CN114089322A - Three-point ranging method based on secondary denoising time delay matching - Google Patents

Three-point ranging method based on secondary denoising time delay matching Download PDF

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CN114089322A
CN114089322A CN202111335281.2A CN202111335281A CN114089322A CN 114089322 A CN114089322 A CN 114089322A CN 202111335281 A CN202111335281 A CN 202111335281A CN 114089322 A CN114089322 A CN 114089322A
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time delay
array element
array
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narrow
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邵游
刘福臣
郑广赢
易石
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715th Research Institute of CSIC
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/14—Fourier, Walsh or analogous domain transformations, e.g. Laplace, Hilbert, Karhunen-Loeve, transforms
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/15—Correlation function computation including computation of convolution operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization

Abstract

The invention relates to a three-point distance measurement method based on secondary denoising time delay matching, which is characterized in that time delay searching is carried out in a preset mode by constructing an array signal based on a secondary correlation function and a driving vector based on frequency and time delay, so that the time delay difference between any one of three array elements and the other two array elements is obtained, and the distance of a target is obtained. The method has the advantages that under the condition of low signal-to-noise ratio, the quadratic correlation function can effectively inhibit noise, and the beam forming time delay estimation can greatly improve the time delay estimation precision without up-sampling, so that the ranging precision is improved.

Description

Three-point ranging method based on secondary denoising time delay matching
Technical Field
The present invention relates to computing; the technical field of calculation or counting, in particular to a three-point ranging method based on secondary denoising time delay matching in the sonar signal processing field.
Background
Ternary array passive positioning is a widely adopted technology in underwater sound passive positioning, and the ternary array passive positioning is the most common passive ranging sonar because the ternary array passive positioning does not need too much prior knowledge, is simple and practical; the working principle of the ternary array is that the change of the curvature of the wave front of the spherical wave is utilized, the radiation noise signals of the target received by each element are measured, and the time delay difference between the elements is estimated so as to calculate the azimuth and the distance of the target.
In the ternary array passive positioning technology, the precision of the time delay difference directly affects the performance of passive ranging, so how to improve the estimation precision of the time delay difference between different array elements also becomes a hotspot of current research. The existing commonly used delay difference estimation methods comprise common cross correlation, generalized cross correlation, secondary correlation and the like, and the methods have a good delay estimation effect under the condition of high signal-to-noise ratio, but in most cases in actual environments, the target distance is long, and the signal-to-noise ratio is low, so the effect of the commonly used methods is not very ideal under the condition of low signal-to-noise ratio.
Disclosure of Invention
The invention solves the problems in the prior art and provides an optimized three-point distance measurement method based on secondary denoising time delay matching.
The technical scheme adopted by the invention is that a three-point distance measurement method based on secondary denoising time delay matching is used for constructing an array signal based on a secondary correlation function and a driving vector based on frequency and time delay, and performing time delay search in a preset mode to obtain the time delay difference between any one of three array elements and other two array elements and obtain the distance of a target.
Preferably, the preset mode is a beam forming method.
Preferably, the method comprises the steps of:
step 1: obtaining three-point array elements which are respectively a first array element, a second array element and a third array element;
step 2: constructing output signals x of a first array element and a second array element1And x2Is the autocorrelation function R of11And cross correlation function R12(ii) a Constructing output signals x of a second array element and a third array element2And x3Is the autocorrelation function R of22And cross correlation function R23；
And step 3: r is to be11And R12And R22And R23Respectively defined as new input signals, respectively decomposed into a plurality of narrow bands by Fourier transform, and respectively set a frequency domain cross-spectrum matrix R corresponding to each group of narrow bands1112(fk)、R2223(fk) (ii) a Constructing a driving vector V;
and 4, step 4: setting a reasonable time delay search vector according to the limit of the search distance and the calculation time, and respectively calculating a time delay search spectrum for each group of narrow bands; respectively aggregating the spatial spectrums of all narrow bands to obtain corresponding time delay spatial spectrums of the wide bands;
and 5: searching the spectral peak position of the time delay spectrum, and respectively determining the time delay differences of a first array element, a second array element and a third array element;
step 6: and obtaining the target distance based on the two time delay differences.
Preferably, in said step 3, R is constructed11And R12Signal vector X of12＝[R11；R12]Construction of R22And R23Signal vector X of23＝[R22；R23]；
The frequency domain cross-spectrum matrix corresponding to each group of narrow bands is R1112(fk)＝E|X11(fk)·X12 H(fk)|、R2223(fk)＝E|X22(fk)·X23 H(fk) L, wherein fkAre the frequency points within any narrow band.
Preferably, in step 3, the driving vector V ═ a (f)k,t)]，fkIs the frequency point in any narrow band, t is the array at fkNarrow-band time delay of the frequency band.
Preferably, in step 4, the time delay search spectrums corresponding to each group of narrow bands are respectively P1112(fk,t)＝a(fk,t)HR1112(fk)a(fkT) and P2223(fk,t)＝a(fk,t)HR2223(fk)a(fk,t)。
Preferably, the corresponding broadband time-delay spatial spectrum is
Figure BDA0003350333610000021
And
Figure BDA0003350333610000022
preferably, in step 5, a delay difference τ between the first array element and the second array element is determined12The time delay difference tau between the second array element and the third array element23；
In the step 6, the target distance is r,
Figure BDA0003350333610000031
wherein c is the sound velocity and d is the ternary array spacing.
The invention relates to an optimized three-point distance measurement method based on secondary denoising time delay matching.
The invention has the beneficial effects that: under the condition of low signal-to-noise ratio, the secondary correlation function can effectively inhibit noise, and the beam forming time delay estimation can greatly improve the time delay estimation precision without up-sampling, so that the ranging precision is improved.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a comparison of the delay estimation results of the present invention with conventional cross-correlation delay estimation;
fig. 3 is a comparison of the ranging results of the present invention with those of conventional cross-correlation delay estimation ranging under different signal-to-noise ratios.
Detailed Description
The present invention is described in further detail with reference to the following examples, but the scope of the present invention is not limited thereto.
The invention relates to a three-point distance measurement method based on secondary denoising time delay matching, which is characterized by constructing an array signal based on a secondary correlation function and a driving vector based on frequency and time delay, and performing time delay search in a preset mode to obtain the time delay difference between any one of three array elements and other two array elements so as to obtain the distance of a target.
The preset mode is a beam forming method.
In the invention, under the condition of low signal-to-noise ratio, the secondary correlation function can effectively inhibit noise, and the beam forming time delay estimation can greatly improve the time delay estimation precision without up-sampling, and the distance measurement precision is high.
In the present invention, in particular, the driving vector V is a function of the frequency f and the time delay t.
As shown in fig. 1, the method comprises the steps of:
step 1: obtaining three-point array elements which are respectively a first array element, a second array element and a third array element;
step 2: constructing output signals x of a first array element and a second array element1And x2Is the autocorrelation function R of11And cross correlation function R12(ii) a Constructing output signals x of a second array element and a third array element2And x3Is the autocorrelation function R of22And cross correlation function R23；
In the present invention, construct x1And x2Is the autocorrelation function R of11And cross correlation function R12、x2And x3Is the autocorrelation function R of22And cross correlation function R23The person skilled in the art can set itself as desired, as will be readily understood by the person skilled in the art.
And step 3: r is to be11And R12And R22And R23Respectively defined as new input signals, respectively decomposed into a plurality of narrow bands by Fourier transform, and respectively set a frequency domain cross-spectrum matrix R corresponding to each group of narrow bands1112(fk)、R2223(fk) (ii) a Constructing a driving vector V;
in said step 3, R is constructed11And R12Signal vector X of12＝[R11；R12]Construction of R22And R23Signal vector X of23＝[R22；R23]；
The frequency domain cross-spectrum matrix corresponding to each group of narrow bands is R1112(fk)＝E|X11(fk)·X12 H(fk)|、R2223(fk)＝E|X22(fk)·X23 H(fk) L, wherein fkAre the frequency points within any narrow band.
In the step 3, the driving vector V ═ a (f)k,t)]，fkIs the frequency point in any narrow band, t is the array at fkNarrow-band time delay of the frequency band.
In the present invention, construct X12＝[R11；R12]And X23＝[R22；R23]The person skilled in the art can set itself as desired, as will be readily understood by the person skilled in the art.
And 4, step 4: setting a reasonable time delay search vector according to the limit of the search distance and the calculation time, and respectively calculating a time delay search spectrum for each group of narrow bands; respectively aggregating the spatial spectrums of all narrow bands to obtain corresponding time delay spatial spectrums of the wide bands;
in the step 4, the time delay search spectrums corresponding to each group of narrow bands are respectively P1112(fk,t)＝a(fk,t)HR1112(fk)a(fkT) and P2223(fk,t)＝a(fk,t)HR2223(fk)a(fk,t)。
Corresponding to a broadband time delay spectrum of
Figure BDA0003350333610000041
And
Figure BDA0003350333610000042
and 5: searching the spectral peak position of the time delay spectrum, and respectively determining the time delay differences of a first array element, a second array element and a third array element;
in the step 5, the time delay difference tau between the first array element and the second array element is determined12The time delay difference tau between the second array element and the third array element23；
Step 6: and obtaining the target distance based on the two time delay differences.
In the step 6, the target distance is r,
Figure BDA0003350333610000051
wherein c is sound velocity, d is ternary array interval, and the three-point distance measurement is defaulted to be equal-interval array.
In the present invention, P is searched12And P23The position of the peak of the time delay spectrum can determine the time delay difference tau between the first array element and the second array element12And the time delay difference tau between the second array element and the third array element23And then the target distance is obtained by calculating the time delay difference.
As shown in fig. 2, the time delay estimation result in the invention is compared with the time delay estimation of the conventional cross-correlation, and it can be seen from the figure that the secondary denoising time delay matching side lobe height is obviously lower than the conventional cross-correlation, so that the time delay estimation error can be effectively reduced;
as shown in FIG. 3, comparing the ranging result of the present invention with the result of estimating the ranging by the conventional cross-correlation delay under different SNR conditions, it can be seen that the ranging error based on the second denoising delay matching is significantly smaller than the conventional cross-correlation.

Claims (8)

1. A three-point distance measurement method based on secondary denoising time delay matching is characterized in that: and constructing an array signal based on a quadratic correlation function and a driving vector based on frequency and time delay, and searching time delay in a preset mode to obtain the time delay difference between any one of the three array elements and the other two array elements and obtain the distance of the target.
2. The three-point ranging method based on secondary denoising time delay matching as claimed in claim 1, wherein: the preset mode is a beam forming method.
3. The three-point ranging method based on secondary denoising time delay matching as claimed in claim 1, wherein: the method comprises the following steps:
step 1: obtaining three-point array elements which are respectively a first array element, a second array element and a third array element;
step 2: constructing output signals x of a first array element and a second array element1And x2Is the autocorrelation function R of11And cross correlation function R12(ii) a Constructing output signals x of a second array element and a third array element2And x3Is the autocorrelation function R of22And cross correlation function R23；
And step 3: r is to be11And R12And R22And R23Respectively defined as new input signals, respectively decomposed into a plurality of narrow bands by Fourier transform, and respectively set a frequency domain cross-spectrum matrix R corresponding to each group of narrow bands1112(fk)、R2223(fk) (ii) a Constructing a driving vector V;
and 4, step 4: setting a reasonable time delay search vector according to the limit of the search distance and the calculation time, and respectively calculating a time delay search spectrum for each group of narrow bands; respectively aggregating the spatial spectrums of all narrow bands to obtain corresponding time delay spatial spectrums of the wide bands;
and 5: searching the spectral peak position of the time delay spectrum, and respectively determining the time delay differences of a first array element, a second array element and a third array element;
step 6: and obtaining the target distance based on the two time delay differences.
4. The three-point ranging method based on secondary denoising time delay matching as claimed in claim 3, wherein: in said step 3, R is constructed11And R12Signal vector X of12＝[R11；R12]Construction of R22And R23Signal vector X of23＝[R22；R23]；
Frequency domain mutual arrangement corresponding to each group of narrow bandsThe spectral matrices are respectively R1112(fk)＝E|X11(fk)·X12 H(fk)|、R2223(fk)＝E|X22(fk)·X23 H(fk) L, wherein fkAre the frequency points within any narrow band.
5. The three-point ranging method based on the quadratic de-noising delay matching according to claim 3 or 4, wherein: in the step 3, the driving vector V ═ a (f)k,t)]，fkIs the frequency point in any narrow band, t is the array at fkNarrow-band time delay of the frequency band.
6. The three-point ranging method based on secondary denoising time delay matching as claimed in claim 5, wherein: in the step 4, the time delay search spectrums corresponding to each group of narrow bands are respectively
P1112(fk,t)＝a(fk,t)HR1112(fk)a(fkT) and P2223(fk,t)＝a(fk,t)HR2223(fk)a(fk,t)。
7. The three-point ranging method based on secondary denoising time delay matching as claimed in claim 6, wherein: corresponding broadband time-delay spatial spectrum of
Figure FDA0003350333600000021
And
Figure FDA0003350333600000022
8. the three-point ranging method based on secondary denoising time delay matching as claimed in claim 3, wherein: in the step 5, the time delay difference tau between the first array element and the second array element is determined12The time delay difference tau between the second array element and the third array element23；
In the step 6, the target distance is r,
Figure FDA0003350333600000023
wherein c is the sound velocity and d is the ternary array spacing.
CN202111335281.2A 2021-11-11 2021-11-11 Three-point ranging method based on secondary denoising time delay matching Pending CN114089322A (en)

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