CN113189543A - Interference suppression method based on motion compensation robust principal component analysis - Google Patents
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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Abstract
An interference suppression method based on motion compensation robust principal component analysis relates to the technical field of underwater acoustic array signals, aims at the problem that in the prior art, due to the influence of interference signals in seawater, the signal detection and estimation performance is low, and comprises the following steps: receiving an underwater broadband signal and motion information of a sound source to be detected by using an array, wherein the broadband signal comprises an expected signal and an interference signal; step two: performing motion compensation on underwater broadband signals acquired by the array according to the motion information of the sound source to be detected; step three: vectorizing the underwater broadband signal column compensated in the step two; step four: and separating the expected signal and the interference signal in the underwater broadband signal after the column vectorization by using a robust principal component analysis method. The method has the advantages that the expected signal and the interference signal can be separated, and meanwhile, the phase information of the signal is not influenced, so that the influence of the interference on the detection performance of the signal is inhibited, and the detection performance of the underwater acoustic signal is improved under the condition of low signal-to-interference ratio.
Description
Technical Field
The invention relates to the technical field of underwater acoustic array signals, in particular to an interference suppression method based on motion compensation robust principal component analysis.
Background
The ocean is rich in animal and plant resources and mineral resources, and has extremely high strategic value of national defense, so that the development and exploration of the ocean are more and more emphasized in various countries. Due to the particularity of the seawater medium, electromagnetic waves cannot be remotely transmitted in water, so that only sound waves can be used as a carrier for transmitting underwater information, and the underwater acoustic array signal processing is an important basis for performing work such as communication, detection, positioning, navigation and the like underwater by using the sound waves, and is an important research direction of the underwater acoustic technology.
In the process of developing and detecting the ocean by the underwater acoustic technology, an underwater acoustic transducer array is generally required to receive acoustic signals, then the acoustic signals are converted into electric signals by an analog-digital converter, and then the electric signals are processed to carry out the work of detecting, positioning and the like of real-time underwater targets. The sea is a duplicated channel environment, and the underwater acoustic transducer array receives a great deal of interference signals including mechanical noise generated by surface ships, marine environmental noise generated by marine life and sea water, and electrical noise generated by signal processing equipment while receiving a desired signal, and the interference noise can seriously affect the detection and estimation performance of the signals.
Disclosure of Invention
The purpose of the invention is: aiming at the problem that the signal detection and estimation performance is low due to the influence of interference signals in seawater in the prior art, the interference suppression method based on the motion compensation robust principal component analysis is provided.
The technical scheme adopted by the invention to solve the technical problems is as follows:
an interference suppression method based on motion compensation robust principal component analysis comprises the following steps:
the method comprises the following steps: receiving an underwater broadband signal and motion information of a sound source to be detected by using an array, wherein the broadband signal comprises an expected signal and an interference signal;
step two: performing motion compensation on underwater broadband signals acquired by the array according to the motion information of the sound source to be detected;
step three: vectorizing the underwater broadband signal column compensated in the step two;
step four: and separating the expected signal and the interference signal in the underwater broadband signal after the column vectorization by using a robust principal component analysis method.
Further, the motion information of the sound source to be detected in the first step specifically includes speed and acceleration information when the sound source moves.
Further, the motion compensation in the second step specifically includes the following steps:
step two, firstly: calculating the movement distance of the sound source to be detected between two adjacent emission moments by using the speed and acceleration information of the sound source to be detected;
step two: estimating the time delay difference of two adjacent expected signals to a matrix according to the movement distance of a sound source to be detected between two adjacent transmitting moments and the depth of the sound source to be detected;
step two and step three: and performing time delay compensation on the underwater broadband signal on a time domain by using the time delay difference.
Furthermore, the depth of the sound source to be detected is obtained by a pressure sensor arranged on the sound source to be detected.
Further, the second step comprises the following specific steps:
first, let the sound source be at t10The time is located right below the matrix at t11Emitting acoustic signals at time t12Arrives at the matrix at time t21Emitting acoustic signals at time t22When the time reaches the matrix, the time delay difference of the two pulse signals reaching the receiving matrix is
Wherein r is1And r2Are each at t11Time t and21the distance between the target and the array, and c is the propagation speed of the sound wave under water;
assuming that the target always makes a uniform variable-speed linear motion and the depth is not changed, according to the geometric relationship:
wherein v is0Is targeted at t10The velocity at the moment, a is the acceleration of the motion of the target, h is the depth at which the target is located,
and obtaining the time delay difference between the received signal at each moment and the initial moment according to the formula to obtain an observation matrix D subjected to motion compensation.
Further, the third step comprises the following specific steps:
step three, firstly: connecting the first bits of all columns of an L multiplied by N matrix to form a (L multiplied by N) multiplied by 1 column vector with one dimension;
step three: sampling the column vectors obtained in the third step for M times to form an observation matrix with dimension of (L multiplied by N) multiplied by M;
wherein, N is the number of array elements forming the array, L is the number of snapshots of each sampling, and M is the sampling frequency.
Further, the fourth step specifically comprises:
firstly, an observation matrix D after motion compensation is regarded as a matrix composed of a low-rank expected signal matrix L and a sparse interference signal matrix S, and the solving process is represented as:
wherein | · | purple sweet*Expressing infinite norm, i.e. the maximum value of the absolute value of each element in the vector, | · luminance1Representing a 1 norm, i.e., the sum of the absolute values of the elements in the vector,
and
and respectively calculating estimated values of L and S, solving the optimization problem, and separating the expected signal from the interference signal.
Further, the interference signal in the first step includes ship radiation noise, marine environment noise and circuit noise.
Furthermore, the motion information of the sound source to be detected in the step one is obtained by a motion sensor arranged on the object to be detected and is transmitted through a cable.
Further, the motion sensor comprises a compass and an accelerometer.
The invention has the beneficial effects that:
motion data of a target to be detected in signal transmission is obtained through a motion sensor, then array receiving signals are compensated according to the motion data, and finally expected signals and interference signals are separated through a robust principal component analysis method. The method has the advantages that the expected signal and the interference signal can be separated, and meanwhile, the phase information of the signal is not influenced, so that the influence of the interference on the detection performance of the signal is inhibited, and the detection performance of the underwater acoustic signal is improved under the condition of low signal-to-interference ratio.
Drawings
FIG. 1 is a schematic diagram of a receiving array;
FIG. 2 shows a received signal of element No. 1;
FIG. 3 is a graph comparing signals before and after robust principal component analysis;
FIG. 4 is a comparison graph of correlation peaks before and after robust principal component analysis;
FIG. 5 is a schematic overall flow chart of the present invention.
Detailed Description
The first embodiment is as follows: specifically describing the present embodiment with reference to fig. 5, the method for suppressing interference based on motion compensation robust principal component analysis in the present embodiment includes the following steps:
the method comprises the following steps: receiving an underwater broadband signal and motion information of a sound source to be detected by using an array, wherein the broadband signal comprises an expected signal and an interference signal;
step two: performing motion compensation on underwater broadband signals acquired by the array according to the motion information of the sound source to be detected;
step three: vectorizing the underwater broadband signal column compensated in the step two;
step four: and separating the expected signal and the interference signal in the underwater broadband signal after the column vectorization by using a robust principal component analysis method.
The principle of the fourth step is as follows: the broadband signal received by the array in the step one is formed by overlapping an expected signal and an interference signal, motion compensation is carried out on the signal in the step one, then the compensated signal is subjected to line vectorization, the signal subjected to line vectorization is processed by a robust principal component analysis method, and the expected signal and the interference signal are overlapped and separated in the received signal.
The array is fixedly arranged on the operation ship on the water surface, can transmit or receive underwater acoustic signals and converts the acoustic signals into electric signals for processing.
The signal source for transmitting the expected signal is fixedly arranged on an underwater target to be measured, and the received signal comprises the expected signal and a plurality of interference signals, wherein the expected signal is transmitted by a sound source arranged on the underwater target to be measured, and the interference signals comprise mechanical interference generated by a water surface ship, marine environment interference generated by marine life and seawater and electric interference generated by signal processing equipment. The sources of the interference signals comprise ship radiation noise, marine environment noise, circuit noise and the like, and belong to non-Gaussian interference signals.
The motion information of the sound source to be detected is obtained by testing motion sensors such as a compass, an accelerometer and the like which are arranged on the target to be detected, and can reflect the motion state of the sound source of the target at the moment of transmitting the expected signal. The motion information of the sound source to be detected can be transmitted to the water surface operation ship through a cable or can be transmitted to the water surface operation ship through an acoustic signal.
In the second step, motion compensation is to calculate the motion distance of the target to be detected between two adjacent transmitting moments according to the speed and acceleration information of the target to be detected, then estimate the time delay difference of two adjacent expected signals reaching the matrix by combining the depth of the target to be detected, and then perform time delay compensation on the sampling signals on the time domain, so that the time when the expected signals reach the matrix at different sampling moments is the same, and thus the expected signal sequence meets the low-rank characteristic on the time domain.
The robust principal component analysis method described in the fourth step is a data dimension reduction algorithm, when one matrix is formed by superposing a low-rank matrix and a sparse matrix, the two matrices can be separated through the robust principal component analysis method, and the method has good robustness on non-Gaussian signals.
The target sound source can transmit pulse signals at a certain time interval, the water surface array can receive signals at the same time interval, each time the signals are received, a sampling period is formed, and data received in each sampling period can form a signal array with the dimension of L multiplied by N.
And (3) obtaining a data matrix at each sampling moment, obtaining n data matrices at n sampling moments, converting the matrix into a column vector in order to perform the step four, wherein the n moments correspond to the n column vectors, and then combining the n column vectors into a new matrix, wherein the new matrix is processed in the step four.
The column vectorization is to convert an L × N signal matrix in one sampling period into a column vector with one dimension of (L × N) × 1, and obtain an observation matrix with one dimension of (L × N) × M through M sampling periods. Since the object to be measured is moving, the propagation times of the desired signals to the matrix are different, resulting in a full rank of the matrix consisting of the desired signals.
The motion compensation of the observation data is to calculate the motion distance of the target to be measured between two adjacent transmitting moments according to the speed and acceleration information of the target to be measured, then estimate the time delay difference of two adjacent expected signals reaching the matrix by combining the depth of the target to be measured, and then perform time delay compensation on the sampling signals in the time domain, so that the time when the expected signals reach the matrix at different sampling moments is the same, and thus the expected signal sequence meets the low-rank characteristic in the time domain. Let the sound source be at t10The time is located right below the matrix at t11Emitting acoustic signals at time t12The time arrives at the matrix. Then at t21Emitting acoustic signals at time t22When the time reaches the matrix, the time delay difference of the two pulse signals reaching the receiving matrix is
Wherein r is1And r2Are each at t11Time t and21the distance between the target and the matrix, and c is the propagation speed of the sound wave under water.
Wherein, the said "broadband signal" in step one is emitted by the sound source.
Assuming that the target is always in linear motion with uniform variable speed and the depth is not changed, the target can be obtained according to the geometric relationship
Wherein v is0Is targeted at t10The velocity at the moment, a, is the acceleration of the motion of the target, and h is the depth at which the target is located.
And according to the formula, the time delay difference between the received signal at each moment and the initial moment can be obtained, and the observation matrix D subjected to motion compensation can be obtained.
The robust principal component analysis method is a data dimension reduction algorithm, when one matrix is formed by superposing a low-rank matrix and a sparse matrix, the two matrices can be separated through the robust principal component analysis method, and the method has good robustness on non-Gaussian signals. After motion compensation, the observation matrix D may be regarded as composed of a low-rank desired signal matrix L and a sparse interference signal matrix S, and the solving process may be expressed as the following optimization problem.
By solving the optimization problem, the expected signal and the interference can be accurately separated, and the effect of interference suppression is achieved.
Example (b): the receiving array is a uniform linear array composed of 8 array elements, and the spacing between the array elements is 5cm, as shown in fig. 1. The sound source to be measured is located 1km below the water surface, the transmitted signal is a linear frequency modulation signal with the bandwidth of 9-15kHz and the pulse width of 15ms, and the interference signal is a complex interference signal collected from the marine environment. Data is collected for 30ms every sampling period, and the received signal in the first sampling period is shown in fig. 2.
The movement speed of the target at the starting moment is set to be 1m/s, and the acceleration is set to be 0.02m/s2When the speed reaches 5m/s, the sound source starts to perform uniform linear motion, and pulse signals are transmitted once every 2 s. The delay difference between each sampling time and the start time can be calculated according to the formula (2) as shown in the following table.
The signals of 10 sampling periods are motion compensated according to the above table and then constitute an observation matrix by column vectorization. The optimization problem shown in equation (3) is solved, i.e. the desired signal is separated from the interference, and the separated signal is shown in fig. 3. As can be seen from fig. 3, the desired signal is almost perfectly separated from the received signal and the noise is largely suppressed.
In order to verify whether the robust principal component analysis affects the phase of the desired signal, the positions of the maximum values of the correlation peaks before and after the robust principal component analysis are compared by a cross-correlation method (as shown in fig. 4). It can be seen from fig. 4 that the correlation peaks appear at the same position, and the side lobes of the correlation peaks are greatly reduced, which also proves that the invention can effectively suppress noise.
It should be noted that the signals described in the present invention are all acoustic signals, and the acoustic signals can be further divided into broadband signals and narrowband signals according to different frequencies. In step one, the broadband signal is the signal.
It should be noted that the detailed description is only for explaining and explaining the technical solution of the present invention, and the scope of protection of the claims is not limited thereby. It is intended that all such modifications and variations be included within the scope of the invention as defined in the following claims and the description.
Claims (10)
1. An interference suppression method based on motion compensation robust principal component analysis is characterized by comprising the following steps:
the method comprises the following steps: receiving an underwater broadband signal and motion information of a sound source to be detected by using an array, wherein the broadband signal comprises an expected signal and an interference signal;
step two: performing motion compensation on underwater broadband signals acquired by the array according to the motion information of the sound source to be detected;
step three: vectorizing the underwater broadband signal column compensated in the step two;
step four: and separating the expected signal and the interference signal in the underwater broadband signal after the column vectorization by using a robust principal component analysis method.
2. The method according to claim 1, wherein the motion information of the sound source to be detected in the first step specifically includes velocity and acceleration information of the sound source during motion.
3. The method according to claim 2, wherein the motion compensation in the second step comprises the following specific steps:
step two, firstly: calculating the movement distance of the sound source to be detected between two adjacent emission moments by using the speed and acceleration information of the sound source to be detected;
step two: estimating the time delay difference of two adjacent expected signals to a matrix according to the movement distance of a sound source to be detected between two adjacent transmitting moments and the depth of the sound source to be detected;
step two and step three: and performing time delay compensation on the underwater broadband signal on a time domain by using the time delay difference.
4. The method as claimed in claim 3, wherein the depth of the sound source to be detected is obtained by a pressure sensor disposed on the sound source to be detected.
5. The method according to claim 4, wherein the second step comprises the following specific steps:
first, let the sound source be at t10The time is located right below the matrix at t11Emitting acoustic signals at time t12Arrives at the matrix at time t21Emitting acoustic signals at time t22When the time reaches the matrix, the time delay difference of the two pulse signals reaching the receiving matrix is
Wherein r is1And r2Are each at t11Time t and21the distance between the target and the array, and c is the propagation speed of the sound wave under water;
assuming that the target always makes a uniform variable-speed linear motion and the depth is not changed, according to the geometric relationship:
wherein v is0Is targeted at t10The velocity at the moment, a is the acceleration of the motion of the target, h is the depth at which the target is located,
and obtaining the time delay difference between the received signal at each moment and the initial moment according to the formula to obtain an observation matrix D subjected to motion compensation.
6. The method of claim 5, wherein the method comprises: the third step comprises the following specific steps:
step three, firstly: connecting the first bits of all columns of an L multiplied by N matrix to form a (L multiplied by N) multiplied by 1 column vector with one dimension;
step three: sampling the column vectors obtained in the third step for M times to form an observation matrix with dimension of (L multiplied by N) multiplied by M;
wherein, N is the number of array elements forming the array, L is the number of snapshots of each sampling, and M is the sampling frequency.
7. The method according to claim 6, wherein the fourth step comprises the following specific steps:
firstly, an observation matrix D after motion compensation is regarded as a matrix composed of a low-rank expected signal matrix L and a sparse interference signal matrix S, and the solving process is represented as:
wherein | · | purple sweet*Expressing infinite norm, i.e. the maximum value of the absolute value of each element in the vector, | · luminance1Representing a 1 norm, i.e., the sum of the absolute values of the elements in the vector,
and
and respectively calculating estimated values of L and S, solving the optimization problem, and separating the expected signal from the interference signal.
8. The method of claim 1, wherein the method comprises: the interference signals in the first step comprise ship radiation noise, marine environment noise and circuit noise.
9. The method of claim 1, wherein the method comprises: and in the first step, the motion information of the sound source to be detected is obtained by a motion sensor arranged on the target to be detected and is transmitted through a cable.
10. The method of claim 9, wherein the method comprises: the motion sensor includes a compass and an accelerometer.
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