CN115508780A - Synthetic aperture acoustic imaging method - Google Patents
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- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
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Abstract
A synthetic aperture acoustic imaging method belongs to the technical field of acoustic imaging. The method comprises the following steps: s01, receiving acoustic signals collected at a plurality of positions when the acoustic detection equipment moves along the direction vertical to the sound source, and constructing a reference acoustic array at a corresponding position based on the acoustic signals collected at each position; s02, based on the reference acoustic array of each position, expanding virtual array elements according to the receiving frequency of the array elements in the array to form a virtual acoustic array of each position; s03, constructing a sound acquisition matrix for gathering the virtual sound arrays at all positions based on the virtual sound array at each position; and S04, calculating sound pressure by using a multi-channel beam forming algorithm based on the sound acquisition matrix. The method is simple and can accurately position the effective signal position in the recording, thereby carrying out accurate audio index analysis on the acoustic product. The invention solves the problems of insufficient spatial resolution and more low-frequency side lobes of the traditional synthetic aperture scheme from the aspect of algorithm.
Description
Technical Field
The invention relates to the technical field of acoustic imaging, in particular to a synthetic aperture acoustic imaging method.
Background
Synthetic aperture imaging was proposed since the 50 th century of the 20 th century and applied to radar and sonar imaging. In recent years, the research and development of synthetic aperture imaging in the fields of acoustic nondestructive testing, medical ultrasonic imaging and the like are greatly improved, and the synthetic aperture imaging is expanded to other fields such as optics, microwave imaging and the like.
Under the application field of the existing radar or sonar, the core principle of the synthetic aperture imaging is as follows: the strip synthetic aperture imaging utilizes a small aperture array to move at a uniform speed on a linear motion track, sequentially transmits at a determined position, and receives and stores echo signals. And carrying out coherent superposition processing on the echo signals at different positions according to the spatial position and the phase relation, and synthesizing a virtual large-aperture array so as to obtain high resolution along the movement direction. It can be seen that the synthetic aperture imaging principle in the prior art requires active transmission of sound waves and then an aperture synthesis process based on echo signals (herein referred to as active synthetic aperture imaging).
The acoustic imager is based on a microphone array measurement technology, and is an instrument which determines the distribution of a sound source by measuring the phase difference of signals of sound waves reaching each microphone in a certain space and applying a certain sound source position estimation method, measures the amplitude of the sound source and displays the distribution of the sound source in the space in an image mode. The instrument represents the intensity distribution of sound source signals by the color or brightness of the sound source distribution image, and fuses the sound source distribution image and the picture of the optical camera to present the final test result.
The accuracy of the measurement of the existing acoustic imager is limited by the number of array elements in the microphone array. Since the existing acoustic imager is a handheld imager, the size specification of the existing acoustic imager is not large, and the number of microphone elements which can be installed for the existing acoustic imager is limited. When a remote plane wave sound source is positioned, the sound source position positioning effect is poor.
The imaging technology can synthesize a virtual large-aperture array, namely, the number of virtual array elements exceeding the number of actual array elements can be formed, so that detection with higher precision can be realized without changing the size specification of the handheld imager. For this reason, the applicant proposed the prior application "CN2022102440176, synthetic aperture based multi-array element ultrasonic sound source three-dimensional imaging method and system", the method includes the steps: s1, calibrating a plurality of virtual planes parallel to a microphone array by taking a first preset distance as a step length; s2, one virtual plane is selected, and the microphone array imager moves a second preset distance on the virtual plane according to a preset track; s3, forming a plurality of beams respectively based on sound source signals received by the microphone array imager at a plurality of positions in the moving process; s4, imaging a sound source based on the formed multiple beams, and recording the maximum value of the virtual plane imaging thermodynamic diagram; s5, repeating the steps S2-S4 until the maximum value recording of all virtual plane imaging thermodynamic diagrams is completed; and S6, comparing the maximum values of all the virtual plane imaging thermodynamic diagrams, and selecting the imaging thermodynamic diagram corresponding to the maximum value as a sound source three-dimensional imaging diagram. The invention employs passive synthetic aperture imaging (which does not require transmit signals, unlike existing active synthetic aperture imaging). Although the synthetic aperture is applied to the field of acoustic imaging, the signal-to-noise ratio and the imaging definition of signals are improved under the condition that the number of microphones is not increased, the final three-dimensional imaging image of a sound source is determined by the mode that the imaging thermodynamic diagram takes the maximum value after a plurality of wave beams are obtained in the moving process, and the simple and convenient selecting mode causes that the spatial resolution is not high enough, the low-frequency side lobes are more and the acoustic imaging accuracy is not high enough.
In order to solve the problem, the applicant further improves the acoustic imaging method thereof, and suppresses low-frequency side lobes from an algorithm level so as to improve the acoustic imaging precision.
Disclosure of Invention
The invention aims to solve the problems that the space resolution is not high enough and the low-frequency side lobes are more in the existing synthetic aperture scheme, so that a synthetic aperture acoustic imaging method is provided to improve the signal-to-noise ratio and the acoustic imaging precision of signals.
The invention provides a synthetic aperture acoustic imaging method, which comprises the following steps:
s01, receiving acoustic signals collected at a plurality of positions when the acoustic detection equipment moves along the direction vertical to the sound source, and constructing a reference acoustic array at a corresponding position based on the acoustic signals collected at each position;
s02, based on the reference acoustic array of each position, expanding virtual array elements according to the receiving frequency of the array elements in the array to form a virtual acoustic array of each position;
s03, constructing a sound acquisition matrix for gathering the virtual sound arrays at all positions based on the virtual sound array at each position;
and S04, calculating sound pressure by using a multi-channel beam forming algorithm based on the sound acquisition matrix.
Although the prior application of the applicant uses a synthetic aperture technology and utilizes the technology to obtain the acquired data of a plurality of positions, the acquisition precision is expanded to a certain extent, the method is simple and extensive, and the finally formed sound source imaging image is still not clear enough, particularly the problem is more obvious when a low-frequency sound source is positioned.
Therefore, the invention improves the prior application from the algorithm, and performs virtual array element expansion on the acquired data to obtain an array formed by more array elements and improve the quantity of input data before acoustic imaging; and further, virtual sound arrays at all positions are integrated, so that sound pressure can be comprehensively calculated by using a multi-channel beam forming algorithm, and the acoustic imaging precision is improved.
Preferably, the method of the present invention further comprises: before step S04, the phase difference of the array element corresponding to each position in the acoustic acquisition matrix is aligned and adjusted.
Preferably, the acoustic signals acquired in step S01 are acquired by an acoustic detection device at equally spaced positions.
Preferably, the step S01 includes:
s11, receiving acoustic signals collected at a plurality of positions when the acoustic detection equipment moves at a uniform speed in the direction vertical to a sound source at intervals of preset time;
step S21, setting the receiving frequency of the array element in each reference array as
Wherein c is the speed of sound,
for the direction of the angle of incidence of the signal,
is the frequency emitted by the sound source when stationary,
is the speed of the array along the direction of travel;
step S22, setting each reference array in
The signals received at the moment of time are
(ii) a Wherein the content of the first and second substances,
is the amplitude of the received signal;
step S23, expanding the virtual array element for each array element of the reference array according to step S22, and finally forming a virtual acoustic array including the actual array element and the virtual array element corresponding to each position as a preference, wherein step S03 includes: based on the virtual sound array of each position, constructing a sound acquisition matrix for collecting the virtual sound arrays of all the positions
Wherein, in the step (A),
as a starting point in time, the time of the start,
for a refresh cycle, M is the number of refreshes, n =1:M,
is the acoustic acquisition matrix of the starting position.
Preferably, the step S04 includes:
s41, carrying out weighting factor coefficient adjustment on the sound acquisition matrix to obtain a multi-channel beam;
and S42, adding all array elements in the matrix of the multi-channel wave beams, and calculating to obtain sound pressure.
Preferably, the method of the present invention further comprises: and step S05, performing acoustic imaging based on the sound pressure obtained by the calculation in the step S04.
Preferably, the acoustic detection device is an acoustic imager.
The invention has the following beneficial effects:
the invention relates to a synthetic aperture acoustic imaging method, which utilizes a synthetic aperture method to obtain multi-array element signals on the basis of not changing the number of microphones in the existing acoustic detection equipment; the virtual array element expansion is also carried out on the signals collected at each position, the number of the array elements is further expanded, and the collection precision is greatly improved; in addition, the virtual arrays at each position are aligned in phase, so that low-frequency side lobe energy can be better inhibited, and imaging definition is improved.
Drawings
FIG. 1 is a flow chart of a synthetic aperture acoustic imaging method of the present invention;
fig. 2 is a diagram of a detection moving path of the acoustic detection device.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
Referring to fig. 1, the invention provides a synthetic aperture acoustic imaging method, comprising:
s01, receiving acoustic signals collected at a plurality of positions when the acoustic detection equipment moves along the direction vertical to the sound source, and constructing a reference acoustic array at a corresponding position based on the acoustic signals collected at each position;
s02, based on the reference acoustic array at each position, expanding virtual array elements according to the receiving frequency of the array elements in the array to form a virtual acoustic array at each position;
s03, constructing a sound acquisition matrix for gathering the virtual sound arrays at all positions based on the virtual sound array at each position;
and S04, calculating sound pressure by using a multi-channel beam forming algorithm based on the sound acquisition matrix.
The operator or the automatic moving means moves the acoustic detection device linearly in a direction perpendicular to the sound source (see fig. 2). The acoustic detection device is an acoustic imager. For example, a 128 microphone ultrasound array imager is selected to acquire acoustic signals, and at the selected start position, the imager is used to acquire the acoustic signals at the start position, i.e., the acoustic signal at the first position, and construct a reference acoustic array at the first position. The ultrasonic imaging frequency range of the imager is 17-22kHz, the moving track is a straight line, and the speed is 2m/s; the acquisition is performed every 0.1s, i.e. every two meters of movement is a location point at which the acoustic signals are acquired and a reference acoustic array is constructed for that location. The previous sampled imaging results are saved, with a refresh rate of 10Hz, i.e. 0.1s, once. The moving direction is perpendicular to the sound source direction, and the moving distance can be 5m-7m or adjusted according to actual requirements. Therefore, the aperture can be enlarged, the microphone elements can be saved, and the cost is reduced to the maximum extent.
Specifically, the step S01 includes:
s11, receiving acoustic signals collected at a plurality of positions when the acoustic detection equipment moves at a uniform speed in the direction vertical to a sound source at intervals of preset time;
step S12, constructing a reference sound array of each position based on the sound signal of each position.
The preset time can be 0.1s, and can also be set according to the detection requirement. Before moving, a plurality of virtual planes parallel to the microphone array need to be calibrated, so that the moving track can be displayed in the moving process.
The step S02 specifically includes:
step S21, setting the receiving frequency of the array element in each reference array as
Wherein c is the speed of sound,
for the direction of the angle of incidence of the signal,
is the frequency emitted by the sound source when stationary,
is the speed of the array along the direction of travel;
step S22, setting each reference array in
The signals received at the moment of time are
(ii) a Wherein the content of the first and second substances,
is the amplitude of the received signal;
and step S23, expanding the virtual array elements of the array elements of each reference array according to the step S22, and finally forming a virtual acoustic array which corresponds to each position and comprises actual array elements and virtual array elements.
Taking the start position as an example, step S22 performs virtual array element expansion on the array elements of the reference array of the start position according to the array element receiving frequency, and substitutes the expanded virtual array element signals into the reference array
In the process (a), wherein,
is the signal received at the start position,
for each microphone received signal, i takes [1,N]，
Being the directional vector of the microphone to the sound source,
and M is the sound source inclination angle, M is the number of array elements, and t is the arrival time of the sound source of the calibration microphone. Finally obtaining the virtual sound array at the initial position
. And repeating the process to obtain the virtual sound array at all the positions.
The step S03 includes: based on the virtual sound array of each position, constructing a sound acquisition matrix for collecting the virtual sound arrays of all the positions
Wherein, in the step (A),
is the starting point in time of the first time,
for a refresh cycle, M is the number of refreshes, n =1:M,
is the acoustic acquisition matrix of the starting position.
And calculating sound pressure by using a multi-channel beam forming algorithm based on the sound acquisition matrix obtained in the step S03. Step S04 includes:
s41, carrying out weighting factor coefficient adjustment on the sound acquisition matrix to obtain a multi-channel beam;
and S42, adding all array elements in the matrix of the multi-channel wave beams, and calculating to obtain sound pressure.
And further suppressing side lobe energy, improving the imaging signal-to-noise ratio, and performing phase adjustment on the acoustic acquisition matrix obtained in the step S03 before executing the step S04, namely performing alignment adjustment on the phase difference of the array element corresponding to each position in the acoustic acquisition matrix. Specifically, the following formula is adopted for the adjacent matrix to perform phase adjustment:
when in use
Is converted on the basis of the phase of (A), and finally the phase of (B) is obtained by
A matrix scaled to a reference.
When the calculation of step S04 is performed, the multi-channel beam is calculated according to the formula:
is obtained in which
, 
，
The phase difference of the array elements corresponding to different positions,
are weighted weighting factors.
And finally, performing addition calculation on all array elements in the matrix of the multi-channel wave beams to obtain sound pressure. Based on the sound pressure, the sound source location may be determined.
In addition, the invention also comprises a step S05 of performing acoustic imaging based on the sound pressure obtained by the calculation in the step S04.
The present invention is described by taking a single sound source as an example, and this method can be adopted when there are a plurality of sound sources. For example, when two sound sources are detected, the reference sound array and the virtual sound array corresponding to the different sound sources can be divided according to the amplitudes because the amplitudes are different. Specifically, after the acquisition in step S01, amplitude determination may be performed, and then the acoustic signals with the same amplitude are constructed into a set, and the acoustic signals in the set are constructed into corresponding reference acoustic arrays at multiple positions. And then, in each step, by taking the set as a unit, constructing a virtual sound array and a sound acquisition matrix, and finally determining the position of each sound source.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the present invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Claims (10)
1. A synthetic aperture acoustic imaging method, comprising:
s01, receiving acoustic signals collected at a plurality of positions when the acoustic detection equipment moves along the direction vertical to the sound source, and constructing a reference acoustic array at a corresponding position based on the acoustic signals collected at each position;
s02, based on the reference acoustic array at each position, expanding virtual array elements according to the receiving frequency of the array elements in the array to form a virtual acoustic array at each position;
s03, constructing a sound acquisition matrix for gathering the virtual sound arrays at all positions based on the virtual sound array at each position;
and S04, calculating sound pressure by using a multi-channel beam forming algorithm based on the sound acquisition matrix.
2. A synthetic aperture acoustic imaging method according to claim 1, further comprising: before step S04, the phase difference of the array element corresponding to each position in the acoustic acquisition matrix is aligned and adjusted.
3. A synthetic aperture acoustic imaging method according to claim 1 wherein the acoustic signals acquired in step S01 are acquired by acoustic detection equipment at equally spaced locations.
4. A synthetic aperture acoustic imaging method according to claim 1, wherein said step S01 comprises:
s11, receiving acoustic signals collected at a plurality of positions when the acoustic detection equipment moves at a uniform speed in the direction vertical to a sound source at intervals of preset time;
step S12, constructing a reference sound array of each position based on the sound signal of each position.
5. A synthetic aperture acoustic imaging method according to claim 1, wherein said step S02 comprises:
step S21, setting the receiving frequency of the array element in each reference array as
Wherein c is the speed of sound,
for the direction of the angle of incidence of the signal,
is the frequency emitted by the sound source when stationary,
is the speed of the array along the direction of travel;
step S22, setting each reference array in
The signals received at the moment of time are
(ii) a Wherein, the first and the second end of the pipe are connected with each other,
is the amplitude of the received signal;
and step S23, expanding the virtual array elements of the array elements of each reference array according to the step S22, and finally forming a virtual acoustic array which corresponds to each position and comprises actual array elements and virtual array elements.
6. A synthetic aperture acoustic imaging method according to claim 5, wherein the values are determined based on the number of required virtual array elements.
7. A synthetic aperture acoustic imaging method according to claim 1, wherein said step S03 comprises: based on the virtual sound array of each position, an acoustic acquisition matrix for collecting the virtual sound arrays of all the positions is constructed
Wherein, in the step (A),
as a starting point in time, the time of the start,
for a refresh cycle, M is the number of refreshes, n =1:M,
is the acoustic acquisition matrix of the starting position.
8. A synthetic aperture acoustic imaging method according to claim 1 or 2, wherein said step S04 comprises:
s41, carrying out weighting factor coefficient adjustment on the sound acquisition matrix to obtain a multi-channel beam;
and S42, adding all array elements in the matrix of the multi-channel wave beams, and calculating to obtain sound pressure.
9. A synthetic aperture acoustic imaging method according to claim 1, further comprising: and step S05, performing acoustic imaging based on the sound pressure obtained by the calculation in the step S04.
10. A synthetic aperture acoustic imaging method according to claim 1 wherein said acoustic detection device is an acoustic imager.
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Application publication date: 20221223 |