CN113176533B - Direction finding method and device for underwater acoustic communication signals and electronic equipment - Google Patents
Direction finding method and device for underwater acoustic communication signals and electronic equipment Download PDFInfo
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Abstract
The application discloses a direction finding method and device for underwater acoustic communication signals and electronic equipment. On the basis of traditional beam forming, the application utilizes a plurality of array elements which are non-uniformly and linearly arranged to conduct direction finding of underwater acoustic communication signals, constructs covariance matrixes of a whole array domain and at least two subarrays and cross-correlation matrixes of the at least two subarrays through frequency domain data of the plurality of array elements, and obtains spatial distribution of communication signals on all scanning frequency points and scanning orientations through weighting treatment of covariance matrixes and guide vectors of the whole array domain and the at least two subarrays and weighting treatment of guide vectors of the cross-correlation matrixes and the guide vectors of all subarrays, and obtains a group of nonlinear weighting coefficients through beam output of the at least two subarrays and the cross-correlation matrixes thereof, so that the traditional beam output is weighted through the group of nonlinear weighting coefficients, and optimal beam output is obtained. The direction finding method has higher spatial resolution and robustness than the traditional direction finding method.
Description
Technical Field
The application relates to the technical field of underwater target detection, in particular to a direction finding method and device for underwater acoustic communication signals and electronic equipment.
Background
Underwater target detection has great significance in the fields of military, surveying and the like. Underwater target detection generally adopts an array element signal processing beam forming method to estimate the direction of arrival, acquires spatial information, and detects the existence of a target signal by using an energy detection method.
When the underwater array element signal processing technology is used for target detection, the problems that the resolution is not high, the noise received by the array element is space-related color noise and the like caused by small aperture of the array element are solved. Under the background of space color noise, the conventional beam forming (Conventional Beamforming, abbreviated as CBF) cannot enable the array elements to achieve ideal space gain and has low resolution, so that the CBF method cannot achieve satisfactory detection effect when the small-aperture array elements perform energy detection.
The minimum variance undistorted response (Minimum variance distortionless response, abbreviated as MVDR) beam forming method has the capacity of decorrelating the spatially-correlated color noise, so that the influence of strong correlation of noise received by array elements of a small aperture array element can be relieved to a certain extent by using the MVDR method, the detection performance of the method is superior to that of a conventional beam forming device, but the applicability of the MVDR beam forming device is limited due to the minimum constraint of average power of signals in a target direction and the undistorted constraint of output signals by the MVDR method.
Disclosure of Invention
In view of the above, the main objective of the present application is to provide a direction-finding method, a device and an electronic device for underwater acoustic communication signals, which are used for solving the technical problem that the applicability of the existing direction-finding method for underwater acoustic communication signals is not high enough.
According to a first aspect of the present application, there is provided a direction finding method of an underwater acoustic communication signal, comprising:
acquiring frequency domain data of underwater acoustic communication signals received by a plurality of array elements which are non-uniformly and linearly arranged;
according to the frequency domain data of each array element, determining a covariance matrix of the whole array domain and a guide vector of the whole array domain, determining the covariance matrix of each subarray domain and the guide vector of each subarray domain for at least two subarray domains, and determining a cross-correlation matrix of the at least two subarray domains;
according to the covariance matrix of the whole array domain and the guide vector of the whole array domain, determining the beam output of the whole array domain on all scanning frequency points and all scanning orientations; according to covariance matrixes of each subarray domain and guide vectors of each subarray domain, beam output of each subarray domain on all scanning frequency points and all scanning orientations is determined, and according to cross-correlation matrixes of at least two subarray domains and guide vectors of each subarray domain, beam output of the cross-correlation matrixes of at least two subarray domains on all scanning frequency points and all scanning orientations is determined;
obtaining a set of nonlinear weighting coefficients according to the beam outputs of the at least two subarray domains and the cross-correlation matrix thereof;
and determining final beam output according to the set of nonlinear weighting coefficients and the beam output of the whole array domain, so as to obtain the direction finding of the underwater acoustic communication signal according to the final beam output.
According to a second aspect of the present application, there is provided a direction-finding device for underwater acoustic communication signals, comprising:
the frequency domain data acquisition unit is used for acquiring frequency domain data of underwater acoustic communication signals received by a plurality of array elements which are non-uniformly and linearly arranged;
the matrix and guide vector determining unit is used for determining a covariance matrix of the whole array domain and a guide vector of the whole array domain according to the frequency domain data of each array element, determining the covariance matrix of each subarray domain and the guide vector of each subarray domain for at least two subarray domains, and determining the cross-correlation matrix of the at least two subarrays domains;
the beam output determining unit is used for determining the beam output of the whole array domain on all scanning frequency points and all scanning orientations according to the covariance matrix of the whole array domain and the guide vector of the whole array domain; according to covariance matrixes of each subarray domain and guide vectors of each subarray domain, beam output of each subarray domain on all scanning frequency points and all scanning orientations is determined, and according to cross-correlation matrixes of at least two subarray domains and guide vectors of each subarray domain, beam output of the cross-correlation matrixes of at least two subarray domains on all scanning frequency points and all scanning orientations is determined;
the nonlinear weighting coefficient determining unit is used for obtaining a group of nonlinear weighting coefficients according to the beam outputs of the at least two subarray domains and the cross-correlation matrixes thereof;
and the direction finding unit is used for determining final beam output according to the set of nonlinear weighting coefficients and the beam output of the whole array domain so as to obtain the direction finding of the underwater acoustic communication signal according to the final beam output.
According to a third aspect of the present application, there is provided an electronic device comprising: a processor, a memory storing computer executable instructions,
the executable instructions, when executed by the processor, implement the direction finding method of the aforementioned underwater acoustic communications signal.
According to a fourth aspect of the present application there is provided a computer readable storage medium storing one or more programs which when executed by a processor implement the direction finding method of an underwater acoustic communication signal as described above.
The beneficial effects of the application are as follows: the direction finding method of the underwater acoustic communication signals of the embodiment of the application carries out direction finding processing of the underwater acoustic communication signals by utilizing a plurality of array elements which are unevenly and linearly arranged on the basis of traditional beam forming, constructs covariance matrixes of an entire array domain and at least two subarray domains and cross-correlation matrixes of the at least two subarray domains by utilizing frequency domain data of the plurality of array elements, obtains spatial distribution of the communication signals on all scanning frequency points and scanning orientations by weighting the covariance matrixes and the guide vectors of the entire array domain and the at least two subarray domains and weighting the guide vectors of the cross-correlation matrixes and obtains a group of nonlinear weighting coefficients by utilizing beam outputs of the at least two subarray domains and the cross-correlation matrixes of the at least two subarray domains, thereby weighting traditional beam outputs by utilizing the group of nonlinear weighting coefficients and finally obtaining optimal beam outputs. Compared with the traditional direction finding method, the direction finding method has higher spatial resolution capability and robustness, so that the method has higher practical application value.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a flow chart of a direction finding method of an underwater acoustic communication signal according to an embodiment of the present application;
FIG. 2 is a graph showing the spatial spectrum of a direction finding method of an underwater acoustic communication signal and a standard CBF method according to an embodiment of the present application;
FIG. 3 is a graph showing a spatial spectrum comparison of a direction finding method and a standard MVDR method of an underwater acoustic communication signal according to an embodiment of the present application;
FIG. 4 is a graph showing the comparison of direction finding performance of the direction finding method of the underwater acoustic communication signal and the standard CBF method according to an embodiment of the present application;
FIG. 5 is a graph showing the comparison of direction finding performance of the direction finding method of the underwater acoustic communication signal and the standard MVDR method according to one embodiment of the present application;
FIG. 6 is a block diagram of a direction-finding device for underwater acoustic communication signals according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein.
Fig. 1 is a flow chart of a direction finding method of an underwater acoustic communication signal according to an embodiment of the present application, referring to fig. 1, the direction finding method of an underwater acoustic communication signal according to an embodiment of the present application includes steps S110 to S150 as follows:
step S110, frequency domain data of underwater acoustic communication signals received by a plurality of array elements which are non-uniformly and linearly arranged are obtained.
According to the direction finding method of the underwater acoustic communication signal, the array elements are distributed in the designated position under water in advance, the array elements are sequentially arranged linearly to form an array integrally, and the interval between any two adjacent array elements is set to be a non-uniform interval so as to ensure that the spatial resolution is not fuzzy, and further the ultra-wideband direction finding effect with wider coverage signal and more comprehensive direction finding effect is achieved.
For example, 4 array elements can be arranged on an underwater array element arrangement platform, and the array element intervals of the 4 array elements can be sequentially set to be 0.1m, 0.15m and 0.225m. Of course, the number of the array elements and the arrangement mode of the array elements can be flexibly set by the person skilled in the art according to the actual situation, and are not listed here.
After the array elements are distributed, the frequency domain data of the underwater acoustic communication signals can be received through a plurality of array elements and used as the basic data of subsequent direction finding.
Step S120, according to the frequency domain data of each array element, determining a covariance matrix of the whole array domain and a guide vector of the whole array domain, determining the covariance matrix of each subarray domain and the guide vector of each subarray domain for at least two subarrays, and determining a cross-correlation matrix of at least two subarrays.
After obtaining the frequency domain data of each array element, the covariance matrix R and the steering vector a of the whole array domain formed by all the array elements need to be calculated. In order to further improve the spatial resolution and robustness of the existing direction-finding scheme, the embodiment of the application further divides the whole array domain into at least two subarrays on the basis of the existing whole array domain, then calculates covariance matrices R1 and R2 of each subarray and steering vectors a1 and a2 of each subarray respectively, and calculates a cross-correlation matrix R12 between at least two subarrays. For the convenience of calculation, the guide vector of each subarray domain can be directly extracted from the guide vector of the whole array domain.
For example, an array of 4 elements is sequentially arranged as element a, element B, element C and element D, where element a, element B, element C and element D as a whole may form an entire array domain, element a and element C as a whole may form a first sub-array domain, element B and element D as a whole may form a second sub-array domain, and a cross-correlation matrix may be obtained according to the first sub-array domain and the second sub-array domain. It will be appreciated that the number of subarrays is related to the number of array elements, and if there are three subarrays, two cross-correlation matrices can be obtained accordingly, i.e. for a greater number of array elements a greater number of subarrays and cross-correlation matrices can be determined.
Specifically, taking 4 array elements as an example, wherein:
R＝XX H ， (1)
R1＝R(1:N/2,1:N/2)， (2)
R2＝R(1+N/2:N,1+N/2:N)， (3)
R12＝R(1:N/2,1+N/2:N)， (4)
a(θ,f)＝e -j2πf·d_vecm·cosθ/c ， (5)
a1＝a(1:N/2,θ)， (6)
a2＝a(1+N/2:N,θ)， (7)
wherein X represents frequency domain data received by each array element, H represents conjugate transposition, N represents the number of the array elements, and f represents a designated scanning frequency point; d_vecm=x·cos θ+y·sin θ represents a vector related to the coordinate position of the array element, x and y represent the abscissa of the array element, d_vecm represents a position vector in the guidance vector, and θ represents a specified scanning azimuth.
Step S130, according to covariance matrix of the whole array domain and guide vector of the whole array domain, beam output of the whole array domain in all scanning frequency points and all scanning orientations is determined; according to covariance matrixes of subarray domains and guide vectors of the subarray domains, beam output of the subarray domains on all scanning frequency points and all scanning orientations is determined, and according to cross-correlation matrixes of at least two subarray domains and the guide vectors of the subarray domains, beam output of the cross-correlation matrixes of at least two subarray domains on all scanning frequency points and all scanning orientations is determined.
After the covariance matrix and the guide vector of the whole array domain are obtained, the beam output Y of the whole array domain in all scanning frequency points and all scanning orientations can be calculated according to the covariance matrix and the guide vector of the whole array domain. After the covariance matrix and the guide vector of each subarray domain are obtained, the beam outputs Y1 and Y2 of each subarray domain in all scanning frequency points and all scanning orientations can be calculated according to the covariance matrix and the guide vector of each subarray domain. After the cross-correlation matrix of at least two subarrays is obtained, beam output Y12 of the cross-correlation matrix of at least two subarrays in all scanning frequency points and all scanning orientations can be calculated according to the cross-correlation matrix R12 of at least two subarrays and the guide vectors a1 and a2 of each subarray.
Specifically:
Y(θ,f)＝a H ·R·a， (8)
Y1(θ,f)＝a1 H ·R1·a1， (9)
Y2(θ,f)＝a2 H ·R2·a2， (10)
Y12(θ,f)＝a1 H ·R12·a2， (11)。
it should be noted that, the covariance matrix in the embodiment of the present application is obtained by performing conjugate multiplication on the matrix of the frequency domain data of the array element, so in order to reduce the influence of noise disturbance, a certain data accumulation may be performed first and then calculation may be performed. For the calculation of the guide vector of the subarray domain, the position coordinates of the array elements can be kept unchanged, the first array element is not needed to be used as a reference for rescaling, and the calculation speed is greatly improved.
Step S140, obtaining a set of nonlinear weighting coefficients according to the beam outputs of at least two subarray domains and their cross-correlation matrices.
And step S150, determining final beam output according to a group of nonlinear weighting coefficients and the beam output of the whole array domain, so as to obtain the direction finding of the underwater acoustic communication signal according to the final beam output.
Still taking two subarrays as an example, according to the beam outputs Y1 and Y2 of the two subarrays in all scanning frequency points and all scanning directions and the beam output Y12 of the cross-correlation matrix of the two subarrays, a set of nonlinear weighting coefficients af in all scanning frequency points and all scanning directions can be calculated, and the set of nonlinear weighting coefficients af mainly serve as power for measuring signals and noise, so that the beam output Y of the obtained whole array domain can be corrected based on the set of nonlinear weighting coefficients af to obtain the optimized beam output as the final beam output Y eck And thereby determine the direction of the underwater acoustic communication signal.
In particular, the final beam output Y may be determined in the following manner eck ：
Yeck＝af·Y， (12)
The direction finding method of the underwater acoustic communication signals in the embodiment of the application carries out direction finding processing of the underwater acoustic communication signals by utilizing a plurality of array elements which are unevenly and linearly arranged on the basis of traditional beam forming, constructs covariance matrixes of an entire array domain and at least two subarray domains and cross-correlation matrixes of the at least two subarray domains by utilizing frequency domain data of the plurality of array elements, obtains spatial distribution of the communication signals on all scanning frequency points and scanning orientations by weighting processing of guide vectors of the entire array domain and the at least two subarray domains, and obtains a group of nonlinear weighting coefficients by utilizing beam outputs of the at least two subarray domains and the cross-correlation matrixes thereof, thereby weighting the traditional beam outputs by utilizing the group of nonlinear weighting coefficients and finally obtaining optimal beam outputs. Compared with the traditional direction finding method, the direction finding method has higher spatial resolution capability and robustness, so that the method has higher practical application value.
In one embodiment of the application, deriving a set of nonlinear weighting coefficients from the beam outputs of at least two subarray domains and their cross-correlation matrices comprises: determining the signal power of the underwater acoustic communication signal according to the beam output of the cross-correlation matrix of at least two subarray domains; determining the noise power of the underwater acoustic communication signals according to the beam output of each subarray domain and the signal power of the underwater acoustic communication signals; and obtaining a group of nonlinear weighting coefficients according to the signal power and the noise power of the underwater acoustic communication signal.
When the nonlinear weighting coefficient is calculated, the array output corresponding to each frequency band and each azimuth is calculated by searching each scanning frequency point and each scanning azimuth, and the covariance matrix of each subarray domain and the cross-correlation matrix of at least two subarrays domains are combined to finally obtain the nonlinear weighting vector af containing the signal power Ps and the noise power Pn, specifically:
af＝(Ps/Pn)·(1/Pn)， (13)
wherein, ps= |Y12|, pn= | (Y1+Y2)/2-Ps|
In one embodiment of the application, the method further comprises: before determining the beam outputs of the whole matrix domain, the at least two subarrays and their cross-correlation matrices, the covariance matrices of the whole matrix domain, the covariance matrices of the at least two subarrays and their cross-correlation matrices are buffered or multiplied by a forgetting factor.
In order to improve the stability of the algorithm, the embodiment of the application can set a buffer memory or a forgetting factor for the covariance matrix of the whole array domain, the covariance matrices of at least two subarray domains and the cross-correlation matrix thereof, so that smooth noise can be obtained and the coherent component of the communication signal can be improved.
The forgetting factor is usually a weighting factor in the error measure function, and is introduced to give different weights to the original data and the new data, so that the algorithm has a quick response capability to the characteristic change of the input process.
In one embodiment of the application, the element spacing between the plurality of elements of the non-uniform linear arrangement is such thatConditions; wherein d is the array element interval between two adjacent array elements, and lambda is the wavelength of the highest processing frequency.
When the array element intervals among a plurality of array elements are set, the array element intervals among any two array elements can be determined according to the half wavelength of the highest processing frequency, and the array element intervals among any two array elements generally do not exceed the half wavelength of the highest processing frequency, so that on one hand, the signal receiving effect can be ensured, and on the other hand, the direction finding performance can be ensured.
It should be noted here that,the condition is only a relatively broad constraint and it is not required that the element spacing between any two adjacent elements be the same, i.e. as previously described, it may be unevenly distributed, e.g. at a maximum processing frequency of 30kHz, the element distance difference is 0.025m, it may be satisfied that->On the premise of setting the array element interval between the array element A and the array element B to be 0.1m, setting the array element interval between the array element B and the array element C to be 0.15m, and setting the array element interval between the array element B and the array element C to be 0.15mAnd the array element interval between the C and the array element D is 0.225m.
In one embodiment of the present application, the frequency domain data of the underwater acoustic communication signal is simulated frequency domain data of a specified processing frequency band, and the simulated frequency domain data of the specified processing frequency band is obtained by: receiving Gaussian white noise emitted by an emission signal source; filtering the Gaussian white noise through a band-pass filter to obtain a broadband signal, and calculating the time delay of each array element according to the azimuth of the Gaussian white noise transmitted by a transmitting signal source; obtaining time domain data of each array element according to the broadband signal and the time delay of each array element; and carrying out Fourier transform on the time domain data of each array element to obtain simulated frequency domain data of each array element in a designated processing frequency band, wherein the designated processing frequency band is 10 kHz-30 kHz.
In order to verify the direction finding performance of the direction finding method of the underwater acoustic communication signals of the above embodiments, the embodiment of the present application performs the direction finding simulation of the quaternary non-uniform linear array according to the processing steps of the above embodiments. In the simulation stage, simulation frequency domain data of a designated processing frequency band can be acquired first, and because the direction finding scheme of the embodiment of the application mainly aims at a scene of direction finding of underwater communication signals, the designated processing frequency band is generally 10 kHz-30 kHz, and of course, other types of signal direction finding can be adaptively adjusted by a person skilled in the art.
Specifically, when acquiring simulated frequency domain data of a designated processing frequency band, the gaussian white noise emitted by a transmitting signal source can be received first, where the transmitting signal source can be understood as equipment for transmitting communication signals, which is set in advance at a designated position, and in order to fully embody the direction-finding characteristics and the direction-finding effect of the direction-finding method of the present application, the transmitting communication signals are mainly gaussian white noise, and of course, in practical application, the direction-finding is not limited to the signal of the gaussian white noise, and can be other types of communication signals.
And then filtering the Gaussian white noise through a band-pass filter, so that a broadband signal can be obtained. The method is a test simulation stage, so that the azimuth of the Gaussian white noise emitted by the emission signal source can be known in advance, and the time delay of the signals received by each array element can be calculated according to the azimuth of the Gaussian white noise emitted by the emission signal source. And then, the time delay of the signals received by each array element is overlapped on the broadband signal obtained after the filtering processing, so that the time domain data of each array element can be obtained. And finally, carrying out Fourier transform on the time domain data of each array element according to the set number Nfft of the fast Fourier transform points, so as to obtain the simulated frequency domain data of each array element in the appointed processing frequency band. For example, if there are 4 array elements, two-dimensional matrix frequency domain data of 4×nfft can be obtained here.
According to the embodiment, the time delay of the signals received by each array element is considered, so that the communication signals received by each array element in an actual application scene are restored to the greatest extent, and the accuracy of the direction finding result is improved.
As shown in FIG. 2, a spatial spectrum comparison diagram of the direction finding method of the underwater acoustic communication signal and the standard CBF method is provided, and as can be seen from FIG. 2, the direction finding method of the underwater acoustic communication signal of the embodiment of the application is obviously superior to CBF in spatial resolution, and side lobe is reduced by more than about 6 dB.
As shown in fig. 3, a spatial spectrum comparison diagram of the direction finding method of the underwater acoustic communication signal and the standard MVDR method according to the embodiment of the present application is provided, and as can be seen from fig. 3, compared with the MVDR and other high resolution algorithms, the direction finding method of the underwater acoustic communication signal according to the embodiment of the present application has slightly poorer spatial resolution capability, but has still great application value in practical engineering due to lower side lobe and low computational complexity.
Fig. 4 provides a direction-finding performance comparison chart of the direction-finding method of the underwater acoustic communication signal and the standard CBF method according to the embodiment of the present application, and fig. 5 provides a direction-finding performance comparison chart of the direction-finding method of the underwater acoustic communication signal and the standard MVDR method according to the embodiment of the present application. As can be seen from fig. 4 and fig. 5, under the condition of high signal-to-noise ratio, RMSE (Root-Mean-Square Error) of the direction-finding method of the underwater acoustic communication signal in the embodiment of the present application is equivalent to MVDR method and is significantly better than CBF method.
In summary, the direction finding method of the underwater acoustic communication signal constructs the nonlinear weighting coefficient by utilizing the difference characteristic of the subarray domain signal and the noise, and compared with the standard CBF method, the direction finding method has higher angle estimation performance, and the calculation complexity is lower than that of the MVDR method, so that the direction finding method has higher practical application value.
It should be noted that, the direction-finding method of the underwater acoustic communication signal in the above embodiment of the present application can be applied to the direction-finding function of other multi-sensor arrays.
The application also provides a direction-finding device of the underwater acoustic communication signal. Fig. 6 shows a block diagram of a direction-finding device of an underwater acoustic communication signal according to an embodiment of the present application, referring to fig. 6, a direction-finding device 600 of an underwater acoustic communication signal includes: a frequency domain data acquisition unit 610, a matrix and steering vector determination unit 620, a beam output determination unit 630, a nonlinear weighting coefficient determination unit 640, and a direction finding unit 650. Wherein,
a frequency domain data obtaining unit 610, configured to obtain frequency domain data of underwater acoustic communication signals received by a plurality of array elements that are non-uniformly and linearly arranged;
a matrix and steering vector determining unit 620, configured to determine a covariance matrix of the entire array domain and a steering vector of the entire array domain according to the frequency domain data of each array element, determine a covariance matrix of each subarray domain and a steering vector of each subarray domain for at least two subarrays, and determine a cross-correlation matrix of at least two subarrays;
a beam output determining unit 630, configured to determine beam outputs of the whole array domain in all scanning frequency points and all scanning orientations according to the covariance matrix of the whole array domain and the steering vector of the whole array domain; according to covariance matrixes of subarray domains and guide vectors of the subarray domains, beam output of the subarray domains on all scanning frequency points and all scanning orientations is determined, and according to cross-correlation matrixes of at least two subarray domains and the guide vectors of the subarray domains, beam output of the cross-correlation matrixes of the at least two subarray domains on all scanning frequency points and all scanning orientations is determined;
a nonlinear weighting coefficient determining unit 640, configured to obtain a set of nonlinear weighting coefficients according to beam outputs of at least two subarrays and their cross-correlation matrices;
and a direction-finding unit 650, configured to determine a final beam output according to a set of nonlinear weighting coefficients and the beam output of the whole array domain, so as to obtain a direction-finding of the underwater acoustic communication signal according to the final beam output.
In one embodiment of the present application, the nonlinear weighting coefficient determining unit 640 is specifically configured to: determining the signal power of the underwater acoustic communication signal according to the beam output of the cross-correlation matrix of at least two subarray domains; determining the noise power of the underwater acoustic communication signals according to the beam output of each subarray domain and the signal power of the underwater acoustic communication signals; and obtaining a group of nonlinear weighting coefficients according to the signal power and the noise power of the underwater acoustic communication signal.
In one embodiment of the application, the apparatus further comprises: and the preprocessing unit is used for setting a buffer memory or multiplying a forgetting factor for the covariance matrix of the whole array domain, the covariance matrix of the at least two subarrays and the cross-correlation matrix before determining the beam output of the whole array domain, the at least two subarrays and the cross-correlation matrix of the subarrays.
In one embodiment of the application, the element spacing between the plurality of elements of the non-uniform linear arrangement is such thatConditions; wherein d is the array element interval between two adjacent array elements, and lambda is the wavelength of the highest processing frequency.
In one embodiment of the present application, the frequency domain data of the underwater acoustic communication signal is simulated frequency domain data of a specified processing frequency band, and the simulated frequency domain data of the specified processing frequency band is obtained by:
receiving Gaussian white noise emitted by an emission signal source; filtering the Gaussian white noise through a band-pass filter to obtain a broadband signal, and calculating the time delay of each array element according to the azimuth of the Gaussian white noise transmitted by a transmitting signal source; obtaining time domain data of each array element according to the broadband signal and the time delay of each array element; and carrying out Fourier transform on the time domain data of each array element to obtain simulated frequency domain data of each array element in a designated processing frequency band, wherein the designated processing frequency band is 10 kHz-30 kHz.
It should be noted that:
fig. 7 illustrates a schematic structure of the electronic device. Referring to fig. 7, at a hardware level, the electronic device includes a memory and a processor, and optionally includes an interface module, a communication module, and the like. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory, and the like. Of course, the electronic device may also include hardware required for other services.
The processor, interface module, communication module, and memory may be interconnected by an internal bus, which may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or an EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 7, but not only one bus or type of bus.
And a memory for storing computer executable instructions. The memory provides computer-executable instructions to the processor via the internal bus.
A processor executing computer executable instructions stored in the memory and specifically configured to perform the following operations:
acquiring frequency domain data of underwater acoustic communication signals received by a plurality of array elements which are non-uniformly and linearly arranged;
according to the frequency domain data of each array element, determining a covariance matrix of the whole array domain and a guide vector of the whole array domain, determining the covariance matrix of each subarray domain and the guide vector of each subarray domain for at least two subarray domains, and determining a cross-correlation matrix of at least two subarray domains;
according to the covariance matrix of the whole array domain and the guide vector of the whole array domain, determining the beam output of the whole array domain on all scanning frequency points and all scanning orientations; according to covariance matrixes of subarray domains and guide vectors of the subarray domains, beam output of the subarray domains on all scanning frequency points and all scanning orientations is determined, and according to cross-correlation matrixes of at least two subarray domains and the guide vectors of the subarray domains, beam output of the cross-correlation matrixes of the at least two subarray domains on all scanning frequency points and all scanning orientations is determined;
obtaining a group of nonlinear weighting coefficients according to beam outputs of at least two subarray domains and cross-correlation matrixes thereof;
and determining final beam output according to a group of nonlinear weighting coefficients and the beam output of the whole array domain, so as to obtain the direction finding of the underwater acoustic communication signal according to the final beam output.
The functions performed by the direction-finding device for underwater acoustic communication signals disclosed in the embodiment of fig. 6 of the present application described above may be applied to the processor or implemented by the 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 by instructions in the form of software. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate array elements (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks 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 embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.
The electronic device may further execute the steps executed by the direction-finding method of the underwater acoustic communication signal in fig. 1, and implement the functions of the direction-finding method of the underwater acoustic communication signal in the embodiment shown in fig. 1, which are not described herein.
The embodiment of the application also provides a computer readable storage medium, which stores one or more programs, when executed by a processor, implements the direction finding method of the underwater acoustic communication signal, and is specifically used for executing:
acquiring frequency domain data of underwater acoustic communication signals received by a plurality of array elements which are non-uniformly and linearly arranged;
according to the frequency domain data of each array element, determining a covariance matrix of the whole array domain and a guide vector of the whole array domain, determining the covariance matrix of each subarray domain and the guide vector of each subarray domain for at least two subarray domains, and determining a cross-correlation matrix of at least two subarray domains;
according to the covariance matrix of the whole array domain and the guide vector of the whole array domain, determining the beam output of the whole array domain on all scanning frequency points and all scanning orientations; according to covariance matrixes of subarray domains and guide vectors of the subarray domains, beam output of the subarray domains on all scanning frequency points and all scanning orientations is determined, and according to cross-correlation matrixes of at least two subarray domains and the guide vectors of the subarray domains, beam output of the cross-correlation matrixes of the at least two subarray domains on all scanning frequency points and all scanning orientations is determined;
obtaining a group of nonlinear weighting coefficients according to beam outputs of at least two subarray domains and cross-correlation matrixes thereof;
and determining final beam output according to a group of nonlinear weighting coefficients and the beam output of the whole array domain, so as to obtain the direction finding of the underwater acoustic communication signal according to the final beam output.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) containing computer-usable program code.
The present application is described in terms of flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
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 storage media for a computer 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, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. A method for direction finding of an underwater acoustic communication signal, comprising:
acquiring frequency domain data of underwater acoustic communication signals received by a plurality of array elements which are non-uniformly and linearly arranged;
according to the frequency domain data of each array element, determining a covariance matrix of the whole array domain and a guide vector of the whole array domain, determining the covariance matrix of each subarray domain and the guide vector of each subarray domain for at least two subarray domains, and determining a cross-correlation matrix of the at least two subarray domains;
according to the covariance matrix of the whole array domain and the guide vector of the whole array domain, determining the beam output of the whole array domain on all scanning frequency points and all scanning orientations; according to covariance matrixes of each subarray domain and guide vectors of each subarray domain, beam output of each subarray domain on all scanning frequency points and all scanning orientations is determined, and according to cross-correlation matrixes of at least two subarray domains and guide vectors of each subarray domain, beam output of the cross-correlation matrixes of at least two subarray domains on all scanning frequency points and all scanning orientations is determined;
obtaining a set of nonlinear weighting coefficients according to the beam outputs of the at least two subarray domains and the cross-correlation matrix thereof;
and determining final beam output according to the set of nonlinear weighting coefficients and the beam output of the whole array domain, so as to obtain the direction finding of the underwater acoustic communication signal according to the final beam output.
2. The method of claim 1, wherein deriving a set of nonlinear weighting coefficients from the beam outputs of the at least two subarrays and their cross-correlation matrices comprises:
determining the signal power of the underwater acoustic communication signal according to the beam output of the cross-correlation matrix of the at least two subarray domains;
determining the noise power of the underwater sound communication signal according to the wave beam output of each subarray domain and the signal power of the underwater sound communication signal;
and obtaining the nonlinear weighting coefficients according to the signal power and the noise power of the underwater acoustic communication signal.
3. The method according to claim 1, wherein the method further comprises:
before determining the beam outputs of the whole array domain, the at least two subarrays and their cross-correlation matrices, a buffer is set or a forgetting factor is multiplied on the covariance matrix of the whole array domain, the covariance matrix of the at least two subarrays and their cross-correlation matrices.
4. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the array element intervals among the plurality of array elements which are non-uniformly and linearly arranged satisfyConditions;
wherein d is the array element interval between two adjacent array elements, and lambda is the wavelength of the highest processing frequency.
5. The method of claim 1, wherein the frequency domain data of the underwater acoustic communication signal is simulated frequency domain data of a designated processing frequency band, the simulated frequency domain data of the designated processing frequency band being obtained by:
receiving Gaussian white noise emitted by an emission signal source;
filtering the Gaussian white noise through a band-pass filter to obtain a broadband signal, and calculating the time delay of each array element according to the azimuth of the Gaussian white noise transmitted by a transmitting signal source;
obtaining time domain data of each array element according to the broadband signal and the time delay of each array element;
and carrying out Fourier transform on the time domain data of each array element to obtain simulated frequency domain data of each array element in a designated processing frequency band, wherein the designated processing frequency band is 10 kHz-30 kHz.
6. A direction-finding device for an underwater acoustic communication signal, comprising:
the frequency domain data acquisition unit is used for acquiring frequency domain data of underwater acoustic communication signals received by a plurality of array elements which are non-uniformly and linearly arranged;
the matrix and guide vector determining unit is used for determining a covariance matrix of the whole array domain and a guide vector of the whole array domain according to the frequency domain data of each array element, determining the covariance matrix of each subarray domain and the guide vector of each subarray domain for at least two subarray domains, and determining the cross-correlation matrix of the at least two subarrays domains;
the beam output determining unit is used for determining the beam output of the whole array domain on all scanning frequency points and all scanning orientations according to the covariance matrix of the whole array domain and the guide vector of the whole array domain; according to covariance matrixes of each subarray domain and guide vectors of each subarray domain, beam output of each subarray domain on all scanning frequency points and all scanning orientations is determined, and according to cross-correlation matrixes of at least two subarray domains and guide vectors of each subarray domain, beam output of the cross-correlation matrixes of at least two subarray domains on all scanning frequency points and all scanning orientations is determined;
the nonlinear weighting coefficient determining unit is used for obtaining a group of nonlinear weighting coefficients according to the beam outputs of the at least two subarray domains and the cross-correlation matrixes thereof;
and the direction finding unit is used for determining final beam output according to the set of nonlinear weighting coefficients and the beam output of the whole array domain so as to obtain the direction finding of the underwater acoustic communication signal according to the final beam output.
7. The apparatus according to claim 6, wherein the nonlinear weighting coefficient determining unit is specifically configured to:
determining the signal power of the underwater acoustic communication signal according to the beam output of the cross-correlation matrix of the at least two subarray domains;
determining the noise power of the underwater sound communication signal according to the wave beam output of each subarray domain and the signal power of the underwater sound communication signal;
and obtaining the nonlinear weighting coefficients according to the signal power and the noise power of the underwater acoustic communication signal.
8. The apparatus of claim 6, wherein the apparatus further comprises:
and the preprocessing unit is used for setting cache or multiplying forgetting factors for the covariance matrix of the whole matrix domain, the covariance matrix of the at least two subarrays and the cross-correlation matrix of the at least two subarrays before determining the beam output of the whole matrix domain, the at least two subarrays and the cross-correlation matrix of the at least two subarrays.
9. The apparatus of claim 6, wherein the device comprises a plurality of sensors,
the array element intervals among the plurality of array elements which are non-uniformly and linearly arranged satisfyConditions;
wherein d is the array element interval between two adjacent array elements, and lambda is the wavelength of the highest processing frequency.
10. An electronic device, comprising: a processor, a memory storing computer executable instructions,
the executable instructions, when executed by the processor, implement a direction finding method for the underwater acoustic communications signal of any of the claims 1 to 5.
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