CN115774239A - Multi-target signal detection method based on non-uniform co-prime linear arrays - Google Patents
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Abstract
The invention relates to a multi-target signal detection method based on a non-uniform co-prime linear array, which comprises the following steps: s1, detecting narrow-band signals of different frequency bands in a total sound source signal; s2, if the number of the narrow-band signals is less than or equal to the number of the uniform linear arrays in the non-uniform co-prime linear arrays, performing the step S3, otherwise, ending the detection; s3, adjusting the spacing between array elements in the plurality of detection linear arrays based on the wavelength of the center frequency of each narrow-band signal, so that the main imaging frequency of the plurality of detection linear arrays is respectively consistent with the center frequency of the plurality of narrow-band signals; and S4, calculating to obtain one or more target signal angles detected by the linear array at the main imaging frequency of the linear array based on the total sound source signals received by the linear array, the position coordinates of each array element in the linear array, the main imaging frequency of the linear array and the direction arrival angle estimation model. The invention introduces non-uniform co-prime arrays which can detect a plurality of frequency points, and each uniform array can detect the main imaging frequency of the array to obtain a corresponding target signal angle.
Description
Technical Field
The invention belongs to the technical field of multi-signal detection, and particularly relates to a multi-target signal detection method based on a non-uniform co-prime linear array.
Background
In living and production environments, most closed pipelines or containers leak due to various reasons, the leakage not only causes waste and economic loss of resources, but also causes serious safety problems due to the leakage of harmful, flammable and explosive gases or liquids, so that a plurality of methods for effectively detecting the leakage are applied for many years. When any pressurized gas leaks or vacuum leaks, the gas flow can form turbulent flow, the turbulent flow emits sound wave energy, and the sound wave can cover an audible region and an ultrasonic frequency range. In a typical environment, noisy ambient noise is very likely to mask the acoustic signal in the audible domain. The device will typically detect its ultrasonic frequency band.
Conventional detection devices are typically based on microphone arrays, detecting in the ultrasonic frequency range not exceeding 50 kHz. Microphone arrays generally employ uniform line arrays and area arrays, and non-uniform arrays, which are mostly sparse line arrays or area arrays. The surface array form generally adopts a circular aperture array, a grid rectangular array, a regular polygon array and the like. The microphone pickup array formed based on the array can generate a band-pass or high-pass filtering effect on a specific frequency point or frequency band, and is enhanced through interference superposition, so that the directional and fixed-frequency pickup capability of the microphone is enhanced, and the leakage abnormal sound is extracted. The advantage of this is that there is a strong and more accurate leakage detection capability for a specific frequency point of a single target. However, in the actual situation with a plurality of leakage targets and a plurality of leakage signal characteristic frequency points, the traditional detection means is used for detecting the system image, which will cause the system image to be interfered, and generate the wrong image or the wrong judgment whether the leakage occurs or not.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a multi-target signal detection method based on a non-uniform and co-prime linear array, which can realize multi-target leakage signal detection and imaging by using incoherent multi-frequency points. The invention adopts the following technical scheme:
a multi-target signal detection method based on non-uniform co-prime linear arrays comprises the following steps:
s1, based on non-uniform co-primeDetecting the total signal of the sound source by the linear arrays and detecting the narrow-band signals of different frequency bands in the total signal of the sound source, wherein the non-uniform and mutual-quality linear arrays are composed of a plurality of uniform linear arrays, and the number of the array elements in each uniform linear array is recorded as
,
The quality of the raw materials is relatively good,
representing the number of uniform linear arrays;
s2, if the number of the narrow-band signals is less than or equal to the number of the uniform linear arrays in the non-uniform co-prime linear arrays, performing the step S3, otherwise, ending the detection;
s3, selecting a plurality of uniform linear arrays with the same number as the narrow-band signals from the non-uniform co-prime linear arrays to be used as detection linear arrays for detecting multi-target signals, adjusting the spacing between each array element in the plurality of detection linear arrays based on the wavelength of the center frequency of each narrow-band signal, so that the main imaging frequency of the plurality of detection linear arrays is respectively consistent with the center frequency of the plurality of narrow-band signals, and the spacing between the array elements in each detection linear array is recorded as the center frequency of each narrow-band signal
And is and
the components are all relatively prime with each other,
representing the number of the detection linear arrays;
s4, establishing an azimuth arrival angle estimation model, and calculating to obtain one or more target signal angles detected by any one detection linear array at the main imaging frequency of the detection linear array based on the sound source total signal received by the detection linear array, the position coordinates of each array element in the detection linear array, the main imaging frequency of the detection linear array and the azimuth arrival angle estimation model;
and S5, completing multi-target signal detection based on target signal angles detected by the detection linear arrays at the main imaging frequency of the detection linear arrays.
As a preferred scheme, in step S4, the azimuth arrival angle estimation model specifically includes:
suppose for
The incident angles of all target signals detected by the detection linear arrays are respectively
，
Is shown as
The first detected by the detecting linear array
The angle of incidence of the individual target signals,
representing the number of target signals, then:
wherein ,
is shown as
The total signal of the sound source detected by each detection linear array,
a vector matrix representing each of the target signals,
denotes the first
Phase difference matrix of each array element reached by each target signal in each detection linear array,
is shown as
Complex vector Gaussian white noise detected by the detection linear arrays;
wherein ,
denotes the first
In the individual detection linear array
The phase difference matrix of each target signal arriving at each array element is based on
Position coordinates of each array element in the individual detection linear array
Calculating the main imaging frequency of each detection linear array;
to the first
Covariance matrix of co-prime array of total sound source signals detected by individual detection linear array
：
wherein ,
the indication is to calculate the expected value,
which represents the conjugate transpose of the image,
，
which is indicative of the power of the noise signal,
representing an identity matrix;
to pair
Performing eigenvalue decomposition to obtain:
wherein ,
the feature vector is represented by a vector of features,
representing a feature vector;
will be provided with
Decomposing into a signal space and a noise space to obtain:
wherein ,
representing a feature vector in the signal space,
representing the feature vector in the signal space,
representing the feature vector in the noise space,
representing a feature vector in a noise space;
based on the formula
Calculated to meet the conditions
Is eligible for
Is the first
The target signal angle obtained by detecting the linear array at the main imaging frequency of the linear array is detected.
As a preferable scheme:
wherein ,
is shown as
A vector of the number of target signals,
indicating transposition.
As a preferable scheme:
wherein ,
is shown as
The first in the individual detection linear array
A target signal arrives at
The phase difference between an element and the arrival at the first element,
is shown as
The first in the detecting linear array
The position coordinates of the individual array elements,
is shown as
The number of array elements in each detection linear array,
，
which is indicative of the speed of sound,
is shown as
The main imaging frequency of each detection linear array.
As a preferred solution, in step S4, for any one of the detector arrays, one or more target signal angles detected by the detector array at multiple secondary primary imaging frequencies of the detector array are calculated and obtained based on a total sound source signal received by the detector array, position coordinates of each array element in the detector array, multiple secondary primary imaging frequencies of the detector array, and an azimuth arrival angle estimation model, where the multiple secondary primary imaging frequencies are all within a preset range above and below a central frequency of a narrowband signal corresponding to the detector array.
Preferably, between step S4 and step S5, step B is further included:
B. aiming at the same detection linear array, filtering target signals at different target signal angles received by the same detection linear array at a plurality of imaging frequencies, wherein the filtering processing comprises the following steps:
b1, calculating the intensity of target signals at one or more target signal angles received by the detector linear array at a primary imaging frequency and the intensity of target signals at one or more target signal angles received by the detector linear array at a secondary primary imaging frequency;
and B2, if the difference value between the intensity of the target signal at the corresponding target signal angle received at the secondary main imaging frequency and the intensity of the strongest target signal received at the main imaging frequency is larger than a preset sound intensity difference threshold value, filtering the target signal at the corresponding target signal angle received at the secondary main imaging frequency.
Preferably, the calculation formula of the intensity of the target signal is as follows:
wherein ,
expressed at an imaging frequency of
At a received target signal angle of
The strength of the target signal.
Preferably, step a is further included between step S4 and step S5:
A. and judging whether a difference value between two target signal angles between the target signal angles is smaller than a preset threshold degree, if so, determining that the two target signal angles correspond to the same target signal, and calculating the target signal based on the mean value of the two target signal angles to obtain the final corresponding target signal angle.
Preferably, the predetermined threshold degree is 5 °.
Preferably, in step S3, the distance between each array element inside the detection line array is half of the wavelength of the center frequency of the corresponding narrowband signal.
The invention has the beneficial effects that:
compared with a traditional linear array and an area array of a microphone, each uniform array in the non-uniform co-prime array can detect the corresponding target signal angle at the main imaging frequency, and estimation errors of the arrival angle caused by a plurality of signal source gas leakage points can be avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a multi-target signal detection method based on non-uniform co-prime linear arrays according to the invention;
fig. 2 is a schematic diagram of the non-uniform and co-prime linear array of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict.
Referring to fig. 1, the present embodiment provides a multi-target signal detection method based on non-uniform co-prime linear arrays, including the steps of:
s1, detecting a sound source total signal based on non-uniform co-prime linear arrays, and detecting narrow-band signals of different frequency bands in the sound source total signal, wherein the non-uniform co-prime linear arrays are composed of a plurality of uniform linear arrays, and the number of array elements in each uniform linear arrayMeasure and mark as
,
The quality of the raw materials is relatively good,
indicating the number of uniform linear arrays.
And S2, if the number of the narrow-band signals is less than or equal to that of the uniform linear arrays in the non-uniform co-prime linear arrays, performing the step S3, otherwise, ending the detection.
Because the number of the narrow-band signals is larger than the number of the uniform linear arrays in the non-uniform co-prime linear arrays, the number of the main imaging frequencies provided by the non-uniform co-prime linear arrays is exceeded, and the final multi-target signal detection precision is reduced, the situation that the number of the narrow-band signals is larger than the number of the uniform linear arrays in the non-uniform co-prime linear arrays is not considered in the embodiment.
S3, randomly selecting a plurality of uniform linear arrays with the same number as the narrow-band signals from the non-uniform co-prime linear arrays to be used as detection linear arrays for detecting multi-target signals, and adjusting the spacing between each array element in the plurality of detection linear arrays based on the wavelength of the center frequency of each narrow-band signal (it needs to be noted that the adjustment of the position of the array element can be realized by a position adjusting device) so as to ensure that the main imaging frequency of the plurality of detection linear arrays is respectively consistent with the center frequency of the plurality of narrow-band signals, and the spacing of the array elements in each detection linear array is marked as the center frequency of each narrow-band signal
And is and
the quality of the raw materials is relatively good,
and indicating the number of the detection linear arrays.
The main imaging frequency of the plurality of detection linear arrays is respectively consistent with the center frequency of the plurality of narrow-band signals, and the distance between each array element in each detection linear array is half of the wavelength of the center frequency of the corresponding narrow-band signal.
Referring to fig. 2, a non-uniform co-prime linear array formed by two uniform linear arrays is shown, because the number of array elements and the spacing between the array elements are co-prime, only the first array element of the two uniform linear arrays can be overlapped when the two array elements are on a straight line.
And S4, establishing an azimuth arrival angle estimation model, and calculating to obtain one or more target signal angles detected by any one of the detection line arrays at the main imaging frequency thereof based on the sound source total signal received by the detection line array, the position coordinates of each array element in the detection line array, the main imaging frequency of the detection line array and the azimuth arrival angle estimation model (it should be noted that one or more target signal angles detected at the main imaging frequency may exist, which will be explained in detail below).
And S5, completing multi-target signal detection based on the target signal angles detected by the detection linear arrays at the main imaging frequency of the detection linear arrays, and performing final imaging.
It should be noted that target signals in this embodiment are generally smaller than 4, otherwise, the scale of the non-uniform and co-prime linear array is too large to obtain a realistic array.
Therefore, compared with a traditional linear array and an area array of a microphone, each uniform array in the non-uniform co-prime array can detect the corresponding target signal angle at the main imaging frequency, and estimation errors of the arrival angle caused by gas leakage points of a plurality of signal sources can be avoided.
Specifically, the method comprises the following steps:
when far field
With individual target signals having different frequency bands
A narrow-band signal is respectively
Receiving by detecting linear array, which are connected by equal time intervalDifferent linear array gating is realized during continuous signal sampling at time intervals
And gating a certain group of uniform linear arrays in turn.
In step S4, the azimuth arrival angle estimation model specifically includes:
suppose for
The incident angles of all target signals detected by the detection linear arrays are respectively
，
Is shown as
The first detected by the detecting linear array
The angle of incidence of the individual target signals,
representing the number of target signals, then:
wherein ,
is shown as
The total signal of the sound source detected by each detection linear array,
a vector matrix representing each of the target signals,
is shown as
Phase difference matrix of each array element reached by each target signal in each detection linear array,
is shown as
Complex vector Gaussian white noise detected by the detection linear arrays.
wherein ,
is shown as
A vector of the number of target signals,
indicating transposition.
wherein ,
is shown as
In the individual detection linear array
The phase difference matrix of each target signal arriving at each array element is based on
Position coordinates of each array element in the individual detection linear array
And calculating the main imaging frequency of each detection linear array.
wherein ,
is shown as
In the individual detection linear array
A target signal arrives at
The phase difference between an element and the arrival at the first element,
denotes the first
The first in the detecting linear array
The position coordinates of the individual array elements are,
denotes the first
The number of array elements in each detection linear array,
，
the sound velocity is shown, 340m/s is taken in the embodiment, more accurate values can be used when actually taking values,
is shown as
The main imaging frequency of each detection linear array.
To the first
Covariance matrix of co-prime array is solved from total sound source signals detected by each detection linear array
：
wherein ,
the indication is to calculate the expected value,
which represents the transpose of the conjugate,
，
which is indicative of the power of the noise signal,
representing an identity matrix.
To pair
Performing eigenvalue decomposition to obtain:
wherein ,
the feature vector is represented by a vector of features,
a feature vector is represented.
Will be provided with
Decomposing into a signal space and a noise space to obtainTo:
wherein ,
representing a feature vector in the signal space,
representing the feature vector in the signal space,
representing the feature vector in the noise space,
representing the feature vector in noise space.
Based on the formula
Calculated to meet the conditions
Is eligible for
Is the first
The target signal angle obtained by detecting the linear array at the main imaging frequency of the linear array is detected.
Here, the formula is satisfied
There may be a plurality of target signal angles, and thus there may be a plurality of target signal angles detected at the primary imaging frequency.
It should be noted that, in the actual operation process, the formula
Can be adjusted into
Only need to satisfy the formula
As much as possible equal to 0, a range can be given in which the angles are solved for.
And sequentially calculating target signal angles detected by the other detection linear arrays at respective main imaging frequencies based on the azimuth arrival angle estimation model, so as to complete multi-target signal detection and carry out final imaging.
In this embodiment, in step S4, for any one of the detector arrays, one or more target signal angles detected by the detector array at multiple secondary primary imaging frequencies of the detector array are calculated and obtained based on a total sound source signal received by the detector array, position coordinates of each array element in the detector array, multiple secondary primary imaging frequencies of the detector array, and an azimuth arrival angle estimation model (similarly, multiple target signal angles may also be detected at one secondary primary imaging frequency, and certainly, there may be no target signal angle that meets a calculation formula), and the multiple secondary primary imaging frequencies are all within a preset range above and below a center frequency of a narrowband signal corresponding to the detector array.
That is, in this embodiment, for any linear array, multiple secondary main imaging frequencies are also taken within the upper and lower preset ranges of the main imaging frequency, and the calculation of the above-mentioned direction arrival angle estimation model is repeatedly performed to calculate the target signal angle detected by the linear array at the multiple secondary main imaging frequencies (it should be noted that, when the secondary main imaging frequency is used for calculation, that is, when the secondary main imaging frequency is used for calculation, the above-mentioned formula is used for calculating the target signal angle
The values of (a) may be replaced, and the other calculation steps are consistent). The operation steps have the beneficial effects that: and an imaging frequency point is increased, and errors caused by the physical position of the array are eliminated.
After the step S4 is performed, a plurality of target signal angles can be obtained, and when the target signal angles corresponding to the plurality of target signals respectively have a certain large angular resolution (generally greater than or equal to 5 °), multi-frequency point imaging of multiple targets can be realized. If the two target signals are less than 5 °, the two target signals are considered to be the same target signal, so the step a is further included between the step S4 and the step S5:
A. and judging whether a difference value between two target signal angles between the target signal angles is smaller than a preset threshold degree, if so, determining that the two target signal angles correspond to the same target signal, and calculating the target signal based on the mean value of the two target signal angles to obtain the final corresponding target signal angle.
Finally, between step S4 and step S5, step B is further included:
B. aiming at the same detection linear array, target signals at different target signal angles received by the same detection linear array at a plurality of imaging frequencies are filtered, and the filtering processing comprises the following steps:
b1, calculating the intensity of target signals at one or more target signal angles received by the detector linear array at a primary imaging frequency and the intensity of target signals at one or more target signal angles received by the detector linear array at a secondary primary imaging frequency;
and B2, if the difference value between the intensity of the target signal at the corresponding target signal angle received at the secondary main imaging frequency and the intensity of the strongest target signal received at the main imaging frequency is larger than a preset sound intensity difference threshold value (in the embodiment, the sound intensity difference threshold value is set to be 12 dB), filtering the target signal at the corresponding target signal angle received at the secondary main imaging frequency.
The operation steps have the beneficial effects that: and interference noise is eliminated, so that the actual sound source positioning is more obvious.
The intensity of the target signal is calculated by the formula:
wherein ,
expressed at an imaging frequency of
At a received target signal angle of
The strength of the target signal.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention by those skilled in the art should fall within the protection scope of the present invention without departing from the design spirit of the present invention.
Claims (10)
1. A multi-target signal detection method based on non-uniform co-prime linear arrays is characterized by comprising the following steps:
s1, detecting a sound source total signal based on non-uniform co-prime linear arrays, and detecting narrow-band signals of different frequency bands in the sound source total signal, wherein the non-uniform co-prime linear arrays are composed of a plurality of uniform linear arrays, and the number of array elements in each uniform linear array is recorded as
,
The components are all relatively prime with each other,
representing the number of uniform linear arrays;
s2, if the number of the narrow-band signals is less than or equal to the number of the uniform linear arrays in the non-uniform co-prime linear arrays, performing the step S3, otherwise, ending the detection;
s3, selecting a plurality of uniform linear arrays with the same number as the narrow-band signals from the non-uniform co-prime linear arrays to be used as detection linear arrays for detecting multi-target signals, and adjusting the spacing between array elements in the plurality of detection linear arrays based on the wavelength of the center frequency of each narrow-band signal so as to enable the main imaging frequency of the plurality of detection linear arrays to be respectively consistent with the center frequencies of the plurality of narrow-band signals, wherein the array elements in the detection linear arraysDistance is noted as
And is and
the quality of the raw materials is relatively good,
representing the number of the detection linear arrays;
s4, establishing an azimuth arrival angle estimation model, and calculating to obtain one or more target signal angles detected by any one detection linear array at the main imaging frequency of the detection linear array based on the sound source total signal received by the detection linear array, the position coordinates of each array element in the detection linear array, the main imaging frequency of the detection linear array and the azimuth arrival angle estimation model;
and S5, completing multi-target signal detection based on target signal angles detected by the detection linear arrays at the main imaging frequency of the detection linear arrays.
2. The multi-target signal detection method based on inhomogeneous co-prime linear arrays according to claim 1, wherein in step S4, the azimuth arrival angle estimation model specifically comprises:
suppose for
The incident angles of all target signals detected by the detection linear arrays are respectively
，
Is shown as
The first detected by the detecting linear array
Individual target letterThe angle of incidence of the horn is,
representing the number of target signals, then:
wherein ,
denotes the first
The total signal of the sound source detected by each detection linear array,
a vector matrix representing each of the target signals,
denotes the first
Phase difference matrixes of all target signals in the detection linear arrays reaching all array elements,
denotes the first
Complex vector Gaussian white noise detected by the detection linear arrays;
wherein ,
is shown as
Personal examinationIn the linear array
The phase difference matrix of each target signal arriving at each array element is based on
Position coordinates of each array element in the individual detection linear array
Calculating the main imaging frequency of each detection linear array;
to the first
Covariance matrix of co-prime array of total sound source signals detected by individual detection linear array
：
wherein ,
the indication is to calculate the expected value,
which represents the conjugate transpose of the image,
，
which is indicative of the power of the noise signal,
representing an identity matrix;
to pair
Performing eigenvalue decomposition to obtain:
wherein ,
the feature vector is represented by a vector of features,
representing a feature vector;
will be provided with
Decomposing into a signal space and a noise space to obtain:
wherein ,
representing a feature vector in the signal space,
representing the feature vector in the signal space,
representing the feature vector in the noise space,
representing a feature vector in a noise space;
based on the formula
Calculated to meet the conditions
In accordance with the conditions
Is the first
The target signal angle obtained by detecting the linear array at the main imaging frequency of the linear array is detected.
3. The multi-target signal detection method based on the inhomogeneous co-prime linear array as claimed in claim 2, wherein:
wherein ,
denotes the first
A vector of the number of target signals,
indicating transposition.
4. The multi-target signal detection method based on the inhomogeneous co-prime linear array as claimed in claim 2, wherein:
wherein ,
is shown as
The first in the individual detection linear array
A target signal arrives at
The phase difference between one array element and the arrival at the first array element,
is shown as
The first in the detecting linear array
The position coordinates of the individual array elements are,
denotes the first
The number of array elements in each detection linear array,
，
which is indicative of the speed of sound,
is shown as
The main imaging frequency of each detection linear array.
5. The method as claimed in claim 4, wherein in step S4, for any linear array, the one or more target signal angles detected by the linear array at the plurality of secondary primary imaging frequencies are calculated based on the total sound source signal received by the linear array, the position coordinates of each array element in the linear array, the plurality of secondary primary imaging frequencies of the linear array, and the azimuth arrival angle estimation model, and the plurality of secondary primary imaging frequencies are all within a preset range above and below the center frequency of the narrowband signal corresponding to the linear array.
6. The method as claimed in claim 5, wherein between step S4 and step S5, the method further comprises step B:
B. aiming at the same detection linear array, filtering target signals at different target signal angles received by the same detection linear array at a plurality of imaging frequencies, wherein the filtering processing comprises the following steps:
b1, calculating the intensity of target signals at one or more target signal angles received by the detector linear array at a primary imaging frequency and the intensity of target signals at one or more target signal angles received by the detector linear array at a secondary primary imaging frequency;
and B2, if the difference value between the intensity of the target signal at the corresponding target signal angle received at the secondary main imaging frequency and the intensity of the strongest target signal received at the main imaging frequency is larger than a preset sound intensity difference threshold value, filtering the target signal at the corresponding target signal angle received at the secondary main imaging frequency.
7. The method as claimed in claim 6, wherein the calculation formula of the target signal strength is as follows:
wherein ,
expressed at an imaging frequency of
At a received target signal angle of
The strength of the target signal.
8. The method for detecting the multi-target signals based on the non-uniform co-prime linear arrays as claimed in claim 1, wherein a step A is further included between the step S4 and the step S5:
A. and judging whether a difference value between two target signal angles between the target signal angles is smaller than a preset threshold degree, if so, determining that the two target signal angles correspond to the same target signal, and calculating the target signal based on the mean value of the two target signal angles to obtain the final corresponding target signal angle.
9. The method as claimed in claim 8, wherein the predetermined threshold degree is 5 °.
10. The method as claimed in claim 1, wherein in step S3, the spacing between array elements in the linear array is half the wavelength of the center frequency of the corresponding narrowband signal.
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