CN115085838A - Underwater acoustic detection and communication integrated waveform verification method based on virtual transmitting array - Google Patents
Underwater acoustic detection and communication integrated waveform verification method based on virtual transmitting array Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/391—Modelling the propagation channel
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/28—Processing seismic data, e.g. analysis, for interpretation, for correction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/28—Processing seismic data, e.g. analysis, for interpretation, for correction
- G01V1/30—Analysis
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
Abstract
The invention provides an underwater acoustic detection communication integrated waveform verification method based on a virtual transmitting array, and belongs to the field of sonar signal processing. The invention utilizes a single transducer to transmit signals in multiple points and synthesize the signals at the receiving end to construct a virtual transmitting array, provides a solution for the problem that the detection and communication integrated technical scheme is not easy to be verified by the existing underwater sound signal transmitting equipment, and enhances the popularization and application of the detection and communication integrated technology in the field of underwater sound engineering. The experimental result verifies the effectiveness and feasibility of the invention.
Description
Technical Field
The invention relates to an underwater sound virtual transmitting array technology, in particular to an underwater sound detection and communication integrated waveform verification method based on a virtual transmitting array, and belongs to the field of sonar signal processing.
Background
The active sonar needs to have communication capacity while executing a detection task, and a detection and communication integration technology integrating the active sonar and the active sonar is an important research direction in the technical field of underwater acoustic information.
In the application requirement of integrated detection and communication, it is generally desirable to concentrate the energy of sound waves in a certain specific direction to achieve the purpose of remote detection with higher efficiency, and meanwhile, to reduce the probability of interception of communication information, it is desirable to directionally transmit the information to a receiving end to realize covert transmission of the communication information. By using a plurality of transmitting array elements to form an array, a narrower transmitting beam can be formed in a predetermined direction, so that the above-mentioned object can be achieved by the transmitting array.
The related documents are consulted to find that in the field of electromagnetic wave radars with similar requirements, a method for designing a detection and communication integrated waveform based on a transmitting array is researched:
wu W H, Cao Y H, Wang S H, et al, MIMO wave form designed combined with a communication system of radio and communication [ J ]. Signal Processing,2019,170:107443 (hereinafter referred to as document 1)
Disclosure of Invention
The invention aims to provide a virtual transmitting array-based underwater acoustic detection and communication integrated waveform verification method, which can be used for constructing a virtual transmitting array by utilizing multipoint transmission of a single transmitting transducer and joint receiving processing and providing a verification method for a detection and communication integrated preformation beam and information embedding scheme.
The invention has the following implementation steps:
(1) determining ideal sonar transmitting array parameters and integrated waveform parameters to be simulated according to performance indexes of detection and communication integration: taking uniform linear array as an example, according to the technical scheme of the integration of detection and communication, under the condition of meeting the first standard of Nyquist in communication, the detection gain G (unit: dB) and the number M of transmitting array elements t The relationship between is
G＝10lg[M t (1+α)]
According to the detection gain index required by the system, selecting a proper cosine roll-off coefficient alpha and a proper transmitting array element number M t (ii) a Further, according to the communication rate index R required by the system b (unit: bps), a set of (Q) mutually orthogonal subcarriers u is selected q (t),q＝1,2,…,Q(Q≤M t ) And the modulation order M of the information symbol, determining the signal bandwidth B
Thereby determining the integrated signal pulse length T p
T p ＝(1+α)/B
Integral signal center frequency f 0 The corresponding wavelength is lambda and the distance between array elements of the ideal transmitting array is lambda within the transmitting frequency band of the transmitting transducer
(2) According to the application scene, the detection direction theta is preset t And a communication direction theta c Calculating corresponding transmitting guide vector a according to the interference rule of far-field sound propagation and the geometric relation between the receiving end and the transmitting array t (θ t ) And a t (θ c ) And calculates corresponding ones according to the typical integrated waveform generation scheme provided in document 1The transmit beamforming weight coefficient matrix C, C is obtained by solving a convex optimization problem
s.t.F(CA ml )＝1
Ca t (θ c )＝Γ
Where F (-) denotes the summation over the elements of the matrix,
is a vector of the information symbols that is preset,
information symbol representing the q-th subcarrier mounting, a ═ a t (θ 1 ),a t (θ 2 ),…,a t (θ N )]Is a matrix formed by transmitting guide vectors corresponding to N directions in a certain area, A ml Indicating the region of the main lobe of detection, A sl Indicating the division of the main lobe and the direction of communication theta c Other areas than the above;
(3) applying the transmit beamforming weight coefficient matrix C to each array element to generate a transmit signal s corresponding to each array element i (t),i＝1,2,……,M t Form a vector of transmitted signals
Wherein
Is the q-th row of the matrix C, representing the q-th subcarrier u q (t) the corresponding transmit beamforming weight vector is used for performing transmit beamforming processing on the subcarrier, and then consistent synchronous signals and guard intervals are added in front of each generated path of signals so as to facilitate the receiving end to synchronously extract each segment of signals;
(4) in turn, theMoving the transmitting transducer to the corresponding position of each ideal array element to transmit corresponding signals, wherein the corresponding signals serve as a preamble for constructing a virtual transmitting array: according to the geometric parameters of the ideal transmitting array, a rigid fixing frame structure which is used for fixing the transducer and is easy to change the position is manufactured, the transducer is arranged on the position, corresponding to the ideal array element 1, of the fixing frame, and the transmitting signal s corresponding to the transmitting array element 1 is transmitted after the transducer is integrally arranged at the position required by experimental verification 1 (t) collecting corresponding received signals at a receiving end; then the transmitting transducer is moved to the position of the ideal array element 2 by the distance d, and the transmitting signal s corresponding to the array element 2 is transmitted 2 (t) collecting … … at the receiving end to continue transmitting corresponding signals at other transmitting points, and collecting each segment of signals at the receiving end in sequence;
(5) synthesizing each section of received signals according to a far-field sound propagation interference rule to serve as a subsequent sequence for constructing a virtual transmitting array, thereby completely forming the virtual transmitting array: at a receiving end, synchronizing, separating and extracting the collected multi-section signals from different emission points and aligning time windows to obtain a signal r which is emitted by the transducer at each emission point and is propagated to a far field in a detection direction t_i (t),i＝1,2,…,M t And a signal r propagating to the far field in the communication direction c_i (t),i＝1,2,…,M t Then, a vector r formed by all the signal segments in the detection direction is formed t (t) and its emission guide vector a t (θ t ) Inner product is carried out, and the obtained synthetic signal is equivalent to a total signal formed by the signals simultaneously transmitted by all the transmitting points in the far field coherence of the detection direction
The total signal obtained by sequentially transmitting by each transmitting point and synthesizing at the receiving end is equivalent to the signal sent by a real transmitting array in effect, the whole process is called as the realization of a virtual transmitting array, and similarly, a vector r formed by each section of signals in the communication direction is used c (t) and its emission guide vector a t (θ c ) Performing inner product to obtain a synthetic signal, i.e. virtual array in communicationTotal emission signal formed by directional far field
(6) And carrying out detection and communication performance verification analysis on the integrated waveform obtained through the steps.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a verification method for a detection and communication integrated pre-formed wave beam and information embedding scheme by utilizing multi-point transmission and combined receiving processing of a single transmitting transducer, solves the problem that the detection and communication integrated technical scheme based on a transmitting array is not easy to verify through the existing underwater acoustic signal transmitting equipment, and has the advantages that the technical scheme can synthesize expected signals in a far field preset direction and obtain error-free data in a communication direction.
Drawings
FIG. 1 is a diagram of an application scenario of a detection and communication integration technology;
FIG. 2 is a general flow diagram of a method implementation;
FIG. 3 is a diagram of a transmission waveform generation scheme for each array element;
FIG. 4 is a data stream transmission scheme for an information embedding scheme
FIG. 5 is a flowchart of integrated waveform generation;
FIG. 6 is a diagram of a transmitted signal structure required for an experiment;
FIG. 7 is a schematic diagram of a process for constructing a virtual transmit array using a single transducer;
FIG. 8 is a schematic view of a rigid mount for free adjustment of the position of the transducer;
FIG. 9 is a simulation diagram of an ideal array transmit beam;
FIG. 10 is a simulation of a communication bit error rate curve;
FIG. 11 is a view of a layout scene of the experimental facility;
fig. 12 shows the total emission waveform of the virtual array in the probing direction and the communication direction in the experiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The invention provides a virtual transmit array-based underwater acoustic detection communication integrated waveform verification method, a detection communication integrated scene is oriented as shown in figure 1, a wet end of an integrated system is a uniform linear array, target detection is carried out by using a main lobe of a transmit beam of the integrated system in a pre-beam forming mode, and meanwhile, a beam side lobe is used for sending communication information to a user in a specified direction. The idea of the invention is to utilize a single transmitting transducer to transmit the transmitting signals corresponding to each array element in an ideal transmitting array for multiple times in a point division manner, and synthesize the acquired signals at a receiving end to simulate the transmitting effect of a real transmitting array so as to get rid of the constraint of insufficient equipment conditions on the verification of the integrated waveform performance: the method comprises the steps of utilizing a transmitting transducer to be respectively placed at the same position corresponding to each array element in an ideal transmitting array, sequentially transmitting signals corresponding to each array element, sequentially collecting the signals at a receiving end at a far field after the signals are transmitted in an underwater acoustic environment, synchronizing, extracting and separating the signals, calculating the due phase difference between each section of received signals according to the acoustic transmission interference rule of the far field and the geometric relationship between the receiving end and each transmitting point, compensating the phase difference between each section of signals, synthesizing the transmitting signals corresponding to the transmitting array formed in the far field, and analyzing the integrated waveform detection performance and the communication performance. The total signal obtained by sequentially transmitting by each transmitting point and synthesizing at the receiving end is effectively equal to the signal transmitted by a real transmitting array, which is called as the implementation of a virtual transmitting array, and the method implementation general flow is shown in fig. 2.
Determining ideal sonar transmitting array parameters and integrated waves to be simulated according to performance indexes of detection and communication integrationShape parameters: taking uniform linear array as an example, according to the technical scheme of integrated detection and communication, in order to meet the first criterion of Nyquist, a cosine roll-off filter with a roll-off coefficient of alpha is selected to perform pulse shaping on baseband signals, and Q sub-carriers u orthogonal to each other in the same frequency band are selected q (t),q＝1,2,…,Q(Q≤M t ) And information symbol modulation order M, theoretical communication rate
Available signal bandwidth of
The system detection gain (unit: dB) is the sum of the beam directivity gain and the related processing gain
G≈10lgM t +10lgBT p
Therefore, the detection gain G and the number M of the transmitting array elements t The relationship between is
G＝10lg[M t (1+α)]
Selecting proper cosine roll-off coefficient alpha and transmitting array element number M according to the detection gain index required by the system t (ii) a Further, according to the communication rate index R required by the system b (unit: bps), Q subcarriers u orthogonal to each other in the same frequency band are selected q (t),q＝1,2,…,Q(Q≤M t ) And modulation order M, determining signal bandwidth B
Thereby determining the integrated signal pulse length T p
T p ＝(1+α)/B
Integral signal center frequency f 0 The corresponding wavelength is lambda and the distance between array elements of the ideal transmitting array is lambda within the transmitting frequency band of the transmitting transducer
Because of half-wavelength arrangement, the transmission guide vector of the ideal transmission array in the theta direction
Let s m (t),m＝1,2,…,M t For the transmission signal of the m-th array element, document 1 provides a typical integrated waveform generation scheme based on a transmission array, as shown in fig. 3, a plurality of mutually orthogonal subcarriers are respectively multiplied by preset weighting coefficients, and the sum is formed into the transmission signal of each array element. Orthogonal sub-carrier u q (t),q＝1,2,…,Q(Q≤M t ) Satisfy the zero delay orthogonality condition
Thus, the vector formed by the signals transmitted by each array element can be written
Wherein
Representing the q-th orthogonal sub-carrier u q (t) corresponding transmit beamforming weight vectors for performing transmit beamforming processing on the subcarriers to embed communication information while forming a predetermined beam pattern, c qm Then the transmit beamforming weight coefficients are allocated to the mth transmit array element under the subcarrier, and the transmit beamforming weight vectors of all the subcarriers jointly form a transmit beamforming weight coefficient matrix C
For an ideal transmit array, its communication direction θ c Upper far field formed transmission signal x (theta) c And t) can be represented as
It can be seen that the form of the transmitted signal is each subcarrier u q (t) superposition by multiplication with a corresponding coefficient, where the coefficient for the q-th subcarrier is
Only the beam forming weight vector c of each subcarrier needs to be designed q I.e. at theta c The directions result in different forms of transmitted signals, whereby the embedding of the communication information within a sonar burst can be represented by the following constraints
Ca t (θ c )＝Γ
Wherein the content of the first and second substances,
is a vector of the information symbols that is preset,
and (3) information symbols carried on the q-th orthogonal sub-carrier. The information symbol vector Γ is designed by the following process: the data stream to be transmitted is segmented according to K bits, each K bits information is mapped into an information symbol corresponding to the K bits information in the constellation dictionary according to a preset constellation dictionary, and each information symbol is allocated to a subcarrier, so that each sonar pulse can transmit information of Q groups of the K bits, and the data stream transmission mode of the information embedding method is shown in fig. 4.
Let A be [ a ═ a t (θ 1 ),a t (θ 2 ),…,a t (θ N )]Wherein theta 1 ,θ 2 ,…,θ N The azimuth angle is discretized by N points, A is M composed of emission guide vectors corresponding to N directions in a certain area t A matrix of x N is formed,A ml indicating the region of the main lobe of detection, A sl Indicating other areas besides the main lobe and the direction of communication. The emission coefficient matrix C can be obtained by solving the following convex optimization problem:
s.t.F(CA ml )＝1
Ca t (θ c )＝Γ
f (-) represents the summation of each element of the matrix, and the optimization problem has the significance of ensuring that the energy of other areas is as small as possible while embedding information in the communication side lobe, and enabling the energy of the main lobe to be maximum, so that the integrated waveform of detection and communication, which can detect the target by using the main lobe of the wave beam and communicate by using the side lobe of the wave beam, is generated on each array element. In summary, the integrated waveform generation flow is shown in fig. 5.
The invention provides a typical integrated waveform generation scheme for probing and communication applied to a uniform linear array according to document 1, and other integrated waveform generation schemes are also within the scope of the invention if the performance verification is to be performed by using the verification method based on a virtual transmit array proposed by the invention. In addition, since the receiving end needs to extract the signals transmitted by the transducer each time, a consistent synchronization signal (such as an LFM signal) and a guard interval should be added before the transmission signal corresponding to each array element to help the receiving end to realize accurate extraction and separation of each segment of signals, and the structure of the transmission signal of each array element in the experiment is shown in fig. 6. It should be noted that the method for generating the transmitted signal generally relates to sonar detection, the direction of communication and the application scenario, and in practice, the parameters such as the actual placement distance, the angle of the receiving hydrophone relative to the center of the array are closely related to the experimental environment, so the actual experimental environment for performing performance verification should be considered in the design of the transmitted signal.
For the construction of the virtual transmitting array, fig. 7 shows the process of constructing the virtual transmitting array by using a single transmitting transducer according to the present invention, and the transmitting transducers are sequentially moved to the positions corresponding to each ideal array element for transmittingTransmitting a corresponding signal as a preamble for constructing a virtual transmit array: firstly, the transducer is arranged at the position corresponding to the ideal array element 1, and the transducer is integrally arranged at the position required by the experiment and then transmits the transmitting signal s corresponding to the array element 1 1 (t) collecting corresponding received signals at a receiving end; then the position of the transmitting transducer is moved to the position of the ideal array element 2 by d, and the transmitting signal s corresponding to the array element 2 is transmitted 2 (t) collecting at a receiving end; then sequentially moving the transmitting transducer to 3, 4, … …, M t The transmitting points respectively transmit the transmitting signals s corresponding to the array elements under the condition of ensuring that the sound source levels are equal each time i (t),i＝3,4,…,M t And collected in turn at the receiving end.
The transmitting transducer needs to transmit corresponding signals in points and for multiple times to simulate an even linear array, in order to ensure the accuracy of the depth and the position of the transducer during each distribution, a rigid fixing frame which is easy to change the position of the transducer and stable in distribution is designed and manufactured in advance, the whole fixing frame is basically consistent with the geometric structure of an ideal transmitting array, and each position where the transducer can be fixed on the fixing frame is in one-to-one correspondence with the position where each array element is located on the ideal transmitting array, so that the transducer can transmit the signals which are transmitted by the array elements corresponding to the position on the ideal array when moving to a new position every time. When the position of the transmitting transducer is changed every time, in order to reduce errors, frequent water inlet and outlet of the transducer and the fixing frame should be avoided as much as possible, the transducer is required to move freely on the rigid fixing frame without supporting the fixing frame out of the water surface every time, a simple rigid fixing frame structure is shown in figure 8, a trolley capable of moving freely on a sliding rail is arranged on the horizontal plane of the rigid fixing frame, the transmitting transducer is fixed on the trolley, and the position of the trolley carrying the transmitting transducer can be changed freely on the rail without supporting the transmitting transducer out of the water surface by combining with a corresponding mechanical structure design. In addition, during operation, the accuracy of the laying depth and the moving distance is controlled, and the direction of the main shaft of the virtual array and the included angle between the main shaft and the two receiving hydrophones are well controlled.
At the receiving end, combining the received signals of all sections according to the far-field sound propagation interference ruleAnd as a subsequent step of constructing the virtual transmitting array, thereby completely forming the virtual transmitting array: synchronizing, separating and extracting the collected multi-section signals from different emission points and aligning time windows to obtain signals r which are emitted by the transducer at each emission point and spread to a far field in the detection direction t_i (t),i＝1,2,…,M t And a signal r propagating to the far field in the communication direction c_i (t),i＝1,2,…,M t Then, a vector r formed by all the signal segments in the detection direction is formed t (t) and its emission guide vector a t (θ t ) Inner product is carried out, and the obtained composite signal is a total signal formed by the far field coherence of the signals which are equivalent to the signals simultaneously transmitted by all the transmitting points in the detection direction
The total signal obtained by sequentially transmitting by each transmitting point and synthesizing at the receiving end is equivalent to the signal sent by a real transmitting array in effect, the whole process is called as the realization of a virtual transmitting array, and similarly, a vector r formed by each section of signals in the communication direction is used c (t) and its emission guide vector a t (θ c ) Inner product is carried out, and the obtained synthetic signal is the total emission signal formed by the virtual array in the far field of the communication direction
Simulation and experimental study of the invention:
combining the application scene and the integrated waveform generation scheme, the integrated system selects a QPSK modulation mode, and the detection main lobe direction is selected as theta t The communication side lobe direction is selected to be theta at-45 degrees c 45 degrees, for the number of transmitting array elements M t The integrated system with 8 and 4 sub-carrier numbers Q develops computer numerical simulation analysis, and the obtained integrated waveform ideal transmitting beam pattern is shown in fig. 9; at a communication receiving end, the integrated waveform communication error rate under different receiving array element numbers is subjected to simulation analysis,the results are shown in FIG. 10.
In the embodiment, experiments are carried out on an underwater acoustic channel water pool with the length of 45m, the width of 6m and the depth of 5m, a single transmitting transducer with the transmitting frequency band of 8-20 kHz is used for simulating an 8-element uniform linear array, and the center frequency of a transmitting signal is f 0 10kHz, and 7.5cm of array element spacing d. As shown in fig. 11, the hydrophone 1 for receiving the detection direction signal is fixed in the direction with an angle of-45 ° on one side of the long side of the tank, and the hydrophone 2 for receiving the communication direction signal is fixed in the direction with an angle of 45 ° on the other side, and the arrangement depths of the two are the same. The optimal position for virtual emission array arrangement is selected at the long side of the opposite pool, which is beneficial to expanding the beam opening angle between the detection main lobe and the communication side lobe, then the emission points are sequentially changed to emit corresponding signals according to the operation steps of the invention, and the total signals are collected and synthesized at the receiving end.
In this embodiment, a segment of the transmitted signal contains 12 sets of sonar pulses, and 8 segments of the received signals of the receiving end are sequentially synthesized in steps, and then the simulated far-field time-domain total waveform of the detection direction and the communication direction is as shown in fig. 12. Under the experimental conditions of this embodiment, after decoding the communication signal, error-free data of 400bits was obtained.
In conclusion, the invention provides an underwater acoustic detection communication integrated waveform verification method based on a virtual transmitting array, and belongs to the field of sonar signal processing. The invention utilizes a single transducer to transmit signals in multiple points and synthesize the signals at the receiving end to construct a virtual transmitting array, provides a solution for the problem that the detection and communication integrated technical scheme is not easy to be verified by the existing underwater sound signal transmitting equipment, and enhances the popularization and application of the detection and communication integrated technology in the field of underwater sound engineering. The experimental result verifies the effectiveness and feasibility of the invention.
Claims (1)
1. A virtual emission array-based underwater acoustic detection communication integrated waveform verification method is characterized by comprising the following steps:
(1) determining ideal sonar transmitting array parameters and integrated waveform parameters to be simulated according to performance indexes of detection and communication integration: according to the technical scheme of detection and communication integration, under the condition that the first standard of Nyquist is met in communication, the detection gain G and the number M of the transmitting array elements t The relationship between them is:
G＝10lg[M t (1+α)]
wherein the unit of gain G: dB, selecting proper cosine roll-off coefficient alpha and transmitting array element number M according to the detection gain index required by the system t ；
Further, according to the communication rate index R required by the system b The unit: bps, a set of, i.e., Q, mutually orthogonal subcarriers u is selected q (t),q＝1,2,…,Q(Q≤M t ) And the modulation order M of the information symbol, determining the signal bandwidth B:
thereby determining the integrated signal pulse length T p ：
T p ＝(1+α)/B
Integral signal center frequency f 0 Selecting the emitting array in the emitting frequency band of the emitting transducer, wherein the corresponding wavelength is lambda, and the distance between each array element of the ideal emitting array is as follows:
(2) according to the application scene, the detection direction theta is preset t And a communication direction theta c Calculating corresponding transmitting guide vector a according to the interference rule of far-field sound propagation and the geometric relation between the receiving end and the transmitting array t (θ t ) And a t (θ c ) And calculating corresponding transmitting beam forming weight according to typical integrated waveform generation schemeThe coefficient matrices C, C are obtained by solving the following convex optimization problem:
s.t.F(CA ml )＝1
Ca t (θ c )＝Γ
where F (-) denotes the summation over the elements of the matrix,
is a vector of the information symbols that is preset,
information symbol representing the q-th subcarrier mounting, a ═ a t (θ 1 ),a t (θ 2 ),…,a t (θ N )]Is a matrix formed by transmitting guide vectors corresponding to N directions in a certain area, A ml Indicating the region of the main lobe of detection, A sl Indicating the division of the main lobe and the direction of communication theta c Other areas than the above;
(3) applying the transmit beamforming weight coefficient matrix C to each array element to generate a transmit signal s corresponding to each array element i (t),i＝1,2,……,M t Forming a transmission signal vector:
wherein
Is the q-th row of the matrix C, representing the q-th subcarrier u q (t) corresponding transmitting beam forming weight vector for transmitting beam forming processing to the subcarrier, then adding consistent synchronous signal and guard interval in front of each generated signal, so as to facilitate the receiving end to synchronously extract each signal segment；
(4) And sequentially moving the transmitting transducer to the corresponding position of each ideal array element to transmit corresponding signals, wherein the corresponding signals serve as a preamble for constructing a virtual transmitting array: according to the geometric parameters of the ideal transmitting array, a rigid fixing frame structure which is used for fixing the transducer and is easy to change the position is manufactured, the transducer is arranged on the position, corresponding to the ideal array element 1, of the fixing frame, and the transmitting signal s corresponding to the transmitting array element 1 is transmitted after the transducer is integrally arranged at the position required by experimental verification 1 (t), collecting corresponding receiving signals at a receiving end; then the transmitting transducer is moved to the position of the ideal array element 2 by a distance d, and the transmitting signal s corresponding to the array element 2 is transmitted 2 (t) collecting … … at the receiving end to continue transmitting corresponding signals at other transmitting points, and collecting each segment of signals at the receiving end in sequence;
(5) synthesizing each section of received signals according to a far-field sound propagation interference rule to serve as a subsequent sequence for constructing a virtual transmitting array, thereby completely forming the virtual transmitting array: at a receiving end, synchronizing, separating and extracting the collected multi-section signals from different emission points and aligning time windows to obtain a signal r which is emitted by the transducer at each emission point and is propagated to a far field in a detection direction t_i (t),i＝1,2,…,M t And a signal r propagating to the far field in the communication direction c_i (t),i＝1,2,…,M t Then, a vector r formed by all the signal segments in the detection direction is formed t (t) and its emission guide vector a t (θ t ) And performing inner product to obtain a synthetic signal, namely a total signal which is equivalent to a signal transmitted by each transmitting point simultaneously and coherently formed in a far field of the detection direction:
the total signal obtained by sequentially transmitting by each transmitting point and synthesizing at the receiving end is equivalent to the signal sent by a real transmitting array in effect, the whole process is called as the realization of a virtual transmitting array, and similarly, a vector r formed by each section of signals in the communication direction is used c (t) and its emission guide vector a t (θ c ) And performing inner product to obtain a synthetic signal, namely a total emission signal formed by the virtual array in a far field of the communication direction:
(6) and carrying out detection and communication performance verification analysis on the integrated waveform obtained through the steps.
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| CN117749233A (en) * | 2024-02-08 | 2024-03-22 | 清华大学 | Detection communication integrated transmitting signal determining method and device based on MIMO sonar |
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