CN112764016A - Signal processing method and device and variable-frequency multi-beam sounding system - Google Patents
Signal processing method and device and variable-frequency multi-beam sounding system 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
- 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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- 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
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
Abstract
The application discloses a signal processing method and device and a variable-frequency multi-beam sounding system, wherein the method comprises the following steps: predicting a depth value of the specified location based on an echo signal of the probe signal used in a current frame in which the ocean depth is measured; under the condition that the depth value is changed compared with the depth value of the previous frame or the frequency of the detection signal is changed compared with the frequency of the detection signal of the previous frame, changing the current sub-array structure to obtain a target sub-array structure; and forming a split array beam based on the target subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection. Therefore, the subarray structure can be adaptively changed according to the field working environment and the actual condition of the echo signal, and a split array beam is formed based on the changed subarray structure, so that the defect of a fixed subarray structure can be overcome, and the accuracy of bottom detection is effectively improved.
Description
Technical Field
The present invention relates to the field of beam sounding technology, and in particular, to a signal processing method and apparatus, and a variable frequency multi-beam sounding system.
Background
The variable-frequency multi-beam sounding is a submarine topography measuring technology with high efficiency, high precision and high resolution, can autonomously select working frequency according to working environment, can meet the requirements of different sounding ranges and higher airspace resolution, and has the advantages of short calibration time, convenient system installation, ultrahigh resolution, strong interference resistance and the like. The core technology of the variable frequency multi-beam sounding system is a bottom detection technology, and before the bottom detection technology is used, the echo signal of the detection signal generally needs to be preprocessed, so that the output signal can meet the requirement of sole detection.
Generally, the preprocessing of the echo signal may include quadrature demodulation, sub-array structure configuration, noise suppression, and split-array beam forming, where the sub-array structure may affect the output signal-to-noise ratio and the linear phase unambiguous interval length of the split-array beam forming, and thus the accuracy of the bottom detection. For a variable-frequency multi-beam detection system, because the frequency of a detection signal is variable, the actually measured ocean depth is also changed, and therefore, how to configure a subarray structure and further improve the accuracy of bottom detection is of great importance.
Disclosure of Invention
The embodiment of the application provides a signal processing method and device and a variable-frequency multi-beam sounding system, which are used for solving the problem that when the existing sub-array structure is adopted to form a split array beam and further perform bottom detection, the precision of a bottom detection result is low.
In order to solve the above technical problem, the embodiment of the present application is implemented as follows:
in a first aspect, a signal processing method is provided, including:
predicting a depth value of the specified location based on an echo signal of the probe signal used in a current frame in which the ocean depth is measured;
under the condition that the depth value is changed compared with the depth value of the previous frame or the frequency of the detection signal is changed compared with the frequency of the detection signal of the previous frame, changing the current subarray structure to obtain a target subarray structure;
and forming a split array beam based on the target subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection.
In a second aspect, a signal processing apparatus is provided, which includes:
a depth prediction unit that predicts a depth value of the specified position based on an echo signal of the probe signal used in a current frame in which the ocean depth is measured;
a sub-array structure changing unit which changes the current sub-array structure to obtain a target sub-array structure when the depth value changes compared with the depth value of the previous frame or the frequency of the detection signal changes compared with the frequency of the detection signal of the previous frame;
and the beam forming unit is used for forming a split array beam based on the target subarray structure and the echo signal, and the split array beam is used for performing bottom detection.
In a third aspect, an electronic device is provided, which includes:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
predicting a depth value of the specified location based on an echo signal of the probe signal used in a current frame in which the ocean depth is measured;
under the condition that the depth value is changed compared with the depth value of the previous frame or the frequency of the detection signal is changed compared with the frequency of the detection signal of the previous frame, changing the current subarray structure to obtain a target subarray structure;
and forming a split array beam based on the target subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection.
In a fourth aspect, a computer-readable storage medium is presented, the computer-readable storage medium storing one or more programs that, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the method of:
predicting a depth value of the specified location based on an echo signal of the probe signal used in a current frame in which the ocean depth is measured;
under the condition that the depth value is changed compared with the depth value of the previous frame or the frequency of the detection signal is changed compared with the frequency of the detection signal of the previous frame, changing the current subarray structure to obtain a target subarray structure;
and forming a split array beam based on the target subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection.
In a fifth aspect, a variable frequency multi-beam sounding system is provided, which comprises a wet-end sonar, a dry-end interface box, a dry-end portable machine, and an auxiliary sensor, wherein:
the wet-end sonar transmits a detection signal to the ocean and receives an echo signal of the detection signal, and the detection signal is used for detecting the depth of the ocean and has variable frequency;
the dry end interface box, the dry end portable machine and the auxiliary sensor predict a depth value of a specified location based on the echo signal within a current frame; under the condition that the depth value is changed compared with the depth value of the previous frame or the frequency of the detection signal is changed compared with the frequency of the detection signal of the previous frame, changing the current subarray structure to obtain a target subarray structure; and forming a split array beam based on the target subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
in the current frame for measuring the ocean depth, the depth value of the current frame can be predicted by the echo signal, if the depth value changes to a certain degree or the frequency of the detection signal changes compared with the previous frame, the current sub-array structure can be changed, and the target sub-array structure and the echo signal obtained after the change are used for forming the split array beam, so as to perform bottom detection based on the formed split array beam. According to the embodiment of the application, the subarray structure can be adaptively changed according to the field working environment and the actual condition of the echo signal, and the split array beam is formed based on the changed subarray structure, so that the defect of fixing the subarray structure can be overcome, and the accuracy of bottom detection is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
FIG. 1 is a schematic flow chart diagram of a signal processing method according to an embodiment of the present application;
FIG. 2 is a schematic flow chart diagram of a signal processing method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a split array beam according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a signal processing apparatus according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a variable frequency multi-beam sounding system according to an embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a signal processing method according to an embodiment of the present application. The embodiment shown in fig. 1 specifically includes the following steps.
S102: in a current frame in which the ocean depth is measured, a depth value of a specified location is predicted based on an echo signal of a probe signal used.
In detecting the depth of the ocean, a detection signal, which may be a sound wave signal, may be transmitted to the ocean floor, wherein each detection may be considered as one frame. In this embodiment, in the current frame in which the ocean depth is measured, after the probe signal is transmitted, the echo signal of the probe signal may be collected. After the echo signals are acquired, the depth value of a specified position of the sea bottom can be predicted and obtained based on the echo signals.
The specified location may be a corresponding seafloor location directly below the device that transmitted the probe signal. Before predicting the depth value of the designated location based on the echo signal, the echo signal may be subjected to quadrature demodulation processing to obtain an in-phase quadrature (IQ) signal corresponding to the echo signal, and then the depth value of the designated location may be predicted based on the IQ signal. In this embodiment, unless otherwise specified, an echo signal may be understood as an IQ signal corresponding to the echo signal.
In predicting the depth value of the specified location based on the echo signal, first, an echo time length from transmission of the probe signal to reception of the echo signal may be determined based on the echo signal; secondly, the depth value of the specified position is determined based on the following formula:
When determining the echo duration from the emission of the probe signal to the reception of the echo signal based on the echo signal, the specific implementation is as follows:
when the probe signal is transmitted, the transmission timing of the probe signal may be recorded. After the detection signal is transmitted, signal sampling can be carried out every set duration, wherein a plurality of signal sampling points can be set in the current frame, and a plurality of array elements can be adopted to carry out signal acquisition simultaneously. Thus, in the current frame, echo signals can be acquired through multiple sampling.
After the echo signals are acquired, for each signal sampling point, the amplitudes of a plurality of echo signals acquired by a plurality of array elements on the signal sampling point can be determined, the average value of the amplitudes of the plurality of echo signals is calculated, the average value corresponding to each sampling point is obtained, and finally, a plurality of average values corresponding to the plurality of signal sampling points one to one are obtained.
After obtaining the plurality of average values, a peak point may be detected from the plurality of average values. In this embodiment, the number of peak points may be one or more.
After obtaining the at least one peak point, a target peak point may be selected from the at least one peak point, where the target peak point is a first peak point of the at least one peak point whose amplitude exceeds a set threshold. The preset threshold may be determined according to an actual situation, or may be determined by the following formula, which is not specifically limited herein.
After the target peak point is determined, the time length between the sampling time corresponding to the target peak point and the previously recorded transmitting time of the transmitted detection signal is the echo time length.
After obtaining the echo duration, the method can be based on the above
The depth value of the specified position is predicted. After the depth value is obtained, S104 may be performed.
S104: and under the condition that the depth value is changed compared with the depth value of the previous frame or the frequency of the detection signal is changed compared with the frequency of the detection signal of the previous frame, changing the current subarray structure to obtain a target subarray structure.
In S104, the predicted depth value may be compared with the depth value at the specified position in the previous frame, and it is determined whether the depth value changes compared with the previous frame. In this embodiment, when the difference between the depth value of the current frame and the depth value of the previous frame is greater than or equal to the preset percentage, the depth value may be considered to be changed, otherwise, the depth value may be considered to be unchanged. The preset percentage may be set according to actual conditions, such as 10%.
When comparing the depth values, the frequency of the detection signal used by the current frame may be compared with the frequency of the detection signal used by the previous frame to determine whether the frequency of the current frame is changed from the frequency of the previous frame. In this embodiment, when the signal frequency of the current frame is different from the signal frequency of the previous frame, it can be considered that the change has occurred.
It should be noted that, if the current frame is the first frame, that is, the current frame does not have the previous frame, in order to facilitate determining whether the depth value or the signal frequency of the current frame changes, a historical depth value and a historical frequency may be preset, if the difference between the depth value of the current frame and the historical depth value is not less than a preset percentage, the depth value may be considered to have changed, and if the signal frequency of the current frame is different from the historical frequency, the signal frequency may be considered to have changed. The historical depth value and the historical frequency may be set according to actual conditions, and are not limited specifically here.
After comparing the depth value with the signal frequency, if the depth value changes or the frequency changes, the currently used sub-array structure can be changed to obtain the target sub-array structure so as to adapt to the changed depth value or frequency.
When the subarray structure is changed to obtain a target subarray structure, the specific implementation mode is as follows:
first, a plurality of candidate subarray structures are determined based on the changed depth values or the changed frequencies.
The changed depth value is the depth value predicted in S102, and the changed frequency is the frequency of the detection signal used in S102. In this embodiment, a sub-array structure array may be determined based on the changed depth value or the changed frequency, where the sub-array structure array includes a plurality of sub-array structures, and the plurality of sub-array structures may be regarded as a plurality of candidate sub-array structures.
In a plurality of candidate subarray structures, each subarray structure is an effective subarray structure, and the subarray interval M and the subarray length L both satisfy the following conditions:
。
when determining a plurality of candidate sub-array structures, in the case where the depth value changes, L may be increased if the depth value is increased as compared to the previous frame, and L may be decreased if the depth value is decreased as compared to the previous frame, thereby obtaining a plurality of candidate sub-array structures. In the case of a frequency change, L may be decreased if the frequency is increased compared to the previous frame, and L may be increased if the frequency is decreased compared to the previous frame, thereby obtaining a plurality of candidate subarray structures.
And secondly, determining the output signal-to-noise ratio of the wave beam corresponding to each of the candidate subarray structures.
In this embodiment, the output signal-to-noise ratios of the beams corresponding to the multiple candidate subarray structures may all be determined by the echo signal-to-noise ratio of the echo signal in S102. Specifically, for any candidate subarray structure, the corresponding beam output signal-to-noise ratio can be determined and obtained through the following formula:
The above parameters
Specifically, the method can be determined by the following formula:
wherein M is the subarray interval of the candidate subarray structure, L is the subarray length of the candidate subarray structure, H is the number of subarrays in the candidate subarray structure, and P is the number of mutually overlapped subarrays in the candidate subarray structure.
SNR I (i.e., the echo signal-to-noise of the echo signal) can be determined by:
s11: a signal within a first specified range of the echo signals is selected as a noise signal, and the mean and standard deviation of the noise signal are calculated.
The signal within the first specified range may be a signal within a range that is measured far enough. The mean and standard deviation are in particular the mean and standard deviation of the noise signal amplitude.
S12: and subtracting the average value of the noise signals from the amplitude of the echo signal, selecting a signal in a second specified range of the echo signal as a specified echo signal, and calculating the standard deviation of the specified echo signal.
The second specified range may be a range centered on the depth value predicted in S102.
S13: determining an echo signal-to-noise ratio of the echo signal by:
By the method, a plurality of wave beam output signal-to-noise ratios corresponding to the candidate subarray structures can be determined.
Finally, after obtaining a plurality of beam output signal-to-noise ratios corresponding to the plurality of candidate subarray structures, the target subarray structure may be determined based on the beam output signal-to-noise ratios.
Specifically, one or more candidate subarray structures whose beam output signal-to-noise ratios are not less than a set signal-to-noise ratio threshold may be selected from the multiple candidate subarrays according to each beam output signal-to-noise ratio, and then one candidate subarray structure having the smallest number of subarrays may be selected from the one or more candidate subarray structures, where the candidate subarray structure is the target subarray structure. The set snr threshold may be set according to actual conditions, and is not specifically limited herein.
After the target subarray structure is obtained, S106 may be performed.
S106: and forming a split array beam based on the target subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection.
After the subarray structure is changed, the receiving array can be divided into a plurality of regularly overlapped subarrays based on the changed target subarray structure, a split array beam is formed by adopting a common method in the prior art, and then subsequent bottom detection is carried out based on the split array beam. The subarray structure can be adaptively changed, and the split array beam is formed based on the changed subarray structure, so that the defect of fixing the subarray structure can be overcome, and the accuracy of bottom detection is effectively improved.
For facilitating understanding of the technical solutions provided by the embodiments of the present application, reference may be made to the embodiment shown in fig. 2. The embodiment shown in fig. 2 belongs to the same inventive concept as the embodiment shown in fig. 1, and specifically comprises the following steps:
s201: in a current frame in which the ocean depth is measured, a depth value of a specified location is predicted based on an echo signal of a probe signal used.
S202: whether the depth value changes from the depth value of the previous frame or whether the frequency of the detection signal changes from the frequency of the detection signal of the previous frame is determined.
If the depth value or frequency changes, S203 may be executed; otherwise S208 may be performed.
S203: determining a plurality of candidate subarray structures based on the varied depth values or the varied frequencies.
S204: an echo signal-to-noise ratio of the echo signal is determined.
S205: and determining the output signal-to-noise ratio of the wave beam corresponding to each of the candidate subarray structures based on the echo signal-to-noise ratio of the echo signal.
S206: and selecting a target subarray structure from the plurality of candidate subarray structures, wherein the output signal-to-noise ratio of a wave beam corresponding to the target subarray structure is smaller than a set signal-to-noise ratio threshold value, and the number of subarrays contained in the wave beam is the least.
S207: and forming a split array beam based on the target subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection.
S208: and forming a split array beam based on the current subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection.
Specific implementation of the above S201 to S208 can refer to specific implementation of corresponding steps in the embodiment shown in fig. 1, and description thereof is not repeated here.
In order to verify the effectiveness of the technical scheme provided by the embodiment of the application, the actually measured test data of a certain sea area can be selected for processing, the signal frequency of the test data is 200KHz, 300KHz and 400KHz respectively, and the depth value is about 10 m. The subarray structures determined based on the above S102 to S104 are respectively: sub-array length of 200KHz 32, sub-array interval of 10; 300KHz of subarray length 30, subarray spacing 9; a 400KHz sub-array length of 24, sub-array spacing of 8.
The processing result obtained in S106 is shown in fig. 3. In fig. 3, the amplitude sequence and the phase difference sequence of the split array beam are sequentially arranged from top to bottom, and it can be seen from fig. 3 that by adopting a proper sub-array structure, the interference fluctuation in the phase difference sequence can be reduced, a smoother phase difference curve can be obtained, and the accuracy of subsequent bottom tracking and bottom detection is facilitated.
According to the technical scheme provided by the embodiment of the application, in the current frame for measuring the ocean depth, the depth value of the current frame can be predicted by the echo signal, if the depth value changes to a certain degree or the frequency of the detection signal changes compared with the previous frame, the current subarray structure can be changed, the target subarray structure and the echo signal obtained after the change are used for forming the split array beam, and bottom detection is carried out based on the formed split array beam. According to the embodiment of the application, the subarray structure can be adaptively changed according to the field working environment and the actual condition of the echo signal, and the split array beam is formed based on the changed subarray structure, so that the defect of fixing the subarray structure can be overcome, and the accuracy of bottom detection is effectively improved.
The foregoing description of specific embodiments of the present application has been presented. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 4, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 4, but that does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program, and the signal processing device is formed on a logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
predicting a depth value of the specified location based on an echo signal of the probe signal used in a current frame in which the ocean depth is measured;
under the condition that the depth value is changed compared with the depth value of the previous frame or the frequency of the detection signal is changed compared with the frequency of the detection signal of the previous frame, changing the current subarray structure to obtain a target subarray structure;
and forming a split array beam based on the target subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection.
The method performed by the signal processing apparatus according to the embodiment shown in fig. 4 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The electronic device may further execute the method shown in fig. 1 and fig. 2, and implement the functions of the signal processing apparatus in the embodiment shown in fig. 1 and fig. 2, which are not described herein again in this embodiment of the present application.
Of course, besides the software implementation, the electronic device of the present application does not exclude other implementations, such as a logic device or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may also be hardware or a logic device.
Embodiments of the present application also propose a computer-readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a portable electronic device comprising a plurality of application programs, enable the portable electronic device to perform the method of the embodiment shown in fig. 1 and 2, and in particular to perform the following operations:
predicting a depth value of the specified location based on an echo signal of the probe signal used in a current frame in which the ocean depth is measured;
under the condition that the depth value is changed compared with the depth value of the previous frame or the frequency of the detection signal is changed compared with the frequency of the detection signal of the previous frame, changing the current subarray structure to obtain a target subarray structure;
and forming a split array beam based on the target subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection.
Fig. 5 is a schematic structural diagram of a signal processing apparatus 50 according to an embodiment of the present application. Referring to fig. 5, in a software implementation, the signal processing apparatus 50 may include: a depth prediction unit 51, a subarray structure changing unit 52, and a beam forming unit 53, wherein:
a depth prediction unit 51 that predicts a depth value of a specified position based on an echo signal of a probe signal used in a current frame in which a sea depth is measured;
a sub-array structure changing unit 52 configured to change a current sub-array structure to obtain a target sub-array structure when the depth value changes from the depth value of the previous frame or the frequency of the detection signal changes from the frequency of the detection signal of the previous frame;
and a beam forming unit 53, configured to form a split array beam based on the target subarray structure and the echo signal, where the split array beam is used for performing bottom detection.
Alternatively, the depth prediction unit 51 predicts the depth value of the specified position based on the echo signal of the probe signal used, including:
determining, based on the echo signal, an echo duration from transmitting the probe signal to receiving the echo signal;
based on the formula
Determining to obtain a depth value of the designated location, wherein,Has a depth value of the specified position,Tfor the duration of the echo, the time duration of the echo,cis the surface acoustic velocity of the probe signal.
Optionally, the current frame includes a plurality of signal sampling points, and the echo signal is acquired based on the plurality of signal sampling points;
wherein the depth prediction unit 51 determines an echo duration from transmitting the probe signal to receiving the echo signal based on the echo signal, including:
determining an average value of a plurality of echo signal amplitudes acquired at each signal sampling point, and obtaining a plurality of average values corresponding to the plurality of signal sampling points;
detecting at least one peak point in the plurality of mean values;
determining a target peak point in the at least one peak point, wherein the target peak point is a first peak point with the amplitude exceeding a set threshold value in the at least one peak point;
and determining the duration from the moment of transmitting the detection signal to the sampling moment corresponding to the target peak point as the echo duration.
Optionally, the subarray structure changing unit 52 changes the current subarray structure to obtain a target subarray structure, including:
determining a plurality of candidate subarray structures based on the changed depth values or the changed frequencies, wherein the subarray interval M and the subarray length L of each candidate subarray structure meet the following conditions:
and increasing L if the depth value increases and decreasing L if the frequency increases;
determining a beam output signal-to-noise ratio corresponding to each of the plurality of candidate subarray structures;
and determining the target subarray structure from the candidate subarray structures based on the beam output signal-to-noise ratio, wherein the beam output signal-to-noise ratio corresponding to the target subarray structure is smaller than a set signal-to-noise ratio threshold value and the number of included subarrays is the least.
Optionally, the determining, by the sub-array structure changing unit 52, a beam output signal-to-noise ratio corresponding to each of the plurality of candidate sub-array structures includes:
determining an echo signal-to-noise ratio of the echo signal;
for any candidate subarray structure, determining and obtaining a beam output signal-to-noise ratio corresponding to the candidate subarray structure through the following formula:
wherein, in the step (A),SNR 0 outputs signal-to-noise ratios for the beams corresponding to the candidate sub-arrays,SNR I is the echo signal-to-noise ratio of the echo signal,
and determining the candidate subarray structure based on the subarray interval, the subarray length, the subarray number and the mutually overlapped subarray number of the candidate subarray structure.
Optionally, the determining the echo signal-to-noise ratio of the echo signal by the subarray structure altering unit 52 includes:
selecting signals in a first designated range in the echo signals as noise signals, and calculating the average value and standard deviation of the noise signals;
subtracting the average value of the noise signals from the amplitude of the echo signals, selecting signals in a second specified range of the echo signals as specified echo signals, and calculating the standard deviation of the specified echo signals;
determining an echo signal-to-noise ratio of the echo signal by:
wherein, in the step (A),
for the standard deviation of the given echo signal,
is the standard deviation of the noise signal.
The signal processing apparatus 50 provided in the embodiment of the present application may also execute the method in fig. 1 and fig. 2, and implement the functions of the signal processing apparatus 50 in the embodiment shown in fig. 1 and fig. 2, which are not described herein again.
In addition, the embodiment of the application also provides a variable-frequency multi-beam sounding system. As shown in fig. 6, in one possible implementation, the variable frequency multi-beam sounding system 60 may include a wet-end sonar 61, a dry-end interface box 62, a dry-end portable 63, and an auxiliary sensor 64, wherein:
the wet-end sonar 61 can transmit a detection signal to the ocean and receive an echo signal of the detection signal, wherein the detection signal is used for detecting the depth of the ocean and has a variable frequency, and the variation range of the frequency can be 200 KHz-400 KHz.
The dry-end interface box 62, the dry-end portable machine 63, and the auxiliary sensor 64 can collectively implement synchronization and processing of acoustic data and sensor data, and can implement the signal processing method in the above-described embodiment of the present application. Specifically, in the current frame, the depth value of the specified position is predicted based on the echo signal received by the wet-end sonar 61; under the condition that the depth value is changed compared with the depth value of the previous frame or the frequency of the detection signal is changed compared with the frequency of the detection signal of the previous frame, changing the current sub-array structure to obtain a target sub-array structure; and forming a split array beam based on the target subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection.
In an alternative implementation, the auxiliary sensor 64 may specifically include a surface acoustic velocity meter, combined inertial navigation, acoustic velocity profiler, or the like (not shown in fig. 6).
In short, the above description is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, 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 process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Claims (10)
1. A signal processing method, comprising:
predicting a depth value of the specified location based on an echo signal of the probe signal used in a current frame in which the ocean depth is measured;
under the condition that the depth value is changed compared with the depth value of the previous frame or the frequency of the detection signal is changed compared with the frequency of the detection signal of the previous frame, changing the current subarray structure to obtain a target subarray structure;
and forming a split array beam based on the target subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection.
2. The method of claim 1, wherein predicting a depth value for a specified location based on an echo signal of a probe signal used comprises:
determining, based on the echo signal, an echo duration from transmitting the probe signal to receiving the echo signal;
based on the formula
Determining to obtain a depth value of the designated location, wherein,Has a depth value of the specified position,Tfor the duration of the echo, the time duration of the echo,cis the surface acoustic velocity of the probe signal.
3. The method of claim 2, wherein the current frame includes a plurality of signal sampling points, and the echo signal is acquired based on the plurality of signal sampling points;
wherein determining an echo duration from transmitting the probe signal to receiving the echo signal based on the echo signal comprises:
determining an average value of a plurality of echo signal amplitudes acquired at each signal sampling point, and obtaining a plurality of average values corresponding to the plurality of signal sampling points;
detecting at least one peak point in the plurality of mean values;
determining a target peak point in the at least one peak point, wherein the target peak point is a first peak point with the amplitude exceeding a set threshold value in the at least one peak point;
and determining the duration from the moment of transmitting the detection signal to the sampling moment corresponding to the target peak point as the echo duration.
4. The method of claim 1, wherein modifying the current subarray structure to obtain a target subarray structure comprises:
determining a plurality of candidate subarray structures based on the changed depth values or the changed frequencies, wherein the subarray interval M and the subarray length L of each candidate subarray structure meet the following conditions:
and increasing L if the depth value increases and decreasing L if the frequency increases;
determining a beam output signal-to-noise ratio corresponding to each of the plurality of candidate subarray structures;
and determining the target subarray structure from the candidate subarray structures based on the beam output signal-to-noise ratio, wherein the beam output signal-to-noise ratio corresponding to the target subarray structure is smaller than a set signal-to-noise ratio threshold value and the number of included subarrays is the least.
5. The method of claim 4, wherein determining a beam output signal-to-noise ratio for each of the plurality of candidate subarray structures comprises:
determining an echo signal-to-noise ratio of the echo signal;
for any candidate subarray structure, determining and obtaining a beam output signal-to-noise ratio corresponding to the candidate subarray structure through the following formula:
wherein, in the step (A),SNR 0 outputs signal-to-noise ratios for the beams corresponding to the candidate sub-arrays,SNR I is the echo signal-to-noise ratio of the echo signal,
subarray interval, subarray length, subarray number and mutual correlation based on the candidate subarray structureAnd determining the number of overlapped arrays.
6. The method of claim 5, wherein determining an echo signal-to-noise ratio of the echo signal comprises:
selecting signals in a first designated range in the echo signals as noise signals, and calculating the average value and standard deviation of the noise signals;
subtracting the average value of the noise signals from the amplitude of the echo signals, selecting signals in a second specified range of the echo signals as specified echo signals, and calculating the standard deviation of the specified echo signals;
determining an echo signal-to-noise ratio of the echo signal by:
wherein, in the step (A),
for the standard deviation of the given echo signal,
is the standard deviation of the noise signal.
7. A variable frequency multi-beam sounding system comprising a wet-end sonar, a dry-end interface box, a dry-end portable machine, and an auxiliary sensor, wherein:
the wet-end sonar transmits a detection signal to the ocean and receives an echo signal of the detection signal, and the detection signal is used for detecting the depth of the ocean and has variable frequency;
the dry end interface box, the dry end portable machine and the auxiliary sensor predict a depth value of a specified location based on the echo signal within a current frame; under the condition that the depth value is changed compared with the depth value of the previous frame or the frequency of the detection signal is changed compared with the frequency of the detection signal of the previous frame, changing the current subarray structure to obtain a target subarray structure; and forming a split array beam based on the target subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection.
8. A signal processing apparatus, characterized by comprising:
a depth prediction unit that predicts a depth value of the specified position based on an echo signal of the probe signal used in a current frame in which the ocean depth is measured;
a sub-array structure changing unit which changes the current sub-array structure to obtain a target sub-array structure when the depth value changes compared with the depth value of the previous frame or the frequency of the detection signal changes compared with the frequency of the detection signal of the previous frame;
and the beam forming unit is used for forming a split array beam based on the target subarray structure and the echo signal, and the split array beam is used for performing bottom detection.
9. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
predicting a depth value of the specified location based on an echo signal of the probe signal used in a current frame in which the ocean depth is measured;
under the condition that the depth value is changed compared with the depth value of the previous frame or the frequency of the detection signal is changed compared with the frequency of the detection signal of the previous frame, changing the current subarray structure to obtain a target subarray structure;
and forming a split array beam based on the target subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection.
10. A computer-readable storage medium storing one or more programs which, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform a method of:
predicting a depth value of the specified location based on an echo signal of the probe signal used in a current frame in which the ocean depth is measured;
under the condition that the depth value is changed compared with the depth value of the previous frame or the frequency of the detection signal is changed compared with the frequency of the detection signal of the previous frame, changing the current subarray structure to obtain a target subarray structure;
and forming a split array beam based on the target subarray structure and the echo signal, wherein the split array beam is used for performing bottom detection.
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