CN115242583A - Channel impulse response passive estimation method based on horizontal line array - Google Patents
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Abstract
The invention relates to a passive estimation method of channel impulse response based on a horizontal line array, which comprises the steps of firstly carrying out Fourier transformation on a sound pressure signal received by the horizontal line array to obtain a frequency domain sound pressure signal, processing the frequency domain sound pressure signal to obtain an array element position-frequency domain sound intensity interference fringe, and extracting a fringe slope. Then, the phase of the sound pressure signal of the reference array element is extracted, and the extraction result is mutually correlated with the sound pressure signals received by other array elements in sequence. And finally, performing beam forming on the array data after cross correlation along the stripes in a frequency domain, wherein beam output is an estimation result of channel impulse response of the sound source and the reference array element. The method can be used for broadband pulse signals and target radiation noise signals, and can obtain effective estimation results of channel impulse response in a shorter time through coherent processing along the stripes, and can obtain higher estimation accuracy of the channel impulse response under the condition of low signal-to-noise ratio compared with a blind deconvolution method.
Description
Technical Field
The invention belongs to the technical field of underwater acoustic array signal processing, underwater acoustic channel impulse response estimation, underwater acoustic detection and sonar, and particularly relates to a channel impulse response passive estimation method based on a horizontal line array.
Background
According to signal and system theory, the spectrum of a hydroacoustic signal can be mathematically expressed as the product of the acoustic source spectrum and the channel impulse response function spectrum (also known as the green's function). The channel impulse response contains the characteristics of frequency dispersion, multipath and the like of a channel, and can be applied to the problems of underwater acoustic environment parameter inversion, sound source positioning and the like. The channel impulse response in the underwater acoustic signal is extracted, so that the decoupling with the sound source frequency spectrum can be further realized, the influence of a channel is removed, and the sound source signal is recovered, and the method can be applied to the fields of underwater acoustic communication, underwater target identification and the like.
Generally, some broadband pulse sound source manufactured by human can be used to obtain the impulse response of a specific underwater sound channel, such as a sound bomb, an air gun, and the like. However, such acquisition methods often require that the acoustic source and receiving device be cooperative and are therefore often used in the context of underwater investigation experiments or active sonar applications. On one hand, the channel impulse response estimation method based on a specific sound source can increase the manpower and material resource cost of channel impulse response estimation; on the other hand, the method can also be applied to a limited environment with unknown and non-cooperative environmental information, for example, when only an opportunistic sound source such as a navigation ship exists in the monitoring environment, the signal available for us is only a random noise signal radiated by the sound source. Therefore, it would be more practical and economical to develop a method for passive estimation of the channel impulse response from the noise of a ship or other marine environment.
Channel impulse response estimation (also called empirical green's function) between receivers can be obtained by cross-correlation superposition of marine environmental noise obtained by two receivers, but this method requires long accumulation time to obtain a convergence result, and the convergence process can be accelerated by using a dual vertical array in combination with a conventional beamforming technique. However, in shallow sea, the vertical array is easily damaged by the fishing net, and the uncertainty of long-time arrangement is large, compared with the safety of using the horizontal array. It is also more advantageous for underwater acoustic target detection to obtain a channel impulse response between the target and the receiver. The blind deconvolution technology based on the horizontal array can be used for estimating the channel impulse response between a receiving position and a target and can be used for processing the noise of a navigation ship, but the estimation precision of the blind deconvolution technology depends on the signal-to-noise ratio of a signal received by an array element, and a higher-precision estimation result can be obtained only under the condition of a higher signal-to-noise ratio.
Disclosure of Invention
The invention aims to solve the defects of the prior art by aiming at the technical background, and provides a passive estimation method of channel impulse response based on a horizontal line array. Firstly, fourier transformation is carried out on a sound pressure signal received by a horizontal array, sound intensity interference fringes of an array element position-frequency domain are obtained, and the fringe slope is extracted. Then, the phase of the sound pressure signal of the reference array element is extracted, and the extraction result is cross-correlated with the sound pressure signals received by other array elements in sequence. And finally, performing beam forming on the array data after cross correlation along the stripes in a frequency domain, wherein beam output is an estimation result of channel impulse response of the sound source and the reference array element. By coherent processing along the stripes, the method can obtain higher channel impulse response estimation precision under lower signal-to-noise ratio than a blind deconvolution method.
The invention provides a passive estimation method of channel impulse response based on a horizontal line array, which comprises the following steps:
acquiring a sound source time domain sound pressure signal by using a horizontal line array, and performing Fourier (Fourier) transformation on the time domain sound pressure signal to obtain a frequency domain sound pressure signal;
processing the frequency domain sound pressure signal to obtain a sound intensity interference fringe, and extracting a fringe slope;
selecting a reference array element, extracting the phase of a sound pressure signal of the reference array element, and performing cross correlation on the extracted phase and a frequency domain sound pressure signal received by each array element of the horizontal linear array in sequence;
performing beam forming on frequency domain data obtained after cross correlation along the interference fringe in a frequency domain according to the extracted interference fringe slope information to obtain array data;
and forming wave beams for the array data to obtain wave beam output, and obtaining an estimation result of the channel impulse response of the sound source and the reference array element according to the wave beam output.
As an improvement of the above technical solution, the acquiring a sound source time-domain sound pressure signal by using a horizontal linear array includes:
each array element of the horizontal linear array is used for receiving a noise signal or a broadband pulse signal radiated by a sound source target, and sampling and recording are carried out to obtain a time domain sound pressure signal received by the horizontal array.
As an improvement of the above technical solution, the processing a frequency domain sound pressure signal to obtain a sound intensity interference fringe and extracting a fringe slope includes:
processing the frequency domain sound pressure signal to obtain sound intensity data;
and processing the sound intensity data to obtain an intensity distribution spectrogram on an array element position-frequency domain, and extracting the slope of interference fringes in the intensity distribution spectrogram by using an image processing method.
As an improvement of the above technical solution, the obtained sound intensity data I has an expression:
I＝[I n ] N×1
I n ＝|P n | 2
wherein ,[·]N×1 The array is represented by Nx 1, N is total number of array elements, N is number of array elements, N =1,2, \8230, N, I n Sound intensity data representing the nth array element, P n Representing the frequency domain signal of the nth array element.
As an improvement of the above technical solution, the image processing method is Hough transform (Hough transform) or Radon transform (Radon transform).
As an improvement of the above technical solution, the selecting a reference array element and extracting a phase of a sound pressure signal of the reference array element, and performing cross-correlation between the extracted phase and sound pressure signals received by other array elements in sequence includes:
selecting the xth array element as a reference array element, wherein x =1,2, \ 8230, and N are the total number of the array elements;
extracting the phase phi of the frequency domain signal received by the x array element x ＝phase(P x )；
The phase phi of the x array element frequency domain signal x And performing cross correlation with the frequency domain signals received by the N array elements to obtain cross-correlated frequency domain data R, wherein the expression is as follows:
R＝[R n ] N×1
wherein N is array element number, N =1,2, \8230, N, [ · is] N×1 Denotes the array as N × 1, x is the number of the selected reference array element, R n Indicates the phase phi of the x-th array element frequency domain signal x With the frequency-domain signal P received by the nth array element n And (4) making cross-correlated frequency domain data, and representing conjugate operation.
As an improvement of the above technical solution, the beamforming is performed on the array data to obtain a beam output
The expression is as follows:
wherein ,
as the data of the array, there is,
array data for the nth array element [. ]] N×1 The representation array is Nx 1, N is the total number of array elements,
for azimuth of beam scanning, w is the weight coefficient of the constructed beam forming, and H represents the conjugate transpose.
As an improvement of the above technical solution, a weight coefficient w for beamforming of the structure is expressed as:
w＝[w n ] N×1
wherein ,wn The weight coefficient of the beam formation corresponding to the nth array element is constructed, j is an imaginary number unit, e is a natural constant, psi (n) is the angular frequency of the signal corresponding to the interference fringe, D (n) is the distance between the nth array element and the reference array element, c ref Is the selected reference speed of sound.
As an improvement of the above technical solution, the estimation result of the channel impulse response of the sound source and the reference array element is obtained by the maximum intensity value of the beam output, and includes: a channel impulse response frequency domain signal G between the target sound source and the reference array element and a channel impulse response time domain signal G between the target sound source and the reference array element;
the expression for G is:
G＝b(θ s )
wherein ,b(θs ) Satisfy the requirements of
θ s For the azimuth of the beam sweep corresponding to the intensity maximum of the beam output,
the resulting beam output for beamforming the array data,
azimuth angle for beam scanning;
g is obtained by inverse Fourier transform of G.
Compared with the prior art, the invention has the advantages that:
1. the method of the invention carries out passive estimation of channel impulse response based on a horizontal array:
compared with the method using the vertical array in the prior art, the method is more suitable for being laid in shallow sea for a long time;
compared with the method based on two receivers, the method based on the horizontal array can use the beam forming technology to accelerate the convergence speed of the channel impulse response estimation result and reduce the dependence on the signal accumulation time length;
the gain brought by array signal processing is utilized, the tolerance of the signal-to-noise ratio of the received signal can be improved, and the applicability of the method to signals with different signal-to-noise ratios is improved;
2. the method of the invention uses the cross correlation between the reference array element signal and each array element signal in the array to remove the influence of the sound source frequency spectrum, so that the method of the invention is not only suitable for pulse signals, but also suitable for random noise signals;
3. in the blind deconvolution method of underwater acoustic signals based on horizontal arrays in the prior art, amplitude factors are obtained by incoherent superposition between array signals with the same frequency, and channel impulse response is introduced from a single array element receiving signal;
the method selects the cross-correlation data for beam forming along the interference fringes, and the processing mode ensures that the method can better keep the correlation and amplitude consistency between signals;
the channel impulse response of the method is obtained by processing array signals along the stripes, so that the array gain can be more effectively utilized, and the influence of background noise on an estimation result can be better inhibited;
compared with the blind deconvolution method of underwater acoustic signals based on the horizontal array, the method of the invention can obtain better channel impulse response estimation precision under lower signal-to-noise ratio.
Drawings
FIG. 1 is a flow chart of a passive estimation method of channel impulse response based on horizontal line array of the method of the present invention;
FIG. 2 is a time domain waveform of a sound pressure signal acquired and recorded by a reference array element in an embodiment of the method for radiating noise for an underwater sound target;
FIG. 3 shows the position-frequency domain acoustic intensity interference fringes and fringe slope extraction results of the array elements obtained from the received signals in the embodiment of the method for radiating noise for underwater acoustic targets;
FIG. 4 is a graph of beam output intensity for different beam sweep angles and signal frequencies for an embodiment of the method of the present invention for radiated noise in an underwater acoustic target;
FIG. 5 is a time domain waveform comparison of the channel impulse response estimation result of the method of the present invention in an embodiment for underwater acoustic target radiated noise with a true channel impulse response;
fig. 6 is a time domain waveform of a sound pressure signal acquired and recorded by a reference array element in an embodiment of a broadband frequency modulated pulse signal transmitted by an underwater acoustic target according to the method of the present invention;
FIG. 7 shows the position-frequency domain acoustic intensity interference fringes and fringe slope extraction results of the array elements obtained from the received signals in the embodiment of the wideband FM pulse signals transmitted by the underwater acoustic target according to the method of the present invention;
FIG. 8 is a graph of beam output intensity for different beam sweep angles and signal frequencies for an embodiment of a wideband chirp signal emitted by the inventive method for an underwater acoustic target;
FIG. 9 is a comparison of the channel impulse response estimate of the present inventive method in an embodiment of a wideband FM signal transmitted for an underwater acoustic target with the time domain waveform of the true channel impulse response;
fig. 10 is a comparison of the accuracy of the estimation of the channel impulse response by the target radiation noise signal received under different signal-to-noise ratios by the method of the present invention and the existing blind deconvolution method based on the horizontal matrix.
Detailed Description
The invention provides a passive estimation method of channel impulse response based on a horizontal line array. Firstly, fourier transformation is carried out on a sound pressure signal received by a horizontal array, sound intensity interference fringes of an array element position-frequency domain are obtained, and the fringe slope is extracted. Then, the phase of the sound pressure signal of the reference array element is extracted, and the extraction result is mutually correlated with the sound pressure signals received by other array elements in sequence. And finally, performing beam forming on the array data after cross correlation along the stripes in a frequency domain, wherein beam output is an estimation result of channel impulse response of the sound source and the reference array element. The method can be used for broadband pulse signals and target radiation noise signals, and can obtain effective estimation results of channel impulse response in a shorter time through coherent processing along the stripes, and can obtain higher estimation accuracy of the channel impulse response under the condition of low signal-to-noise ratio compared with a blind deconvolution method.
The method provides a passive estimation method of channel impulse response based on a horizontal linear array, which comprises the following steps:
step 1: sampling and recording noise signals or broadband pulse signals radiated by underwater acoustic targets received by array elements of a horizontal array arranged in sea water or on the sea bottom to obtain time-domain sound pressure signals p = [ p ] received by the horizontal array n ] N×1 Wherein N represents the total number of array elements and is an integer greater than 1, N is the number of the array elements, and N satisfies N =1,2, \8230, N.
Then, fourier transform is performed on the recorded time-domain sound pressure signal P to obtain a corresponding frequency-domain signal P = [ P ] n ] N×1 . Further, sound intensity data I = [ I ] is obtained n ] N×1, wherein In ＝|P n | 2 。
For the obtained sound intensity data, an intensity distribution spectrogram of the sound intensity data in an array element position-frequency domain is obtained, and the slope S of interference fringes in the sound intensity spectrum can be extracted by using image processing methods such as Hough transformation, radon transformation and the like.
Step 2: selecting the x-th array element as a reference array element, wherein x =1,2, \8230And N. Extracting the phase phi of the frequency domain signal received by the array element x ＝phase(P x )。
Then, the phase phi of the x array element frequency domain signal is measured x Frequency domain signal P received with other array elements n Performing cross correlation to obtain frequency domain data R = [ R ] after cross correlation n ] N×1, wherein 
"+" indicates a conjugate operation.
And 3, step 3: according to the interference fringe slope information extracted in the step 1, array data for beam forming are selected from the frequency domain data after cross correlation along the interference fringes
Weight coefficient w = [ w ] for beamforming construction n ] N×1, wherein
j is an imaginary unit, e is a natural constant, ω (n) is an angular frequency of a signal corresponding to the interference fringe, D (n) is a distance between the nth array element and the reference array element,
for azimuth angle of beam scanning, c ref Is the selected reference speed of sound. c. C ref 1500m/s is generally taken in the underwater sound problem, and more accurate c can be obtained according to the actually measured hydrographic sound velocity profile and the sound field calculation based on the environmental knowledge ref 。
Array data
Performing beamforming using different beam scanning azimuths
Constructed beamforming weightsThe number w is weighted and compensated to obtain the corresponding beam output
Obtaining the estimation result G of the channel impulse response frequency domain signal between the target sound source and the reference array element according to the maximum intensity value of the beam output, namely G = b (theta) s ) Satisfy the following requirements
And carrying out Fourier inverse transformation on the channel impulse response frequency domain signal G between the target sound source and the reference array element to obtain a channel impulse response time domain signal G between the target sound source and the reference array element.
The technical scheme provided by the invention is further illustrated by combining the following embodiments.
Fig. 1 is a flow chart of embodiment 1-3 for obtaining the estimation result by using the passive estimation method of the invention based on the horizontal linear array channel impulse response.
Example 1.
This embodiment is a channel impulse response estimate for an underwater acoustic target radiated noise. The simulation parameters are as follows: the depth of the seawater is 100m, the sound velocity is 1500m/s, and the density is 1g/cm 3 The seawater is absorbed silently; the sound velocity of the sea bottom is 1800m/s, and the density is 1.8g/cm 3 The sound absorption of the seabed medium is 0.5 dB/lambda, and lambda represents the wavelength of sound waves; the sound source is set as a Gaussian white noise signal source simulating radiation noise, and the depth of the sound source is 4m; the number of array elements of the uniform horizontal receiving array is N =501, the interval d =0.5m of the array elements, and the arrangement depth is 60m; the horizontal distance between the sound source and the receiving matrix is 10km. Background noise was not considered in the simulation. The 251 th array element of the horizontal array is selected as the reference array element, i.e. x =251.
Step 1: collecting and recording the received signals of each array element to obtain a time-domain sound pressure signal p = [ p = n ] 501×1 Where n =1,2, \8230, 501. FIG. 2 is the time domain waveform data of sound pressure signal collected and recorded by reference array element, i.e. p 251 。
Then, fourier transform is carried out on the recorded time domain sound pressure signal p to obtain the corresponding relationFrequency domain signal P = [ P ] n ] 501×1 . Further, sound intensity data I = [ I ] are obtained n ] 501×1, wherein In ＝|P n | 2 The position-frequency domain acoustic intensity interference fringes of the array elements are obtained as shown in fig. 3.
For the sound intensity fringes shown in fig. 3, the slope S of the interference fringes in the sound intensity spectrum is extracted by using a Hough transform image processing method, and the extraction result is shown as a dotted line in the figure, and is S =0.058Hz/m.
Step 2: extracting phase phi of reference array element receiving frequency domain signal 251 ＝phase(P 251 ). Then, the phase phi of the frequency domain signal of the reference array element is determined 251 Frequency domain signal P received with other array elements n Performing cross correlation to obtain frequency domain data R = [ R ] after cross correlation n ] 501×1, wherein 
"" indicates a conjugate operation.
And 3, step 3: according to the interference fringe slope information extracted in the step 1, array data for beam forming are selected from the frequency domain data after cross correlation along the interference fringes
Weight coefficient w = [ w ] of construction beamforming n ] 501×1, wherein
In the present embodiment, ω (n) satisfies ω (n) = ω 0 -2 π Snd, where ω is 0 ＝2πf 0 ，f 0 ∈[690,710]Hz。D(n)＝n-251)d，
c ref ＝1500m/s。
Array data
Performing beamforming using different beam scanning azimuths
To construct a beam forming weight coefficient w for weight compensation to obtain a corresponding beam output
FIG. 4 shows the output intensity of the beams at different frequencies and scan angles in this embodiment
The position of the intensity maximum of the beam output is shown by the broken line in fig. 4, and the beam output b (θ) corresponding to this position s ) To obtain an estimate G of the channel impulse response frequency domain signal between the target sound source and the reference array element, i.e. G = b (θ) s ). The Fourier inverse transformation is performed on the estimation result G of the channel impulse response frequency domain signal between the target sound source and the reference array element to obtain an estimation result G of the channel impulse response time domain waveform between the sound source and the reference array element, and the comparison result between the estimation result G and the real channel impulse response time domain waveform between the sound source and the reference array element is shown in fig. 5. It can be seen that the channel impulse response estimated from the target radiation noise by the method of the present invention is very close to the real channel impulse response on the time domain waveform, and the correlation coefficient between the two obtained by the correlation coefficient calculation reaches 0.9893, which shows that the estimation result obtained by the method of the present invention in this embodiment has higher accuracy. Meanwhile, in the embodiment, the method only needs to process the noise signal with the time length of 2s to obtain an effective channel impulse response estimation result, so that the convergence speed of the channel impulse response estimation result is increased, and the degree of dependence on the signal accumulation time length is reduced.
Example 2.
This embodiment is a channel impulse response function estimate for a wideband chirp signal transmitted by an underwater acoustic target. The simulation sound source is set to be a chirp signal of 660 to 740Hz, the pulse time width is 6s, the sound source depth is 4m, and other simulation parameters are the same as those of the embodiment 1. The 251 th array element of the horizontal array is also selected as the reference array element, i.e. x =251.
Step 1: collecting and recording the received signals of each array element to obtain a time-domain sound pressure signal p = [ p = n ] 501×1 . FIG. 6 is the time domain waveform data of sound pressure signal collected and recorded by reference array element, i.e. p 251 。
Then, fourier transform is performed on the recorded time-domain sound pressure signal P to obtain a corresponding frequency-domain signal P = [ P ] n ] 501×1 . Further, sound intensity data I = [ I ] are obtained n ] 501×1 And the obtained array element position-frequency domain acoustic intensity interference fringes are shown in figure 7.
For the sound intensity stripes shown in fig. 7, the slope S of the interference stripes in the sound intensity spectrum is extracted by using a Hough transform image processing method, and the extraction result is shown as a dotted line in the figure, wherein S =0.058Hz/m.
Step 2: extracting the phase phi of the reference array element receiving frequency domain signal 251 ＝phase(P 251 ) Then obtaining the frequency domain data R = [ R ] after cross correlation n ] 501×1, wherein 
"+" indicates a conjugate operation.
And step 3: according to the interference fringe slope information extracted in the step 1, array data for beam forming are selected from the frequency domain data after cross correlation along the interference fringes
Weight coefficient w = [ w ] of construction beamforming n ] 501×1, wherein
In the present embodiment, ω (n) satisfies ω (n) = ω 0 -2 π Snd, where ω is 0 ＝2πf 0 ，f 0 ∈[690,710]Hz。D(n)＝(n-251)d，
c ref ＝1500m/s。
Array data
Performing beam forming to obtain corresponding beam output
FIG. 8 shows the output intensity of the beams at different frequencies and scan angles in this embodiment
Beam output b (θ) corresponding to the position of the intensity maximum of the beam output indicated by the broken line in fig. 8 s ) To obtain an estimation result G of the channel impulse response frequency domain signal between the target sound source and the reference array element, and perform Fourier inverse transformation on G to obtain an estimation result G of the channel impulse response time domain waveform between the sound source and the reference array element, and a comparison result of the estimation result G and the real channel impulse response time domain waveform between the sound source and the reference array element is shown in fig. 9. The correlation coefficient of the channel impulse response estimated from the target radiation noise by the method of the present invention and the real channel impulse response is calculated to be 0.9931, which shows that the estimation result obtained by the method of the present invention in this embodiment has higher accuracy. In connection with example 1 it can be seen that the method of the invention is applicable to both pulsed signals and random noise signals.
Example 3.
The embodiment is a channel impulse response function estimation aiming at the underwater sound target radiation noise, and the estimation precision is compared with that of the existing blind deconvolution method based on the horizontal matrix under different signal-to-noise ratios. In the simulation, the background noise is considered to be white Gaussian noise, the signal-to-noise ratio variation range of the horizontal array received signal is set to be-30 dB, and other simulation parameters are the same as those in the embodiment 1.
Under each signal-to-noise ratio condition, the method of the invention is used to obtain the estimation result of the channel impulse response between the sound source and the reference array element according to the steps described in the embodiment 1, and the correlation coefficient with the real channel impulse response is calculated; meanwhile, a blind deconvolution method based on a horizontal array is used for obtaining an estimation result of the channel impulse response between the sound source and the reference array element, and a correlation coefficient of the real channel impulse response is calculated. The statistics of the correlation coefficients of the two methods under different signal-to-noise ratios are shown in fig. 10, and it can be seen that compared with the underwater acoustic signal blind deconvolution method based on the horizontal array, the method of the present invention can obtain better channel impulse response estimation accuracy under lower signal-to-noise ratio, can more effectively utilize the array gain, better suppress the influence of background noise on the estimation result, and improve the tolerance of the signal-to-noise ratio of the received signal.
From the above detailed description of the present invention, it can be seen that the method of the present invention achieves higher channel impulse response estimation accuracy at lower signal-to-noise ratio.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A passive estimation method of channel impulse response based on horizontal line array, the method comprising:
acquiring a sound source time domain sound pressure signal by using a horizontal line array, and performing Fourier transform on the time domain sound pressure signal to obtain a frequency domain sound pressure signal;
processing the frequency domain sound pressure signal to obtain a sound intensity interference fringe, and extracting a fringe slope;
selecting a reference array element, extracting the phase of a sound pressure signal of the reference array element, and performing cross correlation on the extracted phase and a frequency domain sound pressure signal received by each array element of the horizontal linear array in sequence;
performing beam forming on frequency domain data obtained after cross correlation along the interference fringe in a frequency domain according to the extracted interference fringe slope information to obtain array data;
and forming a wave beam on the array data to obtain wave beam output, and obtaining an estimation result of the channel impulse response of the sound source and the reference array element according to the wave beam output.
2. The passive estimation method for channel impulse response based on horizontal linear array according to claim 1, wherein the acquiring acoustic source time domain sound pressure signals by using the horizontal linear array comprises:
each array element of the horizontal linear array is used for receiving a noise signal or a broadband pulse signal radiated by a sound source target, and sampling and recording are carried out to obtain a time domain sound pressure signal received by the horizontal array.
3. The passive estimation method for channel impulse response based on horizontal line array according to claim 1, wherein the processing the frequency domain sound pressure signal to obtain the sound intensity interference fringes and extracting the fringe slope comprises:
processing the frequency domain sound pressure signal to obtain sound intensity data;
and processing the sound intensity data to obtain an intensity distribution spectrogram on an array element position-frequency domain, and extracting the slope of interference fringes in the intensity distribution spectrogram by using an image processing method.
4. The passive estimation method of channel impulse response based on horizontal linear array according to claim 3, wherein the obtained sound intensity data I is expressed as:
I＝[I n ] N×1
I n ＝|P n | 2
wherein ,[·]N×1 The array is represented by Nx 1, N is total number of array elements, N is number of array elements, N =1,2, \8230, N, I n Sound intensity data representing the nth array element, P n Representing the frequency domain signal of the nth array element.
5. The passive estimation method for channel impulse response based on horizontal linear array according to claim 3, characterized in that the image processing method is Hough transform or Radon transform.
6. The passive estimation method for channel impulse response based on horizontal linear array according to claim 1, wherein the selecting a reference array element and extracting the phase of the sound pressure signal of the reference array element, and cross-correlating the extracted phase with the sound pressure signals received by other array elements in turn, comprises:
selecting the xth array element as a reference array element, wherein x =1,2, \ 8230, and N are the total number of the array elements;
extracting the phase phi of the frequency domain signal received by the x array element x ＝phase(P x )；
The phase phi of the frequency domain signal of the x-th array element x And performing cross correlation with the frequency domain signals received by the N array elements to obtain cross-correlated frequency domain data R, wherein the expression is as follows:
R＝[R n ] N×1
wherein N is array element number, N =1,2, \8230, N, [ · is] N×1 Indicating that the array is N x 1, x is the number of the selected reference array element, R n Indicates the phase phi of the frequency domain signal of the x-th array element x With the frequency-domain signal P received by the nth array element n And (4) making cross-correlated frequency domain data, wherein a represents conjugate operation.
7. The passive estimation method of channel impulse response based on horizontal linear array as claimed in claim 1, wherein the beam forming of the array data results in beam output
The expression is as follows:
wherein ,
as the data of the array, there is,
array data for the nth array element [. ]] N×1 It means that the array is Nx 1, N is the total number of array elements,
for azimuth of beam scanning, w is the weight coefficient of the constructed beam forming, and H represents the conjugate transpose.
8. The passive estimation method of channel impulse response based on horizontal linear array as claimed in claim 7, wherein the weight coefficient w of the constructed beam forming is expressed as:
w＝[w n ] N×1
wherein ,wn The weight coefficient of the beam formation corresponding to the nth array element is constructed, j is an imaginary number unit, e is a natural constant, omega (n) is the angular frequency of a signal corresponding to the interference fringe, D (n) is the distance between the nth array element and the reference array element, c (n) ref Is the selected reference speed of sound.
9. The passive estimation method of channel impulse response based on horizontal linear array as claimed in claim 1, wherein the estimation result of the channel impulse response of the acoustic source and the reference array element is obtained by the maximum value of intensity of beam output, and comprises: a channel impulse response frequency domain signal G between the target sound source and the reference array element and a channel impulse response time domain signal G between the target sound source and the reference array element;
the expression for G is:
G＝b(θ s )
wherein ,b(θs ) Satisfy the requirements of
θ s For the azimuth of the beam sweep corresponding to the intensity maximum of the beam output,
the resulting beam output for beamforming the array data,
azimuth angle for beam scanning;
g is obtained by inverse Fourier transform of G.
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