4, step 4: obtaining vertical arrival angle estimated value from vertical sound intensity cross spectrum and synthesized horizontal sound intensity cross spectrum
And 5: carrying out high-resolution spectrum estimation on the sound intensity spectrum in the step 2 to obtain a modulation frequency fperiodAnd using fperiodWith deployment depth z associated with the vector hydrophonesWave number k and weighted average angle of incidence θsRelative periodic modulation relationship to obtain soundSource depth estimation result
Step 1, calculating sound pressure by formula (2), calculating sound intensity by formula (16) in step 5 on the basis of formula (2), and calculating depth by using the sound intensity;
step 6: carrying out sectional processing on the data of the sound source in any time period to obtain horizontal azimuth angle estimated values in different time periods
Perpendicular angle of arrival
And depth
The results were estimated and the tracking curves were plotted in combination, as shown in fig. 2.
Further, in the step 1, specifically,
the depth of sea water is H, and the distribution depth of the vector hydrophone is zbH is approximately equal, the bending of sound rays caused by the layering of the sound velocity of seawater is ignored, the influence of seabed reflected waves is ignored because the vector hydrophones are distributed near the seabed, and the depth is zsThe underwater sound source of (2) generates an underwater sound field that is a combination of direct waves and sea surface reflected waves, as shown in fig. 1.
For sources and hydrophones near the upper and lower regions of the ocean (greater depth separation between source and hydrophone, z)b＞＞zs) Only the direct and sea surface reflected waves are considered. Setting the position of the vector hydrophone as the origin of a reference coordinate system, and receiving the received signals (r) at the point according to the virtual source theorys,zs) The sound wave emitted by the sound source has a sound pressure spectrum expressed as,
wherein ,P1(rs,zs,ω) and P2(rs,zsω) represents the sound pressure of the direct wave and the sea surface reflected wave, respectively; when the sound velocity is c, the wave number is k ═ omega/c; omega belongs to [ omega ]lωh]Is the angular frequency, omegal and ωhLower and upper limits of the analysis band, respectively; s (ω) is the sound source complex spectral amplitude; eta is the sea surface reflection coefficient, and eta is approximately equal to-1; rs- and Rs+Is the inclined distance of the path of the direct wave and the reflected wave from the sea surface, i.e.
When z isb＞＞zsConsidering only the phase difference between the direct wave and the sea surface reflected wave, equation (1) is expressed as:
wherein ,
sinθs＝H/Rs，θsis the weighted average angle of incidence, z, of the direct and surface reflected wavessIs the depth of sound source, rsIs the horizontal distance from the source to the receiving hydrophone.
The horizontal x-direction and y-direction particle velocity spectra received by the vector hydrophone are expressed as:
wherein rho is the density of the seawater; phi is asIs the sound source incident azimuth angle; thetas1 and θs2The vertical arrival angles of the direct wave and the surface reflected wave respectively; theta due to the large depth separation between the source and receivers1 and θs2Are all close to thetasEquation (4) is approximated as
The particle velocity spectrum received by the vector hydrophone perpendicular to the z-direction is represented as:
further, the step 2 is specifically that,
horizontal x-direction intensity cross-spectrum Ix(rs,zsω) and y-direction intensity cross-spectra Iy(rs,zsω) are each:
wherein ,*the complex conjugate operator is represented by a complex conjugate operator,
determining the horizontal azimuth angle according to the ratio of the mutual spectra of the sound intensity in the y direction and the x direction
Wherein arctan represents the arctan operation.
Further, the step 3 is specifically that,
point of direction
Resultant horizontal vibration velocity spectrum V of directionr(rs,zsω) is expressed as:
when in use
Then, the trigonometric function property is used to know that:
further, the step 4 is specifically that,
synthesized horizontal direction sound intensity cross spectrum Ir(rs,zsω) and vertical direction mutual intensity spectrum Iz(rs,zsω) are each:
estimating the vertical arrival angle according to the ratio of the vertical direction mutual sound intensity spectrum and the synthesized horizontal direction mutual sound intensity spectrum
Further, in the step 5, specifically,
the sound pressure spectrum approximation form in the formula (2) is utilized to obtain the sound intensity spectrum approximation as,
the above formula indicates thatsWave number k, weighted average incidence angle theta of direct wave and sea surface reflected wavesThe related periodic modulation item is estimated by high-resolution spectrum analysis of the sound intensity spectrum to obtain the modulation period frequency fperiodThe estimation result of (2);
obtaining the estimated value of the vertical angle of arrival
And sound source depth estimation result
On the basis of the modulation frequency fperiodSatisfy the requirement of
Then there are:
example 2
The depth of the seawater is 500m, and the single three-dimensional vector hydrophone is arranged at a position 1m away from the seabed. The sound source frequency is 200Hz, the sampling rate is 3.2kHz, and the sound velocity in water is 1480 m/s. The sound source is located at the position with the underwater depth of 20m, the horizontal azimuth angle between the sound source and the hydrophone is 45 degrees, the sound source moves from the position with the horizontal distance of 10km to the position with the horizontal distance of 15km of the hydrophone, data in the motion process are processed in a segmented mode, and each snapshot is 1024 to guarantee proper frequency spectrum resolution. Under the condition that the spectral level signal-to-noise ratio is 10dB, a horizontal position angle, a vertical arrival angle and a depth joint tracking curve in the motion process is drawn (as shown in figure 2), and estimation errors are analyzed (as shown in figures 3, 4 and 5).
The effect analysis of the embodiment shows that: according to the method, the horizontal azimuth angle, the vertical arrival angle and the depth of the underwater sound source can be jointly tracked by only using the single-branch vector hydrophone, and the system is simple in structure and convenient to use. The comparison between the estimation error and the true value in the tracking process proves that the method has higher precision, small calculation amount by utilizing the sound intensity cross spectrum, no need of space scanning and higher tracking speed and efficiency.
Compared with a large array which is generally used, the system has the key characteristics of simple composition, complete and rich estimation parameters, high tracking efficiency without space scanning, and great advantages in practical application.
Claims (6)
1. An underwater sound source azimuth depth cooperative tracking method based on a single three-dimensional vector hydrophone at the bottom of a sea is characterized by comprising the following steps of:
step 1: receiving an acoustic signal emitted by a sound source close to the upper part of the sea surface by using a single three-dimensional vector hydrophone placed at the depth of the sea bottom to generate sound pressure spectrum and vibration velocity spectrum data;
step 2: based on the sound pressure spectrum and the vibration velocity spectrum data in the step 1, a horizontal azimuth angle estimated value is obtained by the sound intensity in the horizontal x direction and the sound intensity cross spectrum in the vertical y direction
And step 3: using the horizontal azimuth estimate of step 2
Synthetic horizontal vibration velocity spectrum Vr(rs,zs,ω)；
And 4, step 4: obtaining vertical arrival angle estimated value from vertical sound intensity cross spectrum and synthesized horizontal sound intensity cross spectrum
And 5: carrying out high-resolution spectrum estimation on the sound intensity spectrum in the step 2 to obtain a modulation frequency fperiodAnd using fperiodWith deployment depth z associated with the vector hydrophonesWave number k and weighted average incidenceAngle thetasObtaining sound source depth estimation result by related periodic modulation relation
Step 6: carrying out sectional processing on the data of the sound source in any time period to obtain horizontal azimuth angle estimated values in different time periods
Perpendicular angle of arrival
And depth
And estimating the result, and drawing a tracking curve in combination.
2. The method for cooperative tracking of azimuth and depth of an underwater sound source based on a single three-dimensional vector hydrophone under the seat as claimed in claim 1, wherein the step 1 is specifically,
setting the position of the vector hydrophone as the origin of a reference coordinate system, and receiving the received signals (r) at the point according to the virtual source theorys,zs) The sound wave emitted by the sound source has a sound pressure spectrum expressed as,
wherein ,P1(rs,zs,ω) and P2(rs,zsω) represents the sound pressure of the direct wave and the sea surface reflected wave, respectively; when the sound velocity is c, the wave number is k ═ omega/c; omega belongs to [ omega ]lωh]Is the angular frequency, omegal and ωhLower and upper limits of the analysis band, respectively; s (ω) is the sound source complex spectral amplitude; eta is the sea surface reflection coefficient, and eta is approximately equal to-1; rs- and Rs+Is the inclined distance of the path of the direct wave and the reflected wave from the sea surface, i.e.
When z isb＞＞zsConsidering only the phase difference between the direct wave and the sea surface reflected wave, equation (1) is expressed as:
wherein ,
sinθs＝H/Rsh is the depth of the sea, thetasThe weighted average incident angle of the direct wave and the sea surface reflected wave is used; z is a radical ofsIs the depth of sound source, rsThe horizontal distance from the sound source to the receiving hydrophone;
the horizontal x-direction and y-direction particle velocity spectra received by the vector hydrophone are expressed as:
wherein rho is the density of the seawater; phi is asIs the sound source incident azimuth angle; thetas1 and θs2The vertical arrival angles of the direct wave and the surface reflected wave respectively; theta due to the large depth separation between the source and receivers1 and θs2Are all close to thetasEquation (4) is approximated as
The particle velocity spectrum received by the vector hydrophone perpendicular to the z-direction is represented as:
3. the method for cooperative tracking of azimuth and depth of an underwater sound source based on a single three-dimensional vector hydrophone under seat according to claim 1, wherein the step 2 is specifically,
horizontal x-direction intensity cross-spectrum Ix(rs,zsω) and y-direction intensity cross-spectra Iy(rs,zsω) are each:
wherein ,*the complex conjugate operator is represented by a complex conjugate operator,
determining the horizontal azimuth angle according to the ratio of the mutual spectra of the sound intensity in the y direction and the x direction
Wherein arctan represents the arctan operation.
4. The method for cooperative tracking of azimuth and depth of an underwater sound source based on a single three-dimensional vector hydrophone under seat according to claim 1, wherein the step 3 is specifically,
point of direction
Resultant horizontal vibration velocity spectrum V of directionr(rs,zsω) is expressed as:
when in use
Then, the trigonometric function property is used to know that:
5. the method for cooperative tracking of azimuth and depth of an underwater sound source based on a single three-dimensional vector hydrophone under seat according to claim 1, wherein the step 4 is specifically,
synthesized horizontal direction sound intensity cross spectrum Ir(rs,zsω) and vertical direction mutual intensity spectrum Iz(rs,zsω) are each:
estimating the vertical arrival angle according to the ratio of the vertical direction mutual sound intensity spectrum and the synthesized horizontal direction mutual sound intensity spectrum
6. The method for cooperative tracking of azimuth and depth of an underwater sound source based on a single three-dimensional vector hydrophone under seat according to claim 1, wherein the step 5 is specifically,
the sound pressure spectrum approximation form in the formula (2) is utilized to obtain the sound intensity spectrum approximation as,
the above formula indicates thatsWave number k, weighted average incidence angle theta of direct wave and sea surface reflected wavesThe related periodic modulation item is estimated by high-resolution spectrum analysis of the sound intensity spectrum to obtain the modulation period frequency fperiodThe estimation result of (2);
obtaining the estimated value of the vertical angle of arrival
And sound source depth estimation result
On the basis of the modulation frequency fperiodSatisfy the requirement of
Then there are:
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| CN116593965A (en) * | 2023-07-19 | 2023-08-15 | 中国海洋大学 | Horizontal array type estimation method based on far-field opportunity sound source |
| CN113671442B (en) * | 2021-07-30 | 2024-07-09 | 青岛海纳水下信息技术有限公司 | Underwater unmanned cluster navigation positioning method based on vector hydrophone technology |
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