CN114280618A - Small-size volume array three-dimensional beam forming method based on acoustic vector hydrophone - Google Patents
Small-size volume array three-dimensional beam forming method based on acoustic vector hydrophone Download PDFInfo
- Publication number
- CN114280618A CN114280618A CN202111494099.1A CN202111494099A CN114280618A CN 114280618 A CN114280618 A CN 114280618A CN 202111494099 A CN202111494099 A CN 202111494099A CN 114280618 A CN114280618 A CN 114280618A
- Authority
- CN
- China
- Prior art keywords
- vector
- array
- order
- small
- multipole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000013598 vector Substances 0.000 title claims abstract description 88
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000005405 multipole Effects 0.000 claims abstract description 59
- 230000002194 synthesizing effect Effects 0.000 claims abstract description 8
- 239000011159 matrix material Substances 0.000 claims description 19
- 230000008859 change Effects 0.000 claims description 5
- 230000017105 transposition Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 230000007480 spreading Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000003491 array Methods 0.000 abstract description 2
- 230000015572 biosynthetic process Effects 0.000 abstract description 2
- 238000011160 research Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Images
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a small-size volume array three-dimensional beam forming method based on an acoustic vector hydrophone. The invention relates to the technical field of beam forming of small-size acoustic vector arrays, which constructs a small-size acoustic vector volume array with a vector hydrophone as a primitive and a received signal model; obtaining the spatial gradients of each order of sound pressure in different directions by using a difference method; extracting multipole modes in each order of spatial gradient; synthesizing a spherical function by utilizing a multipole mode, and extracting spherical harmonics of each order of a three-dimensional sound field; the desired three-dimensional beam is synthesized using a spherical function. The invention can obtain any desired three-dimensional wave beam by weighting the small-size acoustic vector volume array by using the weighting vector, realizes the formation of the three-dimensional wave beam, not only solves the contradiction between the very-low frequency band high three-dimensional space gain and the array aperture, but also can meet the requirement of three-dimensional space detection.
Description
Technical Field
The invention relates to the technical field of beam forming of acoustic vector arrays, in particular to a small-size volume array three-dimensional beam forming method based on an acoustic vector hydrophone.
Background
In a low-frequency and very low-frequency working section, the detection performance of an underwater sonar array is severely restricted by Rayleigh limit of the traditional sonar design. And the breakthrough of the research work of the small-size array with the array spacing far smaller than the half wavelength provides a solution for the problem. In recent years, a super-directional beam forming method based on a small-size sonar array becomes a research hotspot, and a large amount of design analysis and computer simulation show the advantages of the array. However, the existing small-size array takes a linear array and a planar array as main research objects no matter taking an acoustic hydrophone or a vector hydrophone as a basic element, and is only suitable for small glancing angle target detection and horizontal azimuth estimation of a target due to the limitation of a beam forming algorithm.
With the development of underwater exploration to deep and open sea, sound field information contained in the vertical direction is abundant, so that the three-dimensional information of the sound field needs to be fully utilized. However, so far, in the underwater acoustic field, there is still a lack of a small-size array and a beam forming algorithm thereof which work in a very low frequency band and are suitable for three-dimensional space detection, so that research on the three-dimensional beam forming algorithm of the small-size array is a problem to be solved urgently in practical engineering application at present.
Disclosure of Invention
Aiming at the problem that most small-size array beams can not be guided in a three-dimensional space at present, the invention discloses a small-size vector volume array beam forming algorithm based on a vector hydrophone, in particular to a vector volume array with the ratio of the spacing between adjacent array elements of the array to the signal wavelength being within the range that d/lambda is less than or equal to 1/6. The invention provides a three-dimensional beam forming method based on a small-size acoustic vector volume array, and the invention provides the following technical scheme:
a small-size volume array three-dimensional beam forming method based on acoustic vector hydrophones comprises the following steps:
step 1: constructing a small-size acoustic vector volume array with vector hydrophones as elements, and constructing a received signal model;
step 2: obtaining the spatial gradients of each order of sound pressure in different directions by using a difference method;
and step 3: extracting multipole modes in each order of spatial gradient;
and 4, step 4: synthesizing a spherical function by utilizing a multipole mode, and extracting spherical harmonics of each order of a three-dimensional sound field;
and 5: the desired three-dimensional beam is synthesized using a spherical function.
Preferably, the step 1 specifically comprises:
constructing a small-size volume array based on a vector hydrophone, and establishing a received signal model:
wherein θ and φ represent a pitch angle and an azimuth angle, respectively;
the operation represents the kronecker product,
elements in the left vector respectively represent array element sound pressure, x, y and z vibration velocity channel directivity, and superscript T represents transposition; a (theta, phi) is a guide vector of the array sound pressure channel,
wherein L ish＝[xh,yh,zh]Is the spatial position of the h-th array element ( h 1, 2.. M), g [ [ sin θ cos Φ, sin θ sin Φ, cos θ [ ]]TAnd is the direction cosine vector of the signal to each coordinate axis.
Preferably, the step 2 specifically comprises:
carrying out difference approximation operation on the array vibration velocity channel to obtain the vibration velocity gradient of the sound field:
wherein,
is obtained by differential approximation of mu-direction vibration velocity channel
While receiving a column vector of channel coefficients, αl,m,nIs a constant coefficient brought by l + m + n order differential approximation.
Preferably, the step 3 specifically comprises:
extracting a multipole mode which does not change along with the frequency in the spatial gradient, and determining the coefficient of each receiving channel when extracting the multipole mode of each order:
therein, Ψl,m,n＝(Dx)l(Dy)m(Dz)nIs a multi-pole mode, and the mode is,
Dx＝sinθcosφDy＝sinθsinφDzcos θ represents the directivity of x, y and z channels, respectively, and when μ ═ x, D representsμΨl,m,n＝Ψl+1,m,n，
For the same reason, mu-y, z is DμΨl,m,nExpression of (1), Fn(k)＝(ikd)nAn amplitude compensation factor that is an nth order difference;
Ψl,m,n＝rl,m,nV(θ,φ)
wherein r isl,m,nThe multi-pole mode psi is obtained by using the vibration velocity channel based on the difference approximationl,m,nIn the process, the coefficient vector of each receiving channel is written into a matrix form for all multipole modes:
HD＝RV(θ,φ)
wherein HDAll multipole modes comprising l + m + N ≦ N, R being represented by Rl,m,nThe coefficient matrix is formed by:
R＝[r0,0,0 T,r1,0,0 T,...,rl,m,n T...]T。
preferably, the step 4 specifically comprises:
expressing the spherical function by each order of multipole mode, and determining the coefficient of the spherical function corresponding to the multipole mode
Wherein,
is composed of multiple pole modes HDTo represent
Then, the vector formed by the multi-pole mode coefficients of each order is the spherical function with the order N less than or equal to N
Expressed in a multipole mode and written in matrix form:
bY(θ,φ)＝EHD
wherein,
is a spherical function of each order consisting of N less than or equal to N and m less than or equal to N
Formed (N +1)2 X 1 column vector, E is a coefficient matrix formed by coefficients of the spherical functions of each order obtained from the multipole mode, and is represented as:
preferably, the step 5 specifically comprises:
spreading the desired beam with the spherical function as the basis function to obtain the coefficient of each order of spherical function
According to the relation between the beam pattern and the beam former, the weighting coefficient vector of each receiving channel of the array when synthesizing the expected beam pattern is obtained
BN(θ,φ)＝wH(θs,φs)V(θ,φ)＝gHERV(θ,φ)
The obtained weighting coefficient vector satisfies:
wH(θs,φs)＝gHER
the small-size vector volume array is weighted by the weighting vector to form a steerable beam pattern in a three-dimensional space.
The invention has the following beneficial effects:
the invention can form a beam pattern which can be guided in a three-dimensional space by weighting the small-size vector volume array by using the weighting vector, and solves the problem that the existing small-size array beam can not be guided in the three-dimensional space. The invention has the advantages that the invention provides the method for forming the three-dimensional wave beam of the very-low frequency band small-size acoustic vector array, which not only solves the contradiction between the acquisition of the very-low frequency band high space gain and the aperture of the array, but also can meet the requirement of three-dimensional space detection. The invention relates the multipole mode and the spherical function, and realizes the array beam forming under small aperture by synthesizing the spherical function with theta and phi as variables through the multipole mode. According to the orthogonal completeness of the spherical functions in the three-dimensional space, the spherical functions of all orders are utilized to synthesize an expected three-dimensional beam which can be guided in the pitch angle and the azimuth angle, so that the beam forming algorithm can meet the requirement of three-dimensional space detection. The invention utilizes the directivity of the vector hydrophone to extract the multipole modes of each order shown in the step (5) and the spherical harmonics of each order shown in the step (6). Therefore, compared with a common sound field spherical harmonic wave decomposition beam forming method for a spherical array, under the conditions of the same size and the same array element number, the method can extract the spherical harmonic waves with higher orders to obtain higher array gain and narrower beams.
Drawings
FIG. 1 is a schematic diagram of a small size vector array architecture;
FIG. 2 is a diagram of a second order differential approximate velocity gradient;
FIG. 3 is an inventive content flow block diagram;
FIG. 4 is a 3-order beam pattern of a small-size vector array;
FIG. 5 is a variation of the 3-order beam pattern of the small-sized vector array with d/λ, and FIG. 5- (a) is an azimuth beam pattern; fig. 5- (b) pitch beam pattern;
FIG. 6 shows the gain of small-sized vector array varying with d/lambda at different modal orders, FIG. 6- (a) the gain of the array, and FIG. 6- (b) the gain of white noise
Detailed Description
The present invention will be described in detail with reference to specific examples.
The first embodiment is as follows:
a small-size volume array three-dimensional beam forming method based on acoustic vector hydrophones comprises the following steps:
step 1: constructing a small-size acoustic vector volume array with vector hydrophones as elements, and constructing a received signal model;
the step 1 specifically comprises the following steps:
constructing a small-size volume array based on a vector hydrophone, and establishing a received signal model:
wherein θ and φ represent a pitch angle and an azimuth angle, respectively;
the operation represents the kronecker product,
elements in the left vector respectively represent array element sound pressure, x, y and z vibration velocity channel directivity, and superscript T represents transposition; a (theta, phi) is an arrayThe guide vector of the sound pressure channel is,
wherein L ish＝[xh,yh,zh]Is the spatial position of the h-th array element ( h 1, 2.. M), g [ [ sin θ cos Φ, sin θ sin Φ, cos θ [ ]]TAnd is the direction cosine vector of the signal to each coordinate axis.
Step 2: obtaining a high-order vibration velocity gradient by using a difference method;
the step 2 specifically comprises the following steps:
carrying out difference approximation operation on the array vibration velocity channel to obtain a high-order vibration velocity gradient of the sound field:
wherein p is0Is the acoustic pressure response of the reference array element,
is approximated by the difference of mu-directional vibration velocity channels
While receiving a column vector of channel coefficients, αl,m,nIs a constant coefficient brought by l + m + n order differential approximation.
And step 3: extracting multipole modes in each order of vibration velocity gradient;
the step 3 specifically comprises the following steps:
extracting a multipole mode which does not change along with the frequency in the vibration velocity gradient, and determining the coefficient of each receiving channel when extracting the multipole mode of each order:
therein, Ψl,m,n＝(Dx)l(Dy)m(Dz)nIs a multi-pole mode, and the mode is,
Dx＝sinθcosφDy＝sinθsinφDzcos θ represents the directivity of x, y and z channels, respectively, and when μ ═ x, D representsμΨl,m,n＝Ψl+1,m,n，
For the same reason, mu-y, z is DμΨl,m,nExpression of (1), Fn(k)＝(ikd)nAn amplitude compensation factor that is an nth order difference;
Ψl,m,n＝rl,m,nV(θ,φ)
wherein r isl,m,nThe multi-pole mode psi is obtained by using the vibration velocity channel based on the difference approximationl,m,nIn the process, the coefficient vector of each receiving channel is written into a matrix form for all multipole modes:
HD＝RV(θ,φ)
wherein HDAll multipole modes comprising l + m + N ≦ N, R is represented by Rl,m,nThe coefficient matrix is formed by:
R＝[r0,0,0 T,r1,0,0 T,...,rl,m,n T...]T。
and 4, step 4: synthesizing a spherical function by utilizing a multipole mode, and extracting spherical harmonics of each order of a three-dimensional sound field;
the step 4 specifically comprises the following steps:
expressing the spherical function by each order of multipole mode, and determining the coefficient of the spherical function corresponding to the multipole mode
Wherein,
is composed of multiple pole modes HDTo represent
Then, the vector formed by the multi-pole mode coefficients of each order is the spherical function with the order N less than or equal to N
Expressed in a multipole mode and written in matrix form:
bY(θ,φ)＝EHD
wherein,
is a spherical function of each order consisting of N less than or equal to N and m less than or equal to N
Formed (N +1)2 X 1 column vector, E is a coefficient matrix formed by coefficients of the spherical functions of each order obtained from the multipole mode, and is represented as:
and 5: the desired three-dimensional beam can be steered in three-dimensional space using spherical function synthesis.
The step 5 specifically comprises the following steps:
spreading the desired beam pattern by using the spherical function as the basis function to obtain the coefficient of each order of spherical function
According to the relation between the beam pattern and the beam former, the weighting coefficient vector of each receiving channel of the array when synthesizing the expected beam pattern is obtained
BN(θ,φ)＝wH(θs,φs)V(θ,φ)＝gHERV(θ,φ)
The obtained weighting coefficient vector satisfies:
wH(θs,φs)＝gHER
the small-size vector volume array is weighted by the weighting vector to form a steerable beam pattern in a three-dimensional space.
The second embodiment is as follows:
take the small size vector array shown in fig. 1 as an example. The small-size array comprises array elements No. 1 to No. 11, which form a volume array, the array center is 5 array elements which are also reference array elements, and the reference sound pressure responds to p0＝p5And the distance between any two array elements adjacent along the coordinate axis is d and satisfies kd & lt 1.
According to the illustration in fig. 3, the matrix is placed in a water area with relatively good free field conditions, and is suspended to a deeper depth, and simultaneously, the sound source is placed in the water, and the distance r from the sound source to the center of the matrix meets the acoustic far field conditions. The adjusting signal generator generates a CW pulse signal to obtain a receiving signal of the array.
The steering vector form for the received signal is obtained as:
the superscript T denotes transposition, and a (θ, φ) is the steering vector of the array sound pressure channel, expressed as:
wherein L ish＝[xh,yh,zh]Is the spatial position of the h-th array element ( h 1,2, 11), g ═ sin θ cos Φ, sin θ sin Φ, cos θ]TThe direction cosine vector of the signal to each coordinate axis takes the No. 5 array element positioned at the center of the array as a reference array element.
According to the multipole principle, an approximate vibration velocity gradient is obtained:
for detailed description
Middle element and how to determine alphal,m,nThe description will be made with reference to an 11-element vector volume array shown in fig. 1. Taking all the 2 nd order vibration velocity gradients in x, y and z directions as an example (namely all the 3 rd order sound pressure gradients in x, y and z directions), the array elements used and the coefficients thereof are given, and the specific situation is shown in fig. 2. In fig. 2, red, blue and green indicate that the channel used for the difference is the x, y and z channels of the array element, respectively, and white indicates that the array element is not used in the difference; if the coefficient of the receiving channel is positive number, the frame of the array element is a solid line, and if the coefficient of the receiving channel is negative number, the frame is a broken line. When the upper left corner of all the used array elements is marked with difference, the coefficient of the array element channel is marked, namely
The value of the middle element is 0 for simplicity, and all receiving channel coefficients of the unused white array elements are not labeled in the figure. The number marked with '#' below the array element represents the number of the array element.
Obtaining multipole modes from the spatial gradient:
Fn(k)＝(ikd)nif μ ═ x, then DμΨl,m,n＝Ψl+1,m,nFor the same reason, mu-y, z is DμΨl,m,nIs described in (1).
Ψl,m,n＝rl,m,nV(θ,φ)
rl,m,nIs based on differential approximation to obtain the multipole mode psil,m,nThe coefficient vectors of the respective receiving channels, as in fig. 2
For example, the following steps are carried out:
In the formula 0m,nRepresents a full 0 matrix of m rows and n columns, because
Only the y-velocity channel is used for differential approximation, so that the coefficients of the remaining channels are all 0 at this time. For all multipole modes, the matrix form can be written:
HD＝RV(θ,φ)
wherein HDIs all multipole modes containing l + m + N ≦ N, for ease of understanding, H will be referred toDThe medium multipole modes are arranged from small to large according to the value of l + m + n, and for the multipole modes with the same l + m + n, the multipole modes are arranged according to the priority l > m > n, namely, a larger item l is arranged in front preferentially, a smaller item l is arranged behind preferentially, and m and n are analogized in sequence. If N is 2, then HDAll multipole modes with l + m + n ≦ 2 are included:
HD＝[Ψ0,0,0,Ψ1,0,0,Ψ0,1,0,Ψ0,0,1,Ψ2,0,0,Ψ1,1,0,Ψ1,0,1,Ψ0,2,0,Ψ0,1,1,Ψ0,0,2]T
at this time HDThe multipole modes in (1) are arranged according to the rule, and when N takes a larger value, H can be obtained according to the relation between the vibration velocity gradient and the multipole modesDR is from Rl,m,nThe coefficient matrix is formed by:
R＝[r0,0,0 T,r1,0,0 T,...,rl,m,n T...]T
the spherical function is represented by a multipole mode:
wherein,
is composed of multiple pole modes HDTo represent
A vector formed by multi-pole mode coefficients of each order, and
for example, the following steps are carried out:
all spherical functions with order N less than or equal to N
Expressed in a multipole mode and written in a matrix form
bY(θ,φ)＝EHD
Wherein
Is a spherical function of each order consisting of N less than or equal to N and m less than or equal to N
Formed (N +1)2 X 1 column vector, E is a coefficient matrix formed by coefficients of the spherical functions of each order obtained by the multipole mode, and can be expressed as:
expanding the desired beam pattern series by taking the spherical function as a basic function:
according to the relation between the beam pattern and the beam former, obtaining a weighting vector of the beam former:
BN(θ,φ)＝wH(θs,φs)V(θ,φ)＝gHERV(θ,φ)
the weight vector for the beamformer is found to be:
wH(θs,φs)＝gHER
the small-size vector volume array is weighted by the weighting vector to form a beam pattern which can be guided in a three-dimensional space, and a reliable and effective method is provided for solving the contradiction between the gain of the very-low frequency band high three-dimensional space and the aperture of the array.
First, the steerability of the method of the present invention in three-dimensional space is verified, and in the case of d λ 120, the beam is pointed (45 ° ), and as a result, as shown in fig. 4, it can be pointed exactly in the desired direction with a small size.
Next, the range of use is verified, taking the highest order spherical harmonic N ═ 3 that can be extracted by the array as an example, the desired pointing angle is (90 °,180 °), the beam pattern is analyzed as a function of d/λ in the azimuth and elevation angles, respectively, and in fig. 5- (a) and (b), the curves marked with black "x" are the section views of the desired beam pattern in the azimuth and elevation angles, respectively. As can be seen from FIGS. 5- (a) and (b), in the case that d λ ≦ 16, the main lobe width of the beam pattern remains substantially unchanged, the side lobe gradually increases, but the error from the ideal beam pattern is smaller, and as d/λ continues to increase, the error introduced by the differential approximation increases, the distortion of the beam pattern is serious, and the performance of the beam forming algorithm is reduced.
Finally, the gain and the robustness of the invention are verified, and under the condition that the array shown in fig. 1 is used for respectively extracting 1-3 order spherical harmonics to carry out beam forming, the change trend of the array gain along with d/lambda is shown in fig. 6- (a), wherein a black dotted line is the theoretical array gain of a corresponding order, and a red solid line represents the change of the simulated array gain along with d/lambda. From simulation results, the small-size vector volume array and the beam forming algorithm thereof built herein have higher array gain, for example, N is 3, d λ is 120, at this time, the array gain can reach 12dB, and under the condition that d/λ is less than or equal to 16, the array gain is basically overlapped with the corresponding dotted line and remains unchanged, which means that the algorithm can obtain high gain in a wider low-frequency band. However, as can be seen from fig. 6- (b), as the frequency decreases, WNG will decrease rapidly, and the array will be more sensitive to the amplitude-phase error and self-noise of the primitive, and the robustness of the whole system will be worse. Meanwhile, the comparison of the array gain and the white noise gain under the condition of different orders N is known as follows: along with the increase of the maximum spherical harmonic order N, the array gain gradually increases, and the white noise gain gradually decreases.
The above description is only a preferred embodiment of the three-dimensional beam forming method based on the small-size volume array of the acoustic vector hydrophone, and the protection range of the three-dimensional beam forming method based on the small-size acoustic vector volume array is not limited to the above embodiments, and all technical solutions belonging to the idea belong to the protection range of the present invention. It should be noted that modifications and variations which do not depart from the gist of the invention will be those skilled in the art to which the invention pertains and which are intended to be within the scope of the invention.
Claims (6)
1. A small-size volume array three-dimensional beam forming method based on acoustic vector hydrophones is characterized by comprising the following steps: the method comprises the following steps:
step 1: constructing a small-size acoustic vector volume array with vector hydrophones as elements, and constructing a received signal model;
step 2: obtaining the spatial gradients of each order of sound pressure in different directions by using a difference method;
and step 3: extracting multipole modes in each order of spatial gradient;
and 4, step 4: synthesizing a spherical function by utilizing a multipole mode, and extracting spherical harmonics of each order of a three-dimensional sound field;
and 5: the desired three-dimensional beam is synthesized using a spherical function.
2. The small-size volume array three-dimensional beam forming method based on the acoustic vector hydrophone, as recited in claim 1, wherein: the step 1 specifically comprises the following steps:
constructing a small-size volume array based on a vector hydrophone, and establishing a received signal model:
wherein θ and φ represent a pitch angle and an azimuth angle, respectively;
the operation represents the kronecker product,
elements in the left vector respectively represent array element sound pressure, x, y and z vibration velocity channel directivity, and superscript T represents transposition; a (theta, phi) is a guide vector of the array sound pressure channel,
wherein L ish＝[xh,yh,zh]Is the spatial position of the h-th array element (h 1, 2.. M), g [ [ sin θ cos Φ, sin θ sin Φ, cos θ [ ]]TAnd is the direction cosine vector of the signal to each coordinate axis.
3. The method for forming the three-dimensional beam of the small-size volume array based on the acoustic vector hydrophone as claimed in claim 2, wherein the method comprises the following steps: the step 2 specifically comprises the following steps:
carrying out difference approximation operation on the array vibration velocity channel to obtain a high-order vibration velocity gradient of the sound field:
wherein,
is obtained by differential approximation of mu-direction vibration velocity channel
While receiving a column vector of channel coefficients, αl,m,nIs a constant coefficient brought by l + m + n order differential approximation.
4. The method for forming the three-dimensional beam of the small-size volume array based on the acoustic vector hydrophone as claimed in claim 3, wherein the method comprises the following steps: the step 3 specifically comprises the following steps:
extracting a multipole mode which does not change along with the frequency in the vibration velocity gradient, and determining the coefficient of each receiving channel when extracting the multipole mode of each order:
therein, Ψl,m,n＝(Dx)l(Dy)m(Dz)nIs a multipole mode, Dx＝sinθcosφDy＝sinθsinφDzCos θ represents the directivity of x, y and z channels, respectively, and when μ ═ x, D representsμΨl,m,n＝Ψl+1,m,n，
For the same reason, mu-y, z is DμΨl,m,nExpression of (1), Fn(k)＝(ikd)nAn amplitude compensation factor that is an nth order difference;
Ψl,m,n＝rl,m,nV(θ,φ)
wherein r isl,m,nThe multi-pole mode psi is obtained by using the vibration velocity channel based on the difference approximationl,m,nIn the process, the coefficient vector of each receiving channel is written into a matrix form for all multipole modes:
HD＝RV(θ,φ)
wherein HDAll multipole modes comprising l + m + N ≦ N, R being represented by Rl,m,nThe coefficient matrix is formed by:
R＝[r0,0,0 T,r1,0,0 T,...,rl,m,n T...]T。
5. the method for forming the three-dimensional beam of the small-size volume array based on the acoustic vector hydrophone as claimed in claim 4, wherein the method comprises the following steps: the step 4 specifically comprises the following steps:
expressing the spherical function by each order of multipole mode, and determining the coefficient of the spherical function corresponding to the multipole mode
Wherein,
is composed of multiple pole modes HDTo represent
Then, the vector formed by the multi-pole mode coefficients of each order is the spherical function with the order N less than or equal to N
Expressed in a multipole mode and written in matrix form:
bY(θ,φ)＝EHD
wherein,
is a spherical function of each order consisting of N less than or equal to N and m less than or equal to N
Formed (N +1)2X 1 column vector, E is a coefficient matrix formed by coefficients of the spherical functions of each order obtained from the multipole mode, and is represented as:
6. the method for forming the three-dimensional beam of the small-size volume array based on the acoustic vector hydrophone as claimed in claim 5, wherein the method comprises the following steps: the step 5 specifically comprises the following steps:
spreading the desired beam with the spherical function as the basis function to obtain the coefficient of each order of spherical function
According to the relation between the beam pattern and the beam former, the weighting coefficient vector of each receiving channel of the array when synthesizing the expected beam pattern is obtained
BN(θ,φ)＝wH(θs,φs)V(θ,φ)＝gHERV(θ,φ)
The obtained weighting coefficient vector satisfies:
wH(θs,φs)＝gHER
and carrying out weighting processing on the small-size vector volume array by using the weighting vector to obtain any desired three-dimensional beam, thereby realizing three-dimensional beam forming.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111494099.1A CN114280618A (en) | 2021-12-08 | 2021-12-08 | Small-size volume array three-dimensional beam forming method based on acoustic vector hydrophone |
| ZA2022/13200A ZA202213200B (en) | 2021-12-08 | 2022-12-06 | Three-dimensional beamforming method of a miniaturized volume array based on acoustic vector hydrophone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111494099.1A CN114280618A (en) | 2021-12-08 | 2021-12-08 | Small-size volume array three-dimensional beam forming method based on acoustic vector hydrophone |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114280618A true CN114280618A (en) | 2022-04-05 |
Family
ID=80871338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111494099.1A Pending CN114280618A (en) | 2021-12-08 | 2021-12-08 | Small-size volume array three-dimensional beam forming method based on acoustic vector hydrophone |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114280618A (en) |
| ZA (1) | ZA202213200B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107037418A (en) * | 2016-11-02 | 2017-08-11 | 哈尔滨工程大学 | A kind of bounded space bearing calibration of the super directive property multipole vector array of low frequency |
| WO2021040667A1 (en) * | 2019-08-28 | 2021-03-04 | Orta Dogu Teknik Universitesi | Spherically steerable vector differential microphone arrays |
-
2021
- 2021-12-08 CN CN202111494099.1A patent/CN114280618A/en active Pending
-
2022
- 2022-12-06 ZA ZA2022/13200A patent/ZA202213200B/en unknown
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107037418A (en) * | 2016-11-02 | 2017-08-11 | 哈尔滨工程大学 | A kind of bounded space bearing calibration of the super directive property multipole vector array of low frequency |
| WO2021040667A1 (en) * | 2019-08-28 | 2021-03-04 | Orta Dogu Teknik Universitesi | Spherically steerable vector differential microphone arrays |
Non-Patent Citations (4)
| Title |
|---|
| 徐文皙;聂在平;: "基于谱域球谐展开的多层快速多极子算法", 成都理工大学学报(自然科学版), no. 06, 15 December 2007 (2007-12-15) * |
| 郭亮: "声辐射模态和球谐波函数在球源声场重建中的比较", 声学学报, vol. 41, no. 2, 31 March 2016 (2016-03-31), pages 1 - 9 * |
| 郭俊媛: "小尺寸矢量阵低频校准方法研究", 中国博士学位论文全文数据库 工程科技Ⅱ辑, 15 January 2019 (2019-01-15), pages 11 - 18 * |
| 郭俊媛;杨士莪;朴胜春;莫亚枭;: "基于超指向性多极子矢量阵的水下低频声源方位估计方法研究", 物理学报, no. 13, 30 May 2016 (2016-05-30) * |
Also Published As
| Publication number | Publication date |
|---|---|
| ZA202213200B (en) | 2023-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103438987B (en) | Based on the ship-radiated noise source resolving method of super directive property small-bore cylindrical array | |
| WO2000020893A3 (en) | System and method for measuring wave directional spectrum and wave height | |
| CN106483503B (en) | The quick Deconvolution Method of medicine ball array three-dimensional identification of sound source | |
| CN109725285B (en) | DOA estimation method based on MVDR covariance matrix element self-adaptive phase angle conversion | |
| CN103454616B (en) | A kind of direction estimation method of cross vibration velocity gradient nautical receiving set | |
| CN107703478B (en) | Extended aperture two-dimensional DOA estimation method based on cross-correlation matrix | |
| CN107966677A (en) | A kind of circle battle array mode domain direction estimation method based on space sparse constraint | |
| CN110133580B (en) | Stochastic resonance enhanced acoustic vector signal orientation method | |
| CN103308904A (en) | Three-dimensional camera shooting sonar system transducer array sparse optimization method considering near-field and far-field performance | |
| Han et al. | A real-time 3-D underwater acoustical imaging system | |
| CN112162266A (en) | Conformal array two-dimensional beam optimization method based on convex optimization theory | |
| CN104656073A (en) | Three-dimensional imaging sonar wave beam forming method and implementation method on multi-core processor | |
| CN110736976B (en) | Method for estimating performance of sonar beam former of any array | |
| CN110501669B (en) | Central symmetry acoustic vector circular array fast space spectrum compression super-resolution direction estimation method | |
| CN110320492B (en) | Low-complexity DOA estimation method based on symmetric characteristics of steering vectors | |
| Liu et al. | A low-complexity real-time 3-D sonar imaging system with a cross array | |
| CN114280618A (en) | Small-size volume array three-dimensional beam forming method based on acoustic vector hydrophone | |
| Zou et al. | Vector hydrophone array development and its associated DOA estimation algorithms | |
| CN109870671A (en) | A kind of high-resolution efficient DOA algorithm for estimating of robustness | |
| CN109375197B (en) | Small-size vector array low-frequency scattering correction method | |
| CN111381212A (en) | Virtual ultrashort baseline positioning method based on subarray division | |
| Zhang et al. | DOA estimation method for underwater acoustic signals based on two-dimensional power distribution (TPD) for few element array | |
| CN113820654B (en) | S-band radar target low elevation DOA estimation method based on beam domain dimension reduction | |
| CN115436873A (en) | Aperture expanding method, system, computer and storage medium based on array manifold vector mapping | |
| CN114676606A (en) | Small-size planar array three-dimensional beam forming method, equipment and medium based on acoustic vector hydrophone |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |