CN112713905A - Self-noise cancellation method, device, medium and equipment - Google Patents
Self-noise cancellation method, device, medium and equipment Download PDFInfo
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- CN112713905A CN112713905A CN202011393024.XA CN202011393024A CN112713905A CN 112713905 A CN112713905 A CN 112713905A CN 202011393024 A CN202011393024 A CN 202011393024A CN 112713905 A CN112713905 A CN 112713905A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/06—Receivers
- H04B1/10—Means associated with receiver for limiting or suppressing noise or interference
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The self-noise cancellation method, the device, the medium and the equipment are applied to an underwater navigation body, and the self-noise cancellation method comprises the following steps: starting a working mode, coupling a transmitting signal with a channel impact response parameter, and determining the transmitting signal as self-noise; receiving a signal, and subtracting the self-noise from the received signal to determine the signal as an external signal; when the intensity of the external signal exceeds a preset threshold, determining the external signal as a target signal; reconstructing the target signal; and taking the reconstructed signal as a transmission signal and transmitting. The channel impact response parameters in the water body are determined through the estimation of the channel models and parameters of the signal transmitting unit and the signal receiving unit on the acoustic simulator, so that the interference signal characteristics, namely self-noise, of the receiving unit when the signals are transmitted every time is obtained. When the transducer receives signals, the influence of interference signals of the transmitting unit is fully considered, so that the interference signals are eliminated.
Description
Technical Field
The present disclosure relates to the field of signal processing, and in particular, to a method, an apparatus, a medium, and a device for canceling self-noise.
Background
In the design and use of the underwater movable acoustic simulation device, the underwater unmanned vehicle can carry underwater acoustic transducers with different functions and is used for simulating the acoustic characteristics of an underwater target. In the related art, the real-time transmission and reception technology is that an acoustic system transmits an echo signal and simultaneously receives an active detection signal, and other acoustic systems simultaneously transmit analog noise all the time on the basis. The real receiving and transmitting technology has the advantages that the receiver is not turned off when the system transmits the response signal, so that the signal frequency of the target is measured while the echo signal is normally transmitted. The difficulty of the real-time transmitting and receiving technology lies in how to overcome the interference of the transmitted signal and the reverberation thereof on the self detection function. The received signal is likely to be submerged in the transmitted signal and is difficult to be detected, or the received external signal is seriously distorted due to the influence of the self transmitted signal, thereby greatly influencing the system performance, even the whole system is unusable.
Disclosure of Invention
To overcome the problems in the related art, a self-noise cancellation method, apparatus, medium, and device are provided.
According to a first aspect of the present disclosure, there is provided a self-noise cancellation method for an underwater vehicle, including:
starting a working mode, coupling a transmitting signal with a channel impact response parameter, and determining the transmitting signal as self-noise;
receiving a signal, and subtracting the self-noise from the received signal to determine the signal as an external signal;
when the intensity of the external signal exceeds a preset threshold, determining the external signal as a target signal;
reconstructing the target signal;
and taking the reconstructed signal as a transmission signal and transmitting.
The self-noise cancellation method further comprises:
detecting the change distance of a working position at the initial moment or the ending moment of a preset working period, or in the preset working period, and starting a channel detection mode when the change distance is greater than a preset threshold value;
transmitting a single-frequency standard signal as a detection signal;
and determining channel impact response parameters in the water body by a signal estimation method according to the received detection signal and the single-frequency standard signal.
The preset working period comprises a plurality of signal processing periods, and the signal processing periods are time for completing signal receiving, signal processing and signal transmitting once.
The reconstructing the target signal comprises:
generating an analog signal according to the characteristic information of the target signal;
carrying out amplitude compensation and transmission voltage response compensation of a transmission transducer on the analog signal;
and taking the compensated analog signal as a reconstructed signal.
According to another aspect of the present disclosure, there is provided a self-noise cancellation device for use in an underwater vehicle, including:
and the working mode starting module is used for starting the working mode.
The self-noise determining module is used for coupling the transmitting signal with the channel impact response parameter and determining the transmitting signal as self-noise;
a receiving module for receiving a signal;
the noise cancellation module is used for subtracting self-noise from the received signal to determine the signal as an external signal;
the target signal determining module is used for determining the external signal as a target signal after the external signal strength exceeds a preset threshold;
an analog module for reconstructing the target signal;
and the transmitting module is used for taking the reconstructed signal as a transmitting signal and transmitting the signal.
The self-noise cancellation device further includes:
the time detection module is used for determining an initial time or a preset working cycle ending time;
the distance detection module is used for detecting the change distance of the working position in a preset working period;
the channel detection mode starting module is used for detecting the change distance of the working position at the initial moment or the ending moment of a preset working period or in the preset working period, and starting the channel detection mode when the change distance is greater than a preset threshold value;
the transmitting module is also used for transmitting a single-frequency standard signal as detection information;
and the channel impulse response parameter determining module is used for determining the channel impulse response parameters through a signal estimation method according to the received detection signals and the single-frequency standard signals.
According to another aspect herein, there is provided a computer readable storage medium having stored thereon a computer program which, when executed, carries out the steps of the method according to any one of claims 1-4.
According to another aspect herein, a computer device comprises a processor, a memory and a computer program stored on the memory, the processor implementing the steps of the method according to any one of claims 1-4 when executing the computer program.
The method comprises the steps of determining channel impact response parameters in the water body by combining images of comprehensive factors such as an underwater environment, a navigation body shell, the internal space of the navigation body and the like, coupling a transmitting signal with the channel impact response parameters in a working mode, determining self-noise, subtracting the self-noise from the received signal, determining that the external signal can greatly reduce the influence of the transmitting signal of the transmitting transducer on the receiving transducer through the coupling of the navigation body and the water body, and improving the acoustic isolation between the transmitting transducer and the receiving transducer by more than 15dB through a signal processing mode.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification. In the drawings:
fig. 1 is a flow chart illustrating a method of self-noise cancellation according to an example embodiment. .
Fig. 2 is a block diagram illustrating a self-noise cancellation arrangement according to an example embodiment.
Fig. 3 is a block diagram illustrating a self-noise cancellation arrangement according to an example embodiment.
FIG. 4 is a block diagram illustrating a computer device according to an example embodiment.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some but not all of the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments herein without making any creative effort, shall fall within the scope of protection. It should be noted that the embodiments and features of the embodiments may be arbitrarily combined with each other without conflict.
When the underwater vehicle works in a pulse echo simulation working mode, a real transmitting and real receiving technology is needed, and when the transducer transmits a simulation pulse signal, the transmitting signal is coupled into the receiving transducer through a housing of the vehicle or a water body inside or outside the vehicle. And the receiving transducer is in a mode of monitoring external noise, and when the signal coupled by the transmitting transducer is received, the transmitting interference signal is mistakenly transmitted as a receiving signal and is retransmitted in an algorithm. Resulting in the external target signal being masked by the transmitted interfering signal. It is difficult to obtain the external target detection sound signal, and the echo reflection characteristic cannot be simulated. Therefore, corresponding measures must be taken to reduce the interference of the transmitting end to the receiving end and improve the acoustic isolation between the transmitting end and the receiving end.
Fig. 1 is a flow chart illustrating a method of self-noise cancellation according to an example embodiment. Referring to fig. 1, the self-noise cancellation method is applied to an underwater vehicle, and includes:
step S11, starting the operation mode, coupling the transmission signal with the channel impulse response parameter, and determining the transmission signal as self-noise.
And step S12, receiving the signal, and subtracting the self-noise from the received signal to determine the signal as an external signal.
And step S13, determining the external signal as a target signal when the external signal strength exceeds a preset threshold.
Step S14, reconstructing the target signal.
Step S15, the reconstructed signal is transmitted as a transmission signal.
Under the working mode of real transmitting and real receiving, the underwater vehicle obtains the interference signal characteristics, namely self-noise, of the receiving unit when transmitting signals each time through the estimation of the channel models and parameters of the signal transmitting unit and the signal receiving unit on the acoustic simulator. When the transducer receives signals, the influence of interference signals of the transmitting unit is fully considered, so that the interference signals are eliminated, external signals are obtained, when the external signals are larger than a preset threshold, the target signals are determined to be monitored, the target signals are subjected to analog reconstruction, the reconstructed signals are transmitted as transmitting signals, and the simulation of underwater targets is realized.
In order to correctly estimate the channel model and parameters of the underwater vehicle, considering that the channel of the interference signal is complex, the channel of the interference signal is influenced by the underwater environment, the housing of the underwater vehicle and the internal space of the underwater vehicle, and it is obviously not suitable to estimate each influence factor separately, so the three influence factors are considered as a whole and described by the channel impulse response parameters. Therefore, in order to correctly estimate the interference of the transmitted signal to the received signal, the self-noise cancellation method provided herein needs to first determine the channel impulse response parameter in the water in which the underwater vehicle is located.
In an embodiment, the self-noise cancellation method further comprises:
and detecting the change distance of the working position in a preset working period at the initial moment or the ending moment of the preset working period, and starting a channel detection mode when the change distance is greater than a preset threshold value.
And transmitting a single-frequency standard signal as a detection signal.
And determining channel impact response parameters in the water body by a signal estimation method according to the received detection signal and the single-frequency standard signal.
In order to determine the channel impulse response parameters in the water body, a channel detection mode needs to be started, a single-frequency standard signal is transmitted as a detection signal, the detection signal passes through the underwater environment, the navigation body shell and the internal space of the navigation body and reaches a receiving unit, the signal received by the receiving unit is different from the single-frequency standard signal, the channel impulse response parameters in the water body can be estimated by comparing the difference between the received signal and the standard single-frequency signal, and the channel impulse response parameters are fused with the comprehensive influence of the underwater environment, the navigation body shell and the internal space of the navigation body.
In order to make the estimated channel impulse response parameters more accurate, in implementation, the transmission and reception of the single-frequency standard signals can be performed for multiple times, and the estimated channel impulse response parameters can meet the requirements through multiple detection and estimation. For example, when the estimated channel impulse response parameters gradually converge and tend to be stable, or the difference between the latest channel impulse response parameter and the average value of the channel impulse response parameters estimated for multiple times is smaller than a preset threshold, it can be considered that the optimal channel parameter is obtained.
Considering the complexity and variability of the underwater environment, or the position of the underwater vehicle changes at any time, the underwater environment at different positions is different, the channel impact response parameters also change at any time, the channel response parameters in use are not accurate any more, and the channel impact response parameters can not be used in the self-noise cancellation algorithm any more. To better implement the self-noise cancellation method herein, the channel impulse response parameters need to be updated at any time. Firstly, when an underwater vehicle is put into use for the first time, namely at an initial moment, the underwater vehicle needs to start a channel detection mode first, determine channel impact response parameters under the current water environment, then start a working mode, enter a working state and monitor external signals under a working model for real transmission and real reception. Secondly, after working for a period of time along with the lower navigation body, the underwater environment may change, which results in failure to better monitor the external signal, so that at the end of the preset working period, the channel detection mode is restarted, the channel impact response parameters in the water body are re-determined, and then the working mode is restarted to enter the next working period. In the self-noise cancellation method provided by the document, in a working state, a change distance of a working position of an underwater vehicle is detected in a preset working period, if the change distance is greater than a preset threshold value, the preset working period is not ended, a channel detection mode is started in advance, channel impact response parameters in the water body are re-determined, and after the channel response parameters are updated, the working mode is started again to enter the next working period. Through the arrangement, the accuracy of the channel impact response parameters is kept as much as possible, and the detection effect of the external signals is improved.
In one embodiment, the preset duty cycle includes a plurality of signal processing cycles, and the signal processing cycles are time taken for completing one signal receiving, signal processing and signal transmitting. In the present embodiment, the signal processing of the whole system is performed in frames, for example, 50ms is taken as one signal processing period, and the signal within 1 period is taken as 1 frame unit. And completing the signal receiving, signal processing and signal transmitting work within 1 time within 50 ms. If the predetermined period is 2000 signal processing periods, after 2000 signal processing periods, that is, every 100 seconds, the system restarts the channel detection mode and calculates the channel impulse response parameter. The preset period can be adjusted according to the characteristics of the underwater vehicle and the characteristics of the working water area, and the preset period is not limited in this document.
In an embodiment, the self-noise cancellation method further comprises:
determining the external signal as a target signal after the external signal strength exceeds a preset threshold;
reconstructing a target signal;
and taking the reconstructed signal as a transmission signal and transmitting.
The underwater navigation body receives signals at any time, applies self-noise cancellation algorithm to the received signals, subtracts self-noise from the received signals and determines the signals as external signals. When the intensity of the external signal exceeds the preset threshold, the underwater target is detected, the external signal is a target signal at the moment, and the underwater vehicle can simulate the target signal and transmit the simulated signal, so that the target is puzzled. To achieve this, the target signal needs to be reconstructed so that the analog signal is close to the real signal emitted by the underwater target.
In an embodiment, reconstructing the target signal comprises:
generating an analog signal according to the characteristic information of the target signal;
carrying out amplitude compensation and transmission voltage response compensation of the transmission transducer on the analog signal;
and taking the compensated analog signal as a reconstructed signal and transmitting the reconstructed signal.
Although the underwater vehicle can separate the target signal from the received signal, the target signal is greatly attenuated after being propagated underwater, and if the underwater target is to be simulated to emit the target signal, the transmitted signal is required to have the same characteristics as the target signal and also has enough signal strength.
Fig. 2 is a block diagram illustrating a self-noise cancellation arrangement according to an example embodiment. Referring to fig. 2, the self-noise canceling device includes: the system comprises an operation mode starting module 201, a self-noise determining module 202, a receiving module 203, a noise cancellation module 204, a target signal determining module 205, an analog module 206 and a transmitting module 207.
The operation mode initiation module 201 is configured to initiate an operation mode.
The self-noise determination module 202 is configured to couple the transmission signal with the channel impulse response parameter to determine the transmission signal as self-noise in the operating mode.
The receiving module 203 is configured for receiving a signal.
The noise cancellation module 204 is configured to subtract self-noise from the received signal to determine the received signal as the ambient signal.
The target signal determining module 205 is configured to determine the ambient signal as a target signal after the intensity of the ambient signal exceeds a preset threshold.
The simulation module 206 is configured for reconstructing a target signal.
The transmitting module 207 is configured to use the reconstructed signal as a transmitting signal and transmit.
Fig. 3 is a block diagram illustrating a self-noise cancellation arrangement according to an example embodiment. Referring to fig. 3, the self-noise canceling device further includes: the device comprises a time detection module 301, a distance detection module 302, a channel detection mode starting module 303 and a channel impact response parameter determining module 304.
The time detection module 301 is configured to determine an initial time or a preset end of a work cycle time.
The distance detection module 302 is configured to detect a variation distance of the working position within a preset working period.
The channel detection mode starting module 303 is configured to detect a variation distance of the working position at an initial time or a preset working cycle ending time, or within a preset working cycle, and start the channel detection mode when the variation distance is greater than a preset threshold.
The channel impulse response parameter determining module 304 is configured to determine a channel impulse response parameter via a signal estimation method according to the received detection signal and the single-frequency standard signal.
Fig. 4 is a block diagram illustrating a computer device 400 for self-noise cancellation, according to an example embodiment. For example, the computer device 400 may be provided as a server. Referring to fig. 4, the computer apparatus 400 includes a processor 401, and the number of the processors may be set to one or more as necessary. The computer device 400 further comprises a memory 402 for storing instructions, e.g. application programs, executable by the processor 401. The number of the memories can be set to one or more according to needs. Which may store one or more application programs. The processor 401 is configured to execute instructions to perform the self-noise cancellation method described above.
As will be appreciated by one skilled in the art, the embodiments herein may be provided as a method, apparatus (device), or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied in the medium. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, including, but not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by the computer, and the like. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices) and computer program products according to embodiments herein. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of additional like elements in the article or device comprising the element.
While the preferred embodiments herein have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following appended claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of this disclosure.
It will be apparent to those skilled in the art that various changes and modifications may be made herein without departing from the spirit and scope thereof. Thus, it is intended that such changes and modifications be included herein, provided they come within the scope of the appended claims and their equivalents.
Claims (8)
1. A self-noise cancellation method is applied to an underwater vehicle, and is characterized by comprising the following steps:
starting a working mode, coupling a transmitting signal with a channel impact response parameter, and determining the transmitting signal as self-noise;
receiving a signal, and subtracting the self-noise from the received signal to determine the signal as an external signal;
when the intensity of the external signal exceeds a preset threshold, determining the external signal as a target signal;
reconstructing the target signal;
and taking the reconstructed signal as a transmission signal and transmitting.
2. The self-noise cancellation method of claim 1, further comprising:
detecting the change distance of a working position at the initial moment or the ending moment of a preset working period, or in the preset working period, and starting a channel detection mode when the change distance is greater than a preset threshold value;
transmitting a single-frequency standard signal as a detection signal;
and determining channel impact response parameters in the water body by a signal estimation method according to the received detection signal and the single-frequency standard signal.
3. The self-noise cancellation method according to claim 2, wherein the predetermined duty cycle includes a plurality of signal processing cycles, and the signal processing cycles are time taken to complete one signal reception, signal processing, and signal transmission.
4. The self-noise cancellation method of claim 1, wherein the reconstructing the target signal comprises:
generating an analog signal according to the characteristic information of the target signal;
carrying out amplitude compensation and transmission voltage response compensation of a transmission transducer on the analog signal;
and taking the compensated analog signal as a reconstructed signal.
5. The utility model provides a self-noise cancelling arrangement, is applied to underwater vehicle, its characterized in that includes:
and the working mode starting module is used for starting the working mode.
The self-noise determining module is used for coupling the transmitting signal with the channel impact response parameter and determining the transmitting signal as self-noise;
a receiving module for receiving a signal;
the noise cancellation module is used for subtracting self-noise from the received signal to determine the signal as an external signal;
the target signal determining module is used for determining the external signal as a target signal after the external signal strength exceeds a preset threshold;
an analog module for reconstructing the target signal;
and the transmitting module is used for taking the reconstructed signal as a transmitting signal and transmitting the signal.
6. The self-noise cancellation apparatus of claim 5, further comprising:
the time detection module is used for determining an initial time or a preset working cycle ending time;
the distance detection module is used for detecting the change distance of the working position in a preset working period;
the channel detection mode starting module is used for detecting the change distance of the working position at the initial moment or the ending moment of a preset working period or in the preset working period, and starting the channel detection mode when the change distance is greater than a preset threshold value;
the transmitting module is also used for transmitting a single-frequency standard signal as detection information;
and the channel impulse response parameter determining module is used for determining the channel impulse response parameters through a signal estimation method according to the received detection signals and the single-frequency standard signals.
7. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed, implements the steps of the method according to any one of claims 1-5.
8. A computer arrangement comprising a processor, a memory and a computer program stored on the memory, characterized in that the steps of the method according to any of claims 1-4 are implemented when the computer program is executed by the processor.
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