CN113189543B - 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
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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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, and aims at the problem that in the prior art, signal detection estimation performance is low due to the influence of interference signals in sea water, and the method comprises the following steps: receiving underwater broadband signals and motion information of a sound source to be detected by using an array, wherein the broadband signals comprise expected signals and interference signals; step two: performing motion compensation on the underwater broadband signal acquired by the array according to the motion information of the sound source to be detected; step three: vectorizing the underwater broadband signal sequence compensated in the second step; step four: and separating the expected signal and the interference signal in the underwater broadband signal after column vectorization by using a robust principal component analysis method. The method has the advantages that the method can separate the expected signal from the interference signal without affecting the signal phase information, thereby inhibiting the influence of interference on the signal detection performance and improving the underwater sound signal detection performance 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 rich animal and plant resources and mineral resources, and has extremely high national defense strategic value, so that the development and exploration of the ocean are increasingly emphasized by various countries. Because of the specificity of the seawater medium, electromagnetic waves cannot be transmitted in water in a long distance, so that sound waves can only be used as a carrier for underwater information transmission, and the underwater acoustic array signal processing is an important foundation for carrying out communication, detection, positioning, navigation and other works underwater by utilizing the sound waves, and is an important research direction of underwater acoustic technology.
In the process of developing and detecting the ocean through the underwater acoustic technology, an underwater acoustic transducer array is usually required to receive acoustic signals, then the acoustic signals are converted into electric signals through an analog-digital converter, and then the electric signals are processed to perform the detection, positioning and other works of the underwater target through solid lines. The ocean is a replicated channel environment and the underwater acoustic transducer array receives a large number of interfering signals, including mechanical noise generated by the surface vessel, ocean environmental noise generated by the marine organisms and the sea water, and electrical noise generated by the signal processing equipment, while the sea receives the desired signal, which can seriously affect the detection estimation performance of the signal.
Disclosure of Invention
The purpose of the invention is that: aiming at the problem that the signal detection estimation performance is low due to the influence of interference signals in seawater in the prior art, an interference suppression method based on motion compensation robust principal component analysis is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an interference suppression method based on motion compensation robust principal component analysis comprises the following steps:
step one: receiving underwater broadband signals and motion information of a sound source to be detected by using an array, wherein the broadband signals comprise expected signals and interference signals;
step two: performing motion compensation on the underwater broadband signal acquired by the array according to the motion information of the sound source to be detected;
step three: vectorizing the underwater broadband signal sequence compensated in the second step;
step four: and separating the expected signal and the interference signal in the underwater broadband signal after column vectorization by using a robust principal component analysis method.
Further, the motion information of the sound source to be measured in the first step specifically includes velocity and acceleration information when the sound source moves.
Further, the motion compensation in the second step specifically includes the following steps:
step two,: calculating the motion distance of the sound source to be measured between two adjacent emission moments by using the speed and acceleration information of the sound source to be measured;
step two: estimating the time delay difference of two adjacent expected signals reaching the matrix according to the motion distance of the sound source to be measured between two adjacent emission moments and the depth of the sound source to be measured;
step two, three: and performing time delay compensation on the underwater broadband signal in the time domain by using the time delay difference.
Further, the depth of the sound source to be measured is obtained by a pressure sensor arranged on the sound source to be measured.
Further, the specific steps of the second step are as follows:
first, let sound source be at t 10 The moment is positioned under the matrix, at t 11 Transmitting acoustic signals at time t 12 Arrive at the matrix at a moment and then at t 21 Transmitting acoustic signals at time t 22 The time delay difference of the two pulse signals reaching the receiving matrix is that
Wherein r is 1 And r 2 Respectively at t 11 Time sum t 21 The distance between the target and the matrix, c is the propagation speed of the sound wave under water;
assuming that the target always makes uniform variable-speed linear motion and the depth is unchanged, according to the geometric relationship:
wherein v is 0 At t as the target 10 The speed at the moment, a is the movement acceleration of the target, h is the depth of the target,
and obtaining the time delay difference between the received signals at each moment and the starting moment according to the above formula, and obtaining the motion-compensated observation matrix D.
Further, the specific steps of the third step are as follows:
step three: connecting the columns of the matrix with L multiplied by N in one dimension to form a column vector with L multiplied by N multiplied by 1 in one dimension;
step three, two: m times of sampling the column vector obtained in the third step to form an observation matrix with the dimension of (L multiplied by N) multiplied by M;
wherein, N is the number of array elements forming an array, L is the snapshot number of each sampling, and M is the sampling times.
Further, the specific steps of the fourth step are as follows:
firstly, the observation matrix D after motion compensation is regarded as being composed of a low-rank expected signal matrix L and a sparse interference signal matrix S, and the solving process is expressed as follows:
wherein I * Represents an infinite norm, i.e., the maximum of the absolute values of the individual elements in the vector, |·|| 1 Representing the 1-norm, i.e. the sum of the absolute values of the individual elements in the vector,
and->
And respectively estimating 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.
Further, the motion information of the sound source to be measured in the first step is obtained by a motion sensor arranged on the target to be measured and is transmitted through a cable.
Further, the motion sensor includes a compass and an accelerometer.
The beneficial effects of the invention are as follows:
the motion data of the object to be measured in the process of transmitting signals are obtained through the motion sensor, then the array receiving signals are compensated according to the motion data, and finally the expected signals and the interference signals are separated through the robust principal component analysis method. The method has the advantages that the method can separate the expected signal from the interference signal without affecting the signal phase information, thereby inhibiting the influence of interference on the signal detection performance and improving the underwater sound signal detection performance under the condition of low signal-to-interference ratio.
Drawings
FIG. 1 is a schematic diagram of a receive matrix;
FIG. 2 is a primitive number 1 receive signal;
FIG. 3 is a graph of signal contrast before and after robust principal component analysis;
FIG. 4 is a graph showing 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: referring to fig. 5, a specific description is given of an interference suppression method based on motion compensation robust principal component analysis according to the present embodiment, including the following steps:
step one: receiving underwater broadband signals and motion information of a sound source to be detected by using an array, wherein the broadband signals comprise expected signals and interference signals;
step two: performing motion compensation on the underwater broadband signal acquired by the array according to the motion information of the sound source to be detected;
step three: vectorizing the underwater broadband signal sequence compensated in the second step;
step four: and separating the expected signal and the interference signal in the underwater broadband signal after 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 first step is formed by superposing the expected signal and the interference signal, the signal in the first step is subjected to motion compensation, the compensated signal is subjected to column vectorization, the column vectorized signal is processed by a robust principal component analysis method, and the expected signal and the interference signal are superposed and separated in the received signal.
The array is fixedly arranged on a working ship on the water surface, can transmit or receive underwater acoustic signals, and converts the acoustic signals into electric signals for processing.
A signal source emitting a desired signal is fixedly installed on an underwater object to be measured, and the received signal includes the desired signal and a plurality of interference signals, wherein the desired signal is emitted by a sound source installed on the underwater object to be measured, and the interference signals include mechanical interference generated by a surface ship, marine environmental interference generated by marine organisms and seawater, and electrical interference generated by a signal processing apparatus. Sources of interference signals include 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 measured is obtained by testing motion sensors such as a compass and an accelerometer which are arranged on the target to be measured, and the motion state of the sound source at the moment when the target emits the expected signal can be reflected. The motion information of the sound source to be measured can be transmitted to the surface operation ship through a cable, and also can be transmitted to the surface operation ship through an acoustic signal.
In the second step, motion compensation 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 moments of the expected signals reaching the matrix at different sampling moments are the same, and thus the expected signal sequence satisfies the low rank characteristic in the time domain.
The robust principal component analysis method in the fourth step is a data dimension reduction algorithm, and when a matrix is formed by superposing a low-rank matrix and a sparse matrix, the two matrices can be separated through the robust principal component algorithm, and the method has good robustness to non-Gaussian signals.
The target sound source transmits pulse signals at certain time intervals, the water surface matrix receives signals at the same time intervals, each time the signals are received into a sampling period, and data received in each sampling period form a signal matrix with L multiplied by N dimensions.
Each sampling time can obtain a data matrix, n sampling times can obtain n data matrices, to carry out step four, the matrix must be converted into a column vector, n times correspond to n column vectors, then the n column vectors are combined into a new matrix, and the step is to process the new matrix.
The column vectorization is to convert an L×N signal matrix in one sampling period into a column vector with a dimension of (L×N) ×1, and obtain an observation matrix with a 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 matrix of desired signals being full-rank.
The motion compensation is performed on observed data, namely, the motion distance of a target to be detected between two adjacent transmitting moments is calculated through the speed and acceleration information of the target to be detected, then the time delay difference of two adjacent expected signals reaching the matrix is estimated by combining the depth of the target to be detected, and then the time delay compensation is performed on sampling signals in a 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 sound source be t 10 The moment is positioned under the matrix, at t 11 Transmitting acoustic signals at time t 12 The moment reaches the matrix. Then at t 21 Transmitting acoustic signals at time t 22 The time delay difference of the two pulse signals reaching the receiving matrix is that
Wherein r is 1 And r 2 Respectively at t 11 Time sum t 21 The distance between the target and the matrix, c, is the propagation velocity of the sound wave under water.
Wherein, the "broadband signal" in the first step is emitted by the sound source.
Assuming that the target always makes uniform variable-speed linear motion and the depth is unchanged, the method can obtain according to the geometric relationship
Wherein v is 0 At t as the target 10 The speed at the moment, a is the movement acceleration of the target, and h is the depth of the target.
And obtaining the time delay difference between the received signal at each moment and the initial moment according to the formula, and obtaining the motion-compensated observation matrix D.
The robust principal component analysis method is a data dimension reduction algorithm, and when a matrix is formed by superposing a low-rank matrix and a sparse matrix, the two matrices can be separated through the robust principal component algorithm, and the method has good robustness to non-Gaussian signals. After motion compensation, the observation matrix D may be regarded as being 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.
Solving the optimization problem can accurately separate the expected signal from the interference, thereby achieving the effect of interference suppression.
Examples: the receiving matrix is a uniform linear array composed of 8 array elements, and the array element spacing is 5cm, as shown in figure 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 acquired from the marine environment. Data is collected for 30ms every sampling period, and the received signal at the first sampling period is shown in fig. 2.
The movement speed of the target at the initial moment is set to be 1m/s, and the acceleration is set to be 0.02m/s 2 When the speed reaches 5m/s, the linear motion starts at a uniform speed, and the sound source emits a pulse signal every 2 s. The time delay difference between each sampling time and the starting time can be calculated according to the formula (2), and is shown in the following table.
The signals of 10 sampling periods are subjected to motion compensation according to the table, and then an observation matrix is formed through column vectorization. And (3) solving an optimization problem shown in a formula (3), namely separating a desired signal from interference, wherein the separated signal is shown in fig. 3. As can be seen from fig. 3, the desired signal is almost completely separated from the received signal, and noise is greatly suppressed.
To verify whether the robust principal component analysis affects the phase of the desired signal very much, the positions of occurrence of the maximum values of 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 positions and that the side lobes of the correlation peaks are greatly reduced, which also proves that the present 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 may be classified into wideband signals and narrowband signals according to frequencies. The wideband signal is the signal in step one.
It should be noted that the detailed description is merely for explaining and describing the technical solution of the present invention, and the scope of protection of the claims should not be limited thereto. All changes which come within the meaning and range of equivalency of the claims and the specification are to be embraced within their scope.
Claims (8)
1. An interference suppression method based on motion compensation robust principal component analysis is characterized by comprising the following steps:
step one: acquiring an underwater broadband signal by using an array, wherein the broadband signal comprises a desired signal and an interference signal, and then acquiring motion information of a sound source to be detected;
step two: performing motion compensation on underwater sound signals received by the array according to the motion information of the sound source to be detected;
step three: vectorizing the broadband signal column compensated in the second step;
step four: separating the desired signal from the interfering signal using a robust principal component analysis;
the motion compensation in the second step comprises the following specific steps:
step two,: acquiring speed and acceleration information of a target to be detected;
step two: calculating the movement distance of the target to be measured between two adjacent emission moments;
step two, three: estimating the time delay difference of two adjacent expected signals reaching the matrix by combining the depth of the target to be detected;
step two, four: performing time delay compensation on the sampling signal in the time domain;
the specific steps of the second step are as follows:
first, let sound source be at t 10 The moment is positioned under the matrix, at t 11 Transmitting acoustic signals at time t 12 Arrive at the matrix at a moment and then at t 21 Transmitting acoustic signals at time t 22 The time delay difference of the two pulse signals reaching the receiving matrix is that
Wherein r is 1 And r 2 Respectively at t 11 Time sum t 21 The distance between the target and the matrix, c is the propagation speed of the sound wave under water;
assuming that the target always makes uniform variable-speed linear motion and the depth is unchanged, according to the geometric relationship:
wherein v is 0 At t as the target 10 The speed at the moment, a is the movement acceleration of the target, h is the depth of the target,
and obtaining the time delay difference between the received signals at each moment and the starting moment according to the above formula, and obtaining the motion-compensated observation matrix D.
2. The interference suppression method based on motion compensation robust principal component analysis according to claim 1, wherein the depth of the target is obtained by a pressure sensor provided on the target.
3. The interference suppression method based on motion compensation robust principal component analysis according to claim 2, wherein: the specific steps of the third step are as follows:
step three: connecting the columns of the matrix with L multiplied by N in one dimension to form a column vector with L multiplied by N multiplied by 1 in one dimension;
step three, two: m times of sampling the column vector obtained in the third step to form an observation matrix with the dimension of (L multiplied by N) multiplied by M;
wherein, N is the number of array elements forming an array, L is the snapshot number of each sampling, and M is the sampling times.
4. The interference suppression method based on motion compensation robust principal component analysis according to claim 3, wherein the specific steps of the fourth step are as follows:
firstly, the observation matrix D after motion compensation is regarded as being composed of a low-rank expected signal matrix L and a sparse interference signal matrix S, and the solving process is expressed as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device, representation of |· | | | | an infinite norm of the sum of the norms, i.e. the maximum of the absolute values of the individual elements in the vector, I.I 1 Representing the 1-norm, i.e. the sum of the absolute values of the individual elements in the vector,
and->
And respectively estimating values of L and S, solving the optimization problem, and separating the expected signal from the interference signal.
5. The interference suppression method based on motion compensation robust principal component analysis according to claim 1, wherein: the interference signal in the first step is a non-Gaussian interference signal, and comprises ship radiation noise, ocean environment noise and circuit noise.
6. The interference suppression method based on motion compensation robust principal component analysis according to claim 1, wherein: and in the first step, the motion information of the sound source to be detected is transmitted through a cable.
7. The interference suppression method based on motion compensation robust principal component analysis according to claim 1, wherein: in the first step, the motion information of the sound source to be measured is obtained by a motion sensor arranged on the target to be measured.
8. The method for interference suppression based on motion compensated robust principal component analysis of claim 7, wherein: the motion sensor includes a compass and an accelerometer.
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