CN113126030A - Deep sea direct sound zone target depth estimation method based on broadband sound field interference structure - Google Patents
Deep sea direct sound zone target depth estimation method based on broadband sound field interference structure Download PDFInfo
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Abstract
The invention discloses a deep sea direct sound zone target depth estimation method based on a broadband sound field interference structure, which comprises the following steps: performing FFT processing on a vertical array receiving time domain sound field to obtain a frequency-receiving depth frequency domain sound field, and then performing conventional beam forming processing on the normalized frequency-receiving depth frequency domain sound field to obtain frequency-glancing angle beam output; mapping the frequency-glancing angle beam output to a two-dimensional output of a sound source depth-glancing angle domain; energy summation is carried out on the frequency-grazing angle beam output to obtain directional output of a receiving signal, and therefore an extreme point is obtained; converting the two-dimensional output of the sound source depth-glancing angle domain into sound source depth-time continuous estimation based on the extreme point; and compensating the sound source depth-time continuous estimation according to error factors caused by the sound velocity profile to obtain a sound velocity profile correction result of the sound source depth-time continuous estimation.
Description
Technical Field
The invention relates to the field of underwater sound physics, in particular to a deep-sea direct sound zone target depth estimation method based on a broadband sound field interference structure.
Background
The acquisition of the depth information of the underwater target is one of the key criteria for distinguishing an underwater sound source from a water surface sound source, and is also a key and difficult problem of the conventional underwater acoustics department. The traditional sound source positioning method based on matching field processing is very sensitive to underwater sound environment in practical application, and depth estimation errors are large. Under the deep sea environment, a hydrophone array arranged close to the sea bottom can receive a sound field with low propagation loss excited by an underwater sound source close to the sea surface within the reach distance of direct waves, the sound field is usually represented as an interference pattern which oscillates along with the receiving distance and the frequency period of the sound source, and the sound field interference structure is extremely sensitive to sound source depth information and can be used for estimating the sound source depth. The current method for estimating the sound source depth by utilizing the phenomenon is still limited in application scenes, and the accuracy of depth estimation is low.
Disclosure of Invention
The invention aims to overcome the technical defects and provides a method for estimating the depth of an underwater broadband sound source in a deep sea direct sound area by using a deep sea foundation vertical array. The method is used for establishing a point source interference sound field on the basis of an equal sound velocity model, and performing Fourier transform, beam forming and improved Fourier transform cubic signal spectrum analysis on original signals respectively on the basis of analysis of array receiving frequency domain signal interference spectrums, so that the motion state of a sound source does not need to be predicted, and meanwhile, a beam forming result also has certain space noise interference resistance.
In order to achieve the purpose, the invention provides a deep sea direct sound zone target depth estimation method based on a broadband sound field interference structure, which comprises the following steps:
performing FFT processing on a vertical array receiving time domain sound field to obtain a frequency-receiving depth frequency domain sound field, and then performing conventional beam forming processing on the normalized frequency-receiving depth frequency domain sound field to obtain frequency-glancing angle beam output;
mapping the frequency-glancing angle beam output to a two-dimensional output of a sound source depth-glancing angle domain;
energy summation is carried out on the frequency-grazing angle beam output to obtain directional output of a receiving signal, and therefore an extreme point is obtained;
converting the two-dimensional output of the sound source depth-glancing angle domain into sound source depth-time continuous estimation based on the extreme point;
and compensating the sound source depth-time continuous estimation according to error factors caused by the sound velocity profile to obtain a sound velocity profile correction result of the sound source depth-time continuous estimation.
As an improvement of the above method, the vertical array receiving time domain sound field is subjected to FFT processing to obtain a frequency-receiving depth frequency domain sound field, and then the normalized frequency-receiving depth frequency domain sound field is subjected to conventional beam forming processing to obtain frequency-grazing angle beam output; the method specifically comprises the following steps:
for received signal p (t, z) of n-th array element of vertical arrayn) Fourier transform is carried out to obtain a frequency domain sound field P (f, z)n)：
Wherein z isnThe depth of the nth array element;
will frequency domain sound field P (f, z)n) And (3) carrying out normalization processing on all array elements:
wherein, P' (f, z)n) Is a normalized frequency domain sound field; n is the total number of array elements; f is a frequency point, and f is a frequency point,the number of the frequency points is F;
p (omega) is a receiving sound field P' (F, z) with F frequencies and N array elementsn) Forming a frequency domain sound field matrix, wherein omega is 2 pi f;
taking the average sound velocity of seawater as c, and for the N-element uniformly distributed vertical linear array with the array element spacing as d, the steering vector w (theta) is as follows:
will simultaneously form the orientation theta1,θ2,…,θLThe L beams of (a) form a steering vector matrix a (ω):
A(ω)＝[w(θ1),w(θ2),…,w(θL)] (4)
the beam output B (ω, θ) for the frequency-grazing angle is then:
B(ω,θ)＝P(ω)A(ω), (5)
wherein the matrix B (ω, θ) has a size of NxNθ，NθIs the number of glancing angles.
As an improvement of the above method, the mapping of the frequency-grazing angle beam output to the two-dimensional output of the sound source depth-grazing angle domain specifically includes:
wherein M (z, sin theta) is two-dimensional output of a sound source depth-grazing incidence angle domain, theta is a grazing incidence angle, z is sound source depth, k is wave number, and delta z is array element interval;
through the difference between the glancing angle and the frequency domain interference interval of the underwater broadband sound source on the receiving array, the received underwater broadband sound signal is focused on the glancing angle and the sound source depth, and then multiple targets in water are distinguished from an output image and the underwater target depth is estimated.
As an improvement of the above method, the value range of the sound source depth z is:
wherein, [ f ]min,fmax]For a wide band frequency range, fminIs a minimum value of frequency, fmaxIs the frequency maximum.
As an improvement of the above method, the compensating for the sound source depth-time continuous estimation according to the error factor caused by the sound velocity profile to obtain the sound velocity profile correction result of the sound source depth-time continuous estimation specifically includes:
wherein E iscFor the error factor due to the sound speed profile,
and DeRespectively representing the sound source depth value after correction and the sound source depth value before correction.
The invention has the advantages that:
1. the method can estimate the depth of the sound source without depending on actually measured hydrological environment information, and meanwhile, the method does not need to predict the motion state (motion or static) of the sound source and the real depth of the receiving array in the calculation process, so that the method has good robustness and practicability;
2. the method can accurately distinguish the underwater sound sources and estimate the sound source depth under the complex sound source environment, such as the environment of sea surface strong sound source interference and superposition of a plurality of underwater sound source interference sound fields.
Drawings
FIG. 1 is a flow chart of a method for estimating depth of a multispectral sound source according to the present invention;
FIG. 2(a) is a schematic diagram of simulated environmental parameters;
FIG. 2(b) is a graph of frequency-beam angle output for multiple broadband acoustic source environments;
FIG. 3(a) is a schematic diagram of the results of multi-source resolution and underwater sound source depth estimation in a simulation environment in the first row of Table 1;
FIG. 3(b) is a diagram illustrating the multi-source resolution and underwater sound source depth estimation results in the simulation environment in the second row of Table 1;
FIG. 3(c) is a diagram illustrating the multi-source resolution and underwater sound source depth estimation results in the simulation environment in the third row of Table 1;
FIG. 3(d) is a schematic diagram of the multi-source resolution and underwater sound source depth estimation results in the simulation environment in the fourth row of Table 1;
fig. 3(e) is a schematic diagram of the result of multi-sound source resolution and underwater sound source depth estimation in the simulation environment in the fifth row of table 1;
FIG. 3(f) is a schematic diagram of the multi-sound source resolution and underwater sound source depth estimation results in the simulation environment in the sixth row of Table 1;
FIG. 3(g) is a diagram illustrating the multi-source resolution and underwater sound source depth estimation results in the simulation environment in the seventh row of Table 1;
fig. 3(h) is a schematic diagram of a result of multi-sound source resolution and underwater sound source depth estimation in a simulation environment in the eighth row of table 1;
FIG. 4(a) is a schematic diagram of a section of sound velocity in an experimental sea area;
FIG. 4(b) is a schematic drawing of the towed-source depth during the experiment;
FIG. 5(a) is a single underwater sound source depth estimation result at a single time;
FIG. 5(b) shows the output result at a single time and (b) the long-term continuous estimation result
Fig. 6(a) is a schematic diagram of a broadband spectrum of a vertical array head array element receiving signal in a transmitting signal and before transmitting the signal under strong noise interference;
FIG. 6(b) is the sound source depth-glancing angle domain output when receiving signals before transmitting signals under strong noise interference;
FIG. 6(c) is an output graph of sound source depth-glancing angle domain at the time of receiving the transmitted signal under strong noise interference;
fig. 7 is a schematic diagram of the resolution and estimation results of two underwater sound sources in a sound source depth-glancing angle diagram.
Detailed Description
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.
The invention provides a deep sea direct sound zone target depth estimation method based on a broadband sound field interference structure, which comprises the following steps:
firstly, the sound source depth estimation method is utilized to extract the information of the sound source from the broadband sound signals received by the vertical array. The sound source depth estimation method is based on analysis of an array receiving frequency domain signal interference spectrum, and is equivalent to three-time signal spectrum analysis of Fourier transform, beam forming and improved Fourier transform on an original signal respectively:
for the vertical array the actual received signal p (t, z)n) Is obtained by Fourier transform (FFT)
Secondly, in order to reduce the influence of fluctuations in the sound source intensity S (f), the frequency domain sound field needs to be normalized, i.e.
Wherein, P (f, z)n) Receiving the value of the acoustic field, P' (f, z) for the nth array elementn) The normalized received sound field value is obtained; n is the total number of array elements; f is frequency point, the number of frequency points is F, znThe depth of the nth array element;
p (omega) is a receiving sound field P' (F, z) with F frequencies and N array elementsn) A composed sound field matrix, ω ═ 2 π f;
second, the vertical array receive acoustic field can be projected to a frequency domain broadband beam output in frequency-grazing angle by Conventional Beamforming (CBF).
Taking the average sound velocity of seawater as c, and defining the guide vector as a vertical linear array with evenly distributed N elements and array element spacing as d
Will simultaneously form the orientation theta1,θ2,…,θLThe L beams form a steering vector matrix
A(ω)＝[w(θ1),w(θ2),…,w(θL)] (4)
The output after CBF processing is:
B(ω,θ)＝P(ω)A(ω) (5)
wherein the wave beam response matrix B (omega, theta) of the frequency-grazing angle has the size of N multiplied by Nθ，NθIs the number of glancing angles.
When the beam angle thetaiThe beam output not only outputs the maximum point, but also strengthens the original interference structure as the arrival angle is the same. The grazing angle of the sound ray is irrelevant to the frequency of the sound source, so that the beam output pattern of the broadband interference structure in the frequency-grazing angle is presented as a light and dark interference structure which is at a certain angle and is at equal intervals in a frequency domain.
Finally, the depth of the target is estimated through an improved Fourier transform (improved FFT) analysis method, namely, a vertical array receiving broadband sound field with frequency spectrum normalization is mapped into a two-dimensional output image of a depth-grazing angle domain after being formed through frequency domain conventional wave beam forming, namely
Wherein theta is a glancing angle, z is sound source depth, k is wave number, and delta z is array element interval;
according to the formula (6), the received underwater broadband acoustic signals can be focused on the glancing angle and the acoustic source depth through the difference between the glancing angle and the frequency domain interference interval of the underwater broadband acoustic source on the receiving array, and then multiple targets in water are distinguished from an output image and the underwater target depth is estimated.
In the frequency range (f)max-fmin) In certain cases, the localizable depth range is:
when the sound source depth z, the broadband frequency range [ fmin,fmax]When the sum grazing angle theta meets the inequality of the above formula, the method of the invention can estimate the sound source depth. Meanwhile, the receiving hydrophones are required to be arranged at the positions as deep as possible so as to reduce the dependence on the frequency range, and the accuracy of shallow sound source depth estimation can be improved.
According to the actual sound velocity profile, the distance R of the sound source is calculated through simulation of an MSDE methodc(or grazing angle θ)c) The relative error E of the depth estimation at different distances (or grazing angles) is calculatedcAnd correcting the depth estimation result of the underwater target.
Wherein the content of the first and second substances,
and DeThe corrected depth and the MSDE method estimated depth are indicated separately.
Fig. 1 is a flow chart of each step of a multispectral broadband sound source depth estimation method. In order to verify the application of the deep sea broadband sound source depth estimation method in a typical deep sea environment, a sound field simulation is firstly performed by using a simulation program Krakenc, and simulation parameters are shown in FIG. 2 (a). In order to simulate the sound source resolution and depth estimation capability in the deep-sea multi-sound-source environment, the superposed sound field of three underwater sound sources and background noise at different distances is simulated, as shown in fig. 2 (b). The parameters of the target sound source and background noise used in the simulation are shown in table 1:
table 1: target sound source and background noise used in simulation
Fig. 3(a) -3 (h) are sound source depth-grazing angle output graphs obtained by transforming the broadband sound field data received by the vertical array shown in each row of table 1 into a frequency band capable of distinguishing and estimating multiple sound source targets, wherein the dotted line in the graphs is the minimum estimated depth in the frequency band of 80-480 Hz obtained through calculation. According to the simulation result, the depth of the sound source can be accurately estimated by the method except for the depth estimation dead zone, and the targets can be distinguished.
And secondly, in order to verify the application effect of the deep sea broadband sound source depth estimation method in the actual deep sea marine environment, a passive deep sea underwater sound source positioning experiment is implemented in a certain sea area. The method comprises the steps of arranging a 32-element vertical receiving hydrophone array with the distance of 6m at a position with the sea depth of about 1600m, utilizing a towed underwater acoustic transducer to discontinuously emit broadband white noise signals to simulate the radiation noise of an underwater sound source, wherein the frequency range is 50-320 Hz, the marine test environment is shown in figure 4(a), carrying out framing processing on received data, converting the received data into a frequency domain, utilizing a broadband sound source depth estimation method, converting a time domain sound pressure field received by the vertical array into a sound source depth-grazing angle, and outputting the sound source depth-grazing angle, and is shown in figure 4 (b).
In fig. 5(a), the depth estimation result of a single sound source at a single time is obtained, the interference of random noise to the received signal is eliminated by tracking the angle energy extreme point, and the sound source depth-time result shown in fig. 5(b) can be obtained by calculating with the continuous and intermittent emitted broadband white noise signal.
Under the condition that a water surface sound source generates strong noise interference, interference information of a radiation sound field of an underwater target can be covered, and the depth of the underwater target is difficult to estimate. The frequency spectrum of the sea surface ship noise before the transmission signal and the superposition spectrum of the underwater sound source and the environmental noise in the transmission signal received by the vertical array head array element in the time period of 10s are shown in fig. 6 (a). Due to the masking of noise, the spectrum of the signal containing the underwater sound source is similar to the spectrum containing only the surface vessel noise, making it difficult to distinguish underwater targets.
Fig. 6(b) and (c) are output graphs of the received signals in the sound source depth-glancing angle domain, the receiving sound field does not have a high-energy focusing point when no signal is transmitted, and when the underwater sound source transmits signals, the output graphs realize focusing at the sound source depth of 19.5m, and the depth of the focusing point is slightly smaller than the actual sound source depth.
In order to verify the sound source resolution and depth estimation capability of the sound source depth estimation method provided by the invention on the superposition sound field of a plurality of underwater sound sources in the actual environment. According to the additivity of the sound field, the time domain sound fields of the received towed sound source at different distances are superposed to approximately simulate the sound source depth estimation capability under the environment of two underwater sound sources. From the source depth-grazing angle output plot given in fig. 7, there is a focus at a source depth of 21.7m and 22.1m, respectively, substantially coincident with a towed mean depth of 22.36 m.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. A deep-sea direct sound zone target depth estimation method based on a broadband sound field interference structure comprises the following steps:
performing FFT processing on a vertical array receiving time domain sound field to obtain a frequency-receiving depth frequency domain sound field, and then performing conventional beam forming processing on the normalized frequency-receiving depth frequency domain sound field to obtain frequency-glancing angle beam output;
mapping the frequency-glancing angle beam output to a two-dimensional output of a sound source depth-glancing angle domain;
energy summation is carried out on the frequency-grazing angle beam output to obtain directional output of a receiving signal, and therefore an extreme point is obtained;
converting the two-dimensional output of the sound source depth-glancing angle domain into sound source depth-time continuous estimation based on the extreme point;
and compensating the sound source depth-time continuous estimation according to error factors caused by the sound velocity profile to obtain a sound velocity profile correction result of the sound source depth-time continuous estimation.
2. The method for estimating the depth of the target in the deep-sea direct sound zone based on the broadband sound field interference structure according to claim 1, wherein the vertical array receiving time domain sound field is subjected to FFT processing to obtain a frequency-receiving depth frequency domain sound field, and then the normalized frequency-receiving depth frequency domain sound field is subjected to conventional beam forming processing to obtain frequency-grazing angle beam output; the method specifically comprises the following steps:
for received signal p (t, z) of n-th array element of vertical arrayn) Fourier transform is carried out to obtain a frequency domain sound field P (f, z)n)：
Wherein z isnThe depth of the nth array element;
will frequency domain sound field P (f, z)n) And (3) carrying out normalization processing on all array elements:
wherein, P' (f, z)n) Is a normalized frequency domain sound field; n is the total number of array elements; f is frequency points, and the number of the frequency points is F;
p (omega) is a receiving sound field P' (F, z) with F frequencies and N array elementsn) Forming a frequency domain sound field matrix, wherein omega is 2 pi f;
taking the average sound velocity of seawater as c, and for the N-element uniformly distributed vertical linear array with the array element spacing as d, the steering vector w (theta) is as follows:
will simultaneously form the orientation theta1,θ2,…,θLThe L beams of (a) form a steering vector matrix a (ω):
A(ω)＝[w(θ1),w(θ2),…,w(θL)] (4)
the beam output B (ω, θ) for the frequency-grazing angle is then:
B(ω,θ)＝P(ω)A(ω) (5)
wherein the matrix B (ω, θ) has a size of NxNθ，NθIs the number of glancing angles.
3. The method for estimating the depth of the target in the deep-sea direct sound zone based on the broadband sound field interference structure according to claim 2, wherein the mapping of the frequency-grazing angle beam output to the two-dimensional output of the sound source depth-grazing angle domain specifically comprises:
wherein M (z, sin theta) is two-dimensional output of a sound source depth-grazing incidence angle domain, theta is a grazing incidence angle, z is sound source depth, k is wave number, and delta z is array element interval;
through the difference between the glancing angle and the frequency domain interference interval of the underwater broadband sound source on the receiving array, the received underwater broadband sound signal is focused on the glancing angle and the sound source depth, and then multiple targets in water are distinguished from an output image and the underwater target depth is estimated.
4. The method for estimating the target depth of the deep-sea direct sound zone based on the broadband sound field interference structure according to claim 3, wherein the value range of the sound source depth z is as follows:
wherein, [ f ]min,fmax]For a wide band frequency range, fminIs a minimum value of frequency, fmaxIs the frequency maximum.
5. The method for estimating the depth of the target in the deep-sea direct sound zone based on the broadband sound field interference structure according to claim 4, wherein the method for estimating the depth of the sound source through the target in the deep-sea direct sound zone is characterized in that the method for compensating the sound source depth-time continuous estimation according to the error factors caused by the sound velocity profile to obtain the sound velocity profile correction result of the sound source depth-time continuous estimation comprises the following steps:
wherein E iscFor the error factor due to the sound speed profile,
and DeRespectively representing the sound source depth value after correction and the sound source depth value before correction.
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