CN115856853A - Vector array-based broadband moving target multi-parameter joint estimation method - Google Patents
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Abstract
The invention belongs to the technical field of underwater acoustic vector signal processing, and particularly relates to a broadband moving target multi-parameter joint estimation method based on a vector array. The method comprises the steps of carrying out sub-band division on noise-containing target broadband sound pressure and vibration velocity signals received by a vector vertical array to construct a sound field interference structure containing target parameter information; reflecting the interference structure on a time-space domain through vector beam forming, and extracting the interference structure and a vertical arrival angle; combining the interference structure and the vertical arrival angle, and realizing the estimation of the target depth according to the zero periodicity characteristic of the interference structure; and performing cross correlation on the sound pressure vibration velocity signals received by the vector hydrophone to construct sound pressure vibration velocity cross correlation velocity interference fringes, and resolving the velocity parameters according to the characteristic that the fringes contain physical quantities. The method utilizes the vector vertical array to realize the acquisition of the target excitation sound field interference structure and the target vertical arrival angle, and is suitable for the fields of remote early warning, target detection and the like of underwater targets.
Description
Technical Field
The invention belongs to the technical field of underwater acoustic vector signal processing, and particularly relates to a broadband moving target multi-parameter joint estimation method based on a vector array.
Background
The problem of parameter estimation of targets is an important research direction for underwater target detection. Passive detection has better concealment than active detection. In deep sea environments, a variety of acoustic propagation channels are involved, wherein a reliable acoustic path has the advantages of long propagation distance, stable channel, and low ambient noise level. Compared with the traditional sound pressure hydrophone, the single-vector hydrophone can simultaneously obtain sound pressure and vibration velocity information and has a certain inhibition effect on isotropic noise; the acoustic vector array based on the vector hydrophone organically combines the spatial orientation resolution capability and the noise suppression capability of the vector sensor with the array spatial resolution capability, greatly expands the signal processing space, and has better orientation estimation and noise suppression capability compared with a single sound pressure array.
Document 1 ("Performance metrics for depth-based signal separation using deep vertical line arrays", the Journal of The acoustic reception of America 139,418-425 (2016)) proposes The use of a vertical array placed near a critical depth to receive sound field information from a target near The sea surface that propagates through a reliable acoustic path. The estimation of the target depth is realized by outputting the periodic interference structure characteristics between the energy and the vertical arrival angle obtained by the received narrow-band sound pressure signal beam. The method ignores the underwater change of the sound velocity, and does not consider the influence of noise on the method.
Document 2 ("Source localization by matching sound sensitivity with a vertical array in The deep ocean", the Journal of The acoustic perception of America 146, EL477-EL481 (2019)) proposes a method for realizing broadband sound Source localization by using an asynchronous vertical array under a reliable sound path, and realizes The localization of a target position by copying a sound intensity matrix and constructing a cost function. The method needs more accurate marine environment parameters to realize more accurate model construction, and has higher requirement on prior information.
Vector hydrophones can simultaneously receive sound pressure and vibration velocity components in a sound field, and compared with scalar hydrophones, the vector hydrophones can obtain multi-dimensional sound field information. Under the deep sea environment, the sound waves excited by the target near the sea surface can be transmitted to the sea bottom through a direct wave zone or a reliable sound path, and the device has the characteristics of small transmission loss, stable transmission characteristics and the like.
Document 3 ("Passive broadband depth estimation in The deep acoustic using a single vector sensor", the Journal of The acoustic reception of America 148, EL88-EL92 (2020)) proposes a method for achieving depth estimation of a target in a deep-sea direct sound area using an interference structure between The frequency and grazing angle of a broadband sound field. The method can realize the estimation of the target depth under the condition of less prior information, but only considers the propagation of the sound ray under the condition of equal sound velocity and fails to consider the bending of the sound ray under the influence of the sound velocity.
Document 4 ("Analysis on the probabilistic of Cross-Correlated Field and Its positional Application on Source Localization in Deep Water". J.Compout.Acoust.2017, 25 (2) ") proposes a method of estimating the velocity of a target object in broadband. According to the method, a sound pressure signal received by a single hydrophone is utilized, a sound pressure radial velocity interference structure is constructed through the spatial cross correlation of sound pressure, and the estimation of the target movement velocity is realized through Fourier transform based on the structure. The method does not consider the influence of noise on the sound pressure radial velocity interference fringe structure and the velocity estimation result.
Disclosure of Invention
The invention aims to provide a broadband moving target multi-parameter joint estimation method based on a vector array.
A broadband moving target multi-parameter joint estimation method based on a vector array comprises the following steps:
step 1: receiving a noise-containing sound pressure signal, a horizontal vibration velocity signal and a vertical vibration velocity signal of an offshore surface broadband target transmitted through a reliable sound path by using a vector vertical array distributed near a critical depth;
step 2: carrying out sub-band decomposition on the received broadband sound pressure signal and the broadband vibration velocity signal, and dividing the signals into a certain number of narrow-band signals;
and 3, step 3: respectively carrying out sound pressure and vibration velocity combined beam forming on the divided narrow-band sound pressure signals and vibration velocity signals to obtain a sound pressure and vibration velocity combined output beam interference structure cloud picture corresponding to each narrow-band signal;
and 4, step 4: performing structure extraction according to the sound pressure vibration velocity joint output beam interference structure cloud picture corresponding to each narrow-band signal to obtain a sound pressure vibration velocity joint output beam interference structure;
and 5: performing structure extraction according to the sound pressure vibration velocity corresponding to each narrow-band signal and the output beam interference structure cloud picture to obtain a target vertical arrival angle curve;
step 6: combining the sound pressure and vibration velocity to output a beam interference structure and a target vertical arrival angle curve, and realizing the estimation of a target depth parameter according to the characteristics contained in the interference structure;
and 7: performing cross correlation on a sound pressure signal and a vibration velocity signal received by any one vector hydrophone to obtain a sound pressure vibration velocity cross correlation velocity interference fringe;
and 8: and carrying out Fourier-like transformation on the sound pressure vibration velocity combined velocity interference fringes along the frequency direction, and transforming the interference fringes from a time-frequency domain to a time-velocity domain to realize the estimation of the target velocity.
Further, step 3 specifically comprises:
the sound pressure vibration velocity signals received for a vector vertical array can be respectively expressed as:
x(t)＝a(θ s )s(t)+noise x (t)
x vx (t)＝x(t)cosθ s ＝a(θ s )s(t)cosθ s +noise vr (t)
x vy (t)＝x(t)sinθ s ＝a(θ s )S(T)sinθ s +noise vz (t)
wherein, theta s Representing a target vertical angle of arrival; s (t) represents a target signal; noise (t) represents the noise received by each channel;
combining the horizontal vibration velocity and the vertical vibration velocity channels received by the vector vertical array to obtain a new combined vibration velocity signal:
v c (t)＝x vx (t)cosθ+x vy (t)sinθ＝a(θ s )s(t)cos(θ-θ s )
adding the sound pressure signal and the combined vibration velocity signal to obtain the following combined quantity:
x(t)+v c (t)＝a(θ s )s(t)(1+cos(θ-θ s ))
(x + v) processed by sound pressure and vibration velocity c )v c The vector beamforming beam output power is:
wherein, P CBF (θ) conventional beamforming beam output power for a scalar acoustic pressure array;
according to the virtual source theory, the sound pressure vibration velocity signal received at a certain point in space can be expressed as:
v r (t,z,ω)＝p(t,z,ω)·cosθ s (t)
v z (t,z,ω)＝p(t,z,ω)·sinθ s (t)
for given (p + v) c )v c Combining the vector beam outputs, the interference structure of which can be expressed as:
B(ω,sinθ s (t))＝2|S(ω)| 2 A 2 (1-cos(2kz s sinθ s (t)))。
further, step 6 specifically includes:
the sound pressure vibration velocity is combined with the output beam interference structure and the vertical arrival angle, and the structure has obvious relation, and the periodicity of the zero point of the interference structure is represented as follows:
2kz s Δsinθ s-zero (t)＝2π
the relationship between the target depth parameter and the zero point of the interference period is expressed as:
wherein c is a reference sound velocity; f is the frequency of the target sound source and the zero difference delta sin theta of the interference period s-zero And (t) giving the acoustic pressure vibration velocity space period interference modulation structure and the target vertical arrival angle curve after combination.
Further, step 7 specifically comprises:
the sound pressure signal and the vibration velocity signal are mutually correlated to obtain
Taking a real part to obtain:
ΔR(t)＝R 0 (t+Δt)-R 0 (t)
the relationship between radial velocity and radial distance is expressed as:
ΔR(t)＝v(t)Δt
if the sound pressure vibration velocity cross-correlation velocity interference fringe oscillation period oscillation term satisfies the relation k Δ R (t) =2 pi, the estimated value of the radial velocity is expressed as:
further, step 8 specifically comprises:
the sound pressure vibration velocity cross-correlation velocity interference fringe is specifically expressed as a Fourier transform function along the frequency:
where k is a wave number, P represents an integral point number, Δ f (P) = f (P) -f (P-1).
The invention has the beneficial effects that:
the method utilizes the vector vertical array to realize the acquisition of the interference structure of the target excitation sound field and the vertical arrival angle of the target without accurately acquiring marine environment parameters; the vector hydrophone technology and the array signal processing technology are combined, compared with the traditional sound pressure array, the signal processing space is expanded, and the isotropic noise suppression capability is better; compared with a single-vector hydrophone, the vector array makes full use of sound field information, and has great advantages in the aspects of space gain and detection distance. The invention is suitable for the fields of remote early warning, target detection and the like of underwater targets.
Drawings
FIG. 1 is a flow chart of the present invention.
FIG. 2 is a schematic diagram of a vector vertical array and the spatial location of an object.
FIG. 3 is a schematic diagram of the moving state of the target
Fig. 4 is a graph of acoustic pressure vibration velocity in combination with an output beam interference structure and a vertical angle of arrival.
Fig. 5 is a sound pressure vibration velocity joint output beam interference structure-vertical angle of arrival joint diagram.
Fig. 6 is a graph of acoustic pressure vibration velocity cross-correlation velocity interference fringes.
FIG. 7 is a radial velocity estimation comparison.
FIG. 8 is a comparison diagram of the output interference structure of the acoustic pressure array and the vector vertical array.
Fig. 9 is a table of estimating the depth of the interference structure of the acoustic pressure and vibration velocity in combination with the output beam.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention aims to receive target excitation sound field information by adopting an array formed by vector hydrophones, reflect interference structure characteristics between direct waves and sea surface reflected waves in a received sound field into a space-time domain by a beam forming method, and realize the estimation of target depth parameters based on the relation between the interference structure characteristics and target depth. Considering that the target signal is a broadband signal, the method performs a corresponding processing method on the received broadband signal to match the depth estimation method. Because the broadband receiving signal has richer target parameters, the sound pressure vibration velocity signal is utilized to construct the sound pressure vibration velocity cross-correlation velocity interference fringe, and the target velocity parameter is estimated based on the physical structure characteristics of the fringe. The method considers the influence of certain noise and has better practical application prospect in engineering.
The method comprises the following steps: the vector vertical array is arranged near the critical depth under the deep sea waveguide environment, and receives the sound pressure signal p (r, omega, t) containing noise of the offshore surface broadband target and the horizontal vibration velocity signal v which are propagated through a reliable sound path r (r, ω, t) and vertical vibration velocity signal v z (r,ω,t)。
Step two: carrying out sub-band decomposition on the received broadband sound pressure signal and the broadband vibration velocity signal, and dividing the signals into a certain number of narrow-band signals;
s (t) is a wideband signal, which is converted from the time domain to the frequency domain, i.e., S (f). Dividing S (f) into L narrow band signal sub-bands, wherein the center frequency of the ith narrow band signal sub-band is f l 。
Step three: respectively carrying out sound pressure and vibration velocity combined beam forming on the divided narrow-band sound pressure signals and vibration velocity signals to obtain a sound pressure and vibration velocity combined output beam interference structure cloud picture corresponding to each narrow-band signal;
the sound pressure vibration velocity signals received for a vector vertical array can be respectively expressed as:
x(t)＝a(θ s )s(t)+noise x (t)
x vx (t)＝x(t)cosθ s ＝a(θ s )s(t)cosθ s +noise vr (t)
x vy (t)＝x(t)sinθ s ＝a(θ s )s(t)sinθ s +noise vz (t)
wherein, theta s Representing the target vertical angle of arrival, s (t) representing the target signal, noise (t) representing the noise received by each channel.
For ease of analysis, the following analysis ignores the noise term. Combining the horizontal vibration velocity and the vertical vibration velocity channels received by the vector vertical array to obtain a new combined vibration velocity signal:
v c (t)＝x vx (t)cosθ+x vy (t)sinθ＝a(θ s )s(t)cos(θ-θ s )
the sound pressure signal and the combined vibration velocity signal are added to obtain the following combined quantity:
x(t)+v c (t)＝a(θ s )s(t)(1+cos(θ-θ s ))
(x + v) processed by sound pressure and vibration velocity c )v c The vector beamforming beam output power is:
wherein, P CBF (θ) conventional beamforming beam output power for scalar acoustic pressure array:
according to the virtual source theory, the sound pressure vibration velocity signal received at a certain point in space can be expressed as:
v r (t,z,ω)＝p(t,z,ω)·cosθ s (t)
v z (t,z,ω)＝p(t,z,ω)·sinθ s (t)
for a given (p + v) c )v c Combining the vector beam outputs, the interference structure of which can be expressed as:
B(ω,sinθ s (t))＝2|S(ω)| 2 A 2 (1-cos(2kz s sinθ s (t)))
step four: performing structure extraction according to the sound pressure vibration velocity joint output beam interference structure cloud picture corresponding to each narrow-band signal to obtain a sound pressure vibration velocity joint output beam interference structure;
step five: performing structure extraction according to the sound pressure vibration velocity corresponding to each narrow-band signal and the output beam interference structure cloud picture to obtain a target vertical arrival angle curve;
step six: combining the sound pressure and vibration velocity to output a beam interference structure and a target vertical arrival angle curve, and realizing the estimation of a target depth parameter according to the characteristics contained in the interference structure;
the sound pressure vibration velocity is combined with the output beam interference structure and the vertical arrival angle to have obvious structural relation, and the periodicity of the zero point of the interference structure can be expressed as
2kz s Δsinθ s-z (t)＝2π
The relationship between the target depth parameter and the zero point of the interference period can be expressed as
Wherein c is a reference sound velocity, f is a target sound source frequency, and the interference period zero difference delta sin theta is s-zero And (t) can be given by combining a sound pressure vibration velocity space period interference modulation structure and a target vertical arrival angle curve.
Step seven: carrying out cross correlation on a sound pressure signal and a vibration velocity signal received by any one vector hydrophone to obtain a sound pressure vibration velocity cross correlation velocity interference fringe;
the sound pressure corresponding to the time t and the horizontal vibration velocity corresponding to the time t + delta t can be obtained by neglecting time factors according to the sound pressure signal and vibration velocity signal expressions in the third step
If Δ t is small, then
sin(kz s sinθ s (t))≈sin(kz s sinθ s (t+Δt))
The sound pressure vibration velocity is cross-correlated:
taking the real part to obtain
ΔR(t)＝R 0 (t+Δt)-R 0 (t)
The relationship between radial velocity and radial distance may be expressed as
ΔR(t)＝v(t)Δt
If the sound pressure vibration velocity cross-correlation velocity interference fringe oscillation period oscillation term satisfies the relation k delta R (t) =2 pi, the estimated value of the radial velocity can be expressed as
Step eight: and carrying out Fourier-like transformation on the sound pressure vibration velocity combined velocity interference fringes along the frequency direction, and transforming the interference fringes from a time-frequency domain to a time-velocity domain to realize the estimation of the target velocity.
The sound pressure vibration velocity cross-correlation velocity interference fringe is specifically expressed as a Fourier transform function along the frequency:
where k is a wave number, P represents an integral point number, and Δ f has the following relationship
Δf(p)＝f(p)-f(p-1)
The invention realizes the combined estimation of the depth parameter estimation and the motion speed parameter of the moving target. Sub-band division is carried out on the noise-containing target broadband sound pressure and vibration velocity signals received by the vector vertical array to construct a sound field interference structure containing target parameter information; reflecting the interference structure on a time-space domain through vector beam forming, and extracting the interference structure and a vertical arrival angle; combining the interference structure and the vertical arrival angle, and realizing the estimation of the target depth according to the zero periodicity characteristic of the interference structure; and performing cross correlation on the sound pressure vibration velocity signals received by the vector hydrophone to construct sound pressure vibration velocity cross correlation velocity interference fringes, and resolving the velocity parameters according to the characteristic that the fringes contain physical quantities. The invention is further described below by means of simulation experiments.
The parameters are set as follows: the depth of a first array element of the vector vertical array is 4600m, a target signal with frequency band distribution of 50-100 Hz is transmitted to the vector vertical array from a far field through a reliable sound path, the target depth is 100m, the signal sampling frequency is 1kHz, the total sampling time is 600s, and Gaussian white noise with the signal-to-noise ratio of 0dB is added in the frequency band of 50 Hz-150 Hz. In addition, a comparison result of the output beam interference structures of the vector array and the sound pressure array when Gaussian white noise with the signal-to-noise ratio of-10 dB is added is also provided.
It can be seen from the above simulation example that the invention can achieve the acquisition of the sound field interference structure and the vertical arrival angle under a lower signal-to-noise ratio, the sound pressure vibration velocity joint output beam interference structure and the vertical arrival angle curve are shown in fig. 4, the sound pressure vibration velocity joint output beam interference structure-vertical arrival angle joint are shown in fig. 5, the target depth estimation result is shown in fig. 9, the sound pressure vibration velocity cross-correlation velocity interference fringes are shown in fig. 6, the radial velocity estimation result is shown in fig. 7, and the pair of the sound pressure array and the vector vertical array output interference structure is shown in fig. 8. Simulation experiments show that the method can better realize the joint estimation of the target depth parameter and the speed parameter, and compared with a sound pressure array, the vector vertical array has a better noise suppression effect.
The method utilizes the vector vertical array to realize the acquisition of the interference structure of the target excitation sound field and the vertical arrival angle of the target without accurately acquiring marine environment parameters; the vector hydrophone technology and the array signal processing technology are combined, compared with the traditional sound pressure array, the signal processing space is expanded, and the isotropic noise suppression capability is better; compared with a single-vector hydrophone, the vector array makes full use of sound field information, and has great advantages in the aspects of space gain and detection distance. The invention is suitable for the fields of remote early warning, target detection and the like of underwater targets.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A broadband moving target multi-parameter joint estimation method based on a vector array is characterized by comprising the following steps:
step 1: receiving a noise-containing sound pressure signal, a horizontal vibration velocity signal and a vertical vibration velocity signal of an offshore surface broadband target which are transmitted through a reliable sound path by using a vector vertical array distributed near a critical depth;
and 2, step: carrying out sub-band decomposition on the received broadband sound pressure signal and the broadband vibration velocity signal, and dividing the signals into a certain number of narrow-band signals;
and 3, step 3: respectively carrying out sound pressure and vibration velocity combined beam forming on the divided narrow-band sound pressure signals and vibration velocity signals to obtain a sound pressure and vibration velocity combined output beam interference structure cloud picture corresponding to each narrow-band signal;
and 4, step 4: performing structure extraction according to the sound pressure vibration velocity joint output beam interference structure cloud picture corresponding to each narrow-band signal to obtain a sound pressure vibration velocity joint output beam interference structure;
and 5: performing structure extraction according to the sound pressure vibration velocity corresponding to each narrow-band signal and the output beam interference structure cloud picture to obtain a target vertical arrival angle curve;
and 6: combining the sound pressure and vibration velocity to output a beam interference structure and a target vertical arrival angle curve, and realizing the estimation of a target depth parameter according to the characteristics contained in the interference structure;
and 7: performing cross correlation on a sound pressure signal and a vibration velocity signal received by any one vector hydrophone to obtain a sound pressure vibration velocity cross correlation velocity interference fringe;
and 8: and carrying out Fourier-like transformation on the sound pressure vibration velocity combined velocity interference fringes along the frequency direction, and transforming the interference fringes from a time-frequency domain to a time-velocity domain to realize the estimation of the target velocity.
2. The method for the multi-parameter joint estimation of the broadband moving object based on the vector array as claimed in claim 1, wherein: the step 3 specifically comprises the following steps:
the sound pressure vibration velocity signals received for one vector vertical array can be respectively expressed as:
x(t)＝a(θ s )s(t)+noise x (t)
x vx (t)＝x(t)cosθ s ＝a(θ s )s(t)cosθ s +noise vr (t)
x vy (t)＝x(t)sinθ s ＝a(θ s )s(t)sinθ s +noise vz (t)
wherein, theta s Representing a target vertical angle of arrival; s (t) represents a target signal; noise (t) represents the noise received by each channel;
combining the horizontal vibration velocity and the vertical vibration velocity channels received by the vector vertical array to obtain a new combined vibration velocity signal:
v c (t)＝x vx (t)cosθ+x vy (t)sinθ＝a(θ s )s(t)cos(θ-θ s )
adding the sound pressure signal and the combined vibration velocity signal to obtain the following combined quantity:
x(t)+v c (t)＝a(θ s )s(t)(1+cos(θ-θ s ))
(x + v) processed by sound pressure and vibration velocity c )v c The vector beamforming beam output power is:
wherein, P CBF (θ) conventional beamforming beam output power for a scalar acoustic pressure array;
according to the virtual source theory, the sound pressure vibration velocity signal received at a certain point in space can be expressed as:
v r (t,z,ω)＝p(t,z,ω)·cosθ s (t)
v z (t,z,ω)＝p(t,z,ω)·sinθ s (t)
for given (p + v) c )v c Combining the vector beam outputs, the interference structure of which can be expressed as:
B(ω,sinθ s (t))＝2|S(ω)| 2 A 2 (1-cos(2kz s sinθ s (t)))。
3. the method for the multi-parameter joint estimation of the broadband moving object based on the vector array as claimed in claim 1, wherein: the step 6 specifically comprises the following steps:
the sound pressure vibration velocity is combined with the output beam interference structure and the vertical arrival angle, and the structure has obvious relation, and the periodicity of the zero point of the interference structure is represented as follows:
2kz s Δsinθ s-zer (t)＝2π
the relationship between the target depth parameter and the zero point of the interference period is expressed as:
wherein c is a reference sound velocity; f is the frequency of the target sound source, and the interference period zero difference delta sin theta of the target sound source s-zer And (t) is given by combining the sound pressure vibration velocity space period interference modulation structure and a target vertical arrival angle curve.
4. The method for jointly estimating the multiple parameters of the broadband moving object based on the vector matrix as claimed in claim 2, wherein: the step 7 specifically comprises the following steps:
the sound pressure signal and the vibration velocity signal are obtained by cross-correlation
Taking a real part to obtain:
ΔR(t)＝R 0 (t+Δt)-R 0 (t)
the relationship between radial velocity and radial distance is expressed as:
ΔR(t)＝v(t)Δt
if the sound pressure vibration velocity cross-correlation velocity interference fringe oscillation period oscillation term satisfies the relation k Δ R (t) =2 pi, the estimated value of the radial velocity is expressed as:
5. the method of claim 4, wherein the method comprises the following steps: the step 8 specifically comprises the following steps:
the sound pressure vibration velocity cross-correlation velocity interference fringe is specifically expressed as a Fourier transform function along the frequency:
where k is a wave number, P represents an integral point number, Δ f (P) = f (P) -f (P-1).
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