CN115902853B - Synthetic receiving aperture focusing beam forming method suitable for high-speed submarine surveying and mapping - Google Patents

Synthetic receiving aperture focusing beam forming method suitable for high-speed submarine surveying and mapping Download PDF

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CN115902853B
CN115902853B CN202310219538.0A CN202310219538A CN115902853B CN 115902853 B CN115902853 B CN 115902853B CN 202310219538 A CN202310219538 A CN 202310219538A CN 115902853 B CN115902853 B CN 115902853B
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receiving
signals
signal
matrix
beam forming
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CN115902853A (en
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孟祥健
郭新新
沈斌坚
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Institute of Deep Sea Science and Engineering of CAS
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Abstract

The invention provides a synthetic receiving aperture focusing beam forming method suitable for high-speed submarine surveying and mapping, which comprises the following steps: s1, establishing 5 groups of receiving matrixes consisting of 2E-1 receiving primitives, and simultaneously establishing a scattering point set; s2, carrying out analog/digital sampling through a receiving matrix to obtain a scattering point digital sampling signal, and carrying out FFT processing on the scattering point digital sampling signal to obtain a scattering point time domain signal; s3, based on the scattering point time domain signals, response signals of M rows of scattering points in any receiving primitive are obtained; s4, summing the response signals of all the received primitives to obtain a frequency domain model of the output signals of the received primitives and the received matrix signals; s5, carrying out beam forming of the receiving matrix output signals based on the receiving matrix output signals; s6, based on beam forming of the output signals of the receiving matrixes, the number of combinations of different receiving matrixes is selected according to the beam coverage condition of each area to perform synthetic receiving aperture focusing beam forming.

Description

Synthetic receiving aperture focusing beam forming method suitable for high-speed submarine surveying and mapping
Technical Field
The invention relates to the technical field of submarine surveying and mapping, in particular to a synthetic receiving aperture focusing beam forming method suitable for high-speed submarine surveying and mapping.
Background
The existing side-scan sonar technology at present comprises a single-beam side-scan sonar technology (comprising a double-frequency side-scan sonar technology), a synthetic aperture side-scan sonar technology (comprising a multi-subarray synthetic aperture side-scan sonar technology), a multi-pulse side-scan sonar technology and a multi-beam side-scan sonar technology, the traditional single-beam side-scan sonar has a low surveying speed, can only be kept at about 2-4 knots, then the resolution along a flight path gradually decreases along with the increase of the surveying distance, in other words, the imaging resolution is lower at a place where the surveying distance of the single-beam side-scan sonar is farther;
the dual-frequency side-scan sonar technology does not solve the problem of surveying and mapping navigational speed, but can realize higher imaging resolution by using high-frequency band signals at a close distance, and the low-frequency band can expand a surveying and mapping distance further;
the underwater acoustic transducer of the conventional synthetic aperture side-scan sonar technology adopts a single receiving channel mode, so that the underwater acoustic transducer cannot realize a high-speed imaging function, and has the advantages that a plurality of navigation points receive data to be synthesized into a virtual long-aperture array so as to obtain a narrower horizontal beam width, and the resolution of the underwater acoustic transducer along a track is improved. The current advanced multi-subarray synthetic aperture side-scan sonar can improve the surveying and mapping navigational speed to a certain extent, but inherits the disadvantages of the synthetic aperture (the surveying and mapping precision is obviously affected by navigation gestures, the imaging effect is poor under the condition of non-ideal sea conditions), and the related technical products are less on the market, and the actual effect is not known;
the multipulse side-scan sonar technology continuously transmits detection signals of a plurality of different frequency bands in a single mapping period, and utilizes the different beam widths of sound waves of different frequencies to realize the resolution capability of progressive layer-by-layer wide imaging, which can realize the high navigational speed mapping capability. However, this method of detecting divided frequency bands reduces the frequency bandwidth of each set of acoustic signals to some extent, thus sacrificing the distance resolution of the detected signals, resulting in poor final imaging results.
Disclosure of Invention
The invention aims to provide a synthetic receiving aperture focusing beam forming method suitable for high-speed submarine surveying and mapping, which can obtain a high-precision submarine imaging result under the condition of high navigational speed so as to solve the problems in the background technology.
The invention is realized by the following technical scheme: a synthetic receive aperture focused beam forming method suitable for high-speed undersea mapping, comprising the steps of:
s1, establishing 5 groups of receiving matrixes formed by 2E-1 receiving primitives, establishing a polar coordinate system in a two-dimensional imaging plane by taking any receiving primitive as an origin, and simultaneously establishing
Figure SMS_1
Go->
Figure SMS_2
Scattering point set of columns->
Figure SMS_3
Wherein 2E-1 represents the number of the reception primitives;
s2, carrying out analog/digital sampling through a receiving matrix to obtain a scattering point digital sampling signal, and carrying out FFT processing on the scattering point digital sampling signal to obtain a scattering point time domain signal;
s3, based on the scattering point time domain signals, response signals of M rows of scattering points in any receiving primitive are obtained;
s4, summing the response signals of all the received primitives to obtain output signals of the received primitives, and obtaining a frequency domain model of the received matrix signals based on the output signals of the received primitives;
s5, carrying out beam forming of the receiving matrix output signals based on the receiving matrix output signals;
s6, forming beams based on output signals of the receiving matrixes, dividing a single-frame imaging plane into areas according to radial installation positions of the receiving matrixes and the width of a main horizontal beam lobe, and selecting the number of combinations of different receiving matrixes according to the beam coverage condition of each area to form the synthetic receiving aperture focusing beams.
Optionally, the receiving matrix performs analog/digital sampling, and the obtaining a scattering point digital sampling signal is:
Figure SMS_4
in the formula->
Figure SMS_5
For inputting analog signals, < >>
Figure SMS_6
For the center frequency +.>
Figure SMS_7
Is periodic.
Optionally, based on the time domain signal of the scattering point, a response signal of M rows of scattering points in any receiving element is obtained, where a matrix form of the response signal is:
Figure SMS_8
in the method, in the process of the invention,
Figure SMS_9
for responding to the signal +.>
Figure SMS_10
Is->
Figure SMS_11
Single pass phase shift of the incident signal at each scattering point to any receiving element,/for>
Figure SMS_12
For each scattering point, acting on the phase difference between the response component of the respective received element and the reference element,/for each scattering point>
Figure SMS_13
Time domain signal representing each scattering point, +.>
Figure SMS_14
Representing noise signal, symbol->
Figure SMS_15
Is the Hadamard product.
Optionally, the output signal of the received primitive is obtained based on the response signal of the received primitive, and
Figure SMS_16
the group scattering point incidence signals are overlapped to obtain receiving matrix output signals, and the method specifically comprises the following steps: response signal to each received primitive->
Figure SMS_17
Each row vector in the array is summed to obtain any receiving element outputSignal:
Figure SMS_18
in the formula->
Figure SMS_19
Time-domain signal for scattering points, < >>
Figure SMS_20
Representing a noise signal;
will be
Figure SMS_21
After the incident signals of the group scattering points are overlapped, the total output signal of the receiving element can be expressed as:
Figure SMS_22
the frequency domain model of the 5 sets of receiving matrix signals is as follows:
Figure SMS_23
where e is a constant.
Optionally, based on the received matrix output signal, beam forming of the received matrix output signal is performed by:
Figure SMS_24
in the formula->
Figure SMS_25
Representation->
Figure SMS_26
Single pass phase shift of the incident signal at each scattering point to either receiving matrix,/for each receiving matrix>
Figure SMS_27
Representing the phase difference between the response component of each scattering point acting on the respective receive matrix and the reference matrix.
Optionally, in the region formed in step S5If any region can be covered simultaneously by acoustic beams of w receive arrays, the synthetic receive aperture focused beam forming for that region is obtained by:
Figure SMS_28
。
optionally, the synthetic receive aperture focused beamformed frequency domain signal is converted to a time domain signal by:
Figure SMS_29
and summing the discrete point values of the time signals to obtain map color information of the designated imaging position.
Compared with the prior art, the invention has the following beneficial effects:
the synthetic receiving aperture focused beam forming method suitable for high-speed submarine mapping provided by the invention is based on beam forming of receiving array output signals, and carries out region division on a single-frame imaging plane according to radial installation positions of each receiving array and the width of a horizontal beam main lobe, and carries out synthetic receiving aperture focused beam forming according to the number of combinations of different receiving arrays selected according to the beam coverage condition of each region, and high-precision submarine image acquisition under the high-speed condition is realized by the constructed synthetic receiving aperture focused beam forming.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only preferred embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a synthetic receive aperture focused beam forming method for high-speed seafloor mapping provided by the invention;
FIG. 2 is a schematic block diagram of a synthetic receive aperture focused beam forming method provided by the present invention;
FIG. 3 is a schematic view of area division provided by the present invention;
fig. 4 is a schematic diagram of a two-level beam forming framework provided by the present invention;
FIG. 5 is a schematic view of scattering points of a single-frame imaging simulation environment provided by the invention;
FIG. 6 is a schematic diagram of simulation results of a conventional beamforming method;
fig. 7 is a schematic diagram of simulation results of a beam forming method according to the present invention;
FIG. 8 is a schematic view of modeling of the seafloor topography provided by the present invention;
FIG. 9 is a schematic diagram of single beam mapping simulation results at low navigational speeds;
FIG. 10 is a schematic illustration of single beam mapping simulation results at high navigational speeds;
FIG. 11 is a schematic diagram of simulated mapping results of a beam forming method according to the present invention;
fig. 12 shows response signal components applied to respective received primitives according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present invention and not all embodiments of the present invention, and it should be understood that the present invention is not limited by the example embodiments described herein. Based on the embodiments of the invention described in the present application, all other embodiments that a person skilled in the art would have without inventive effort shall fall within the scope of the invention.
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
It should be understood that the present invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.
In order to provide a thorough understanding of the present invention, detailed structures will be presented in the following description in order to illustrate the technical solutions presented by the present invention. Alternative embodiments of the invention are described in detail below, however, the invention may have other implementations in addition to these detailed descriptions.
Referring to fig. 1-2, a synthetic receive aperture focused beam forming method suitable for high-speed undersea mapping, comprising the steps of:
s1, establishing 5 groups of receiving matrixes formed by 2E-1 receiving primitives, establishing a polar coordinate system in a two-dimensional imaging plane by taking any receiving primitive as an origin, and simultaneously establishing
Figure SMS_30
Go->
Figure SMS_31
Scattering point set of columns->
Figure SMS_32
；
The 5 groups of the receiving array constructed by the application comprises2E-1 received primitives, the specific number of which is 895, are selected according to the received primitives
Figure SMS_33
As an origin, a polar coordinate system is established in a two-dimensional imaging plane, and when mapping is performed, the seabed is used as a special acoustic detection target, and innumerable acoustic scattering points can be formed under the radiation action of a transmission signal, so that the design accords with imaging logic>
Figure SMS_34
Go->
Figure SMS_35
Scattering point set of columns->
Figure SMS_36
。
S2, carrying out analog/digital sampling through a receiving matrix to obtain a scattering point digital sampling signal, and carrying out FFT processing on the scattering point digital sampling signal to obtain a scattering point time domain signal;
in step S2, analog/digital sampling is performed at a center frequency 4 times as high as the shannon sampling theorem
Figure SMS_37
According to the Fourier transform theorem, the efficiency of the fast Fourier transform is related to the length of the digital sequence, and in order to improve the operation efficiency, each group of digital sequences is divided into m sections of time domain short sequences with equal length->
Figure SMS_38
Due to the broadband signal (">
Figure SMS_39
) Cannot be approximated to a single center frequency +.>
Figure SMS_40
Processing, classical subband decomposition methods typically perform a fast fourier transform (++) on the time-domain wideband signal>
Figure SMS_41
FFT for short), uniformly decomposing the FFT into a plurality of narrow-band frequency components in a frequency domain, and then performing phase shift compensation treatment according to an array flow pattern
Figure SMS_42
) Finally, a scattering point time domain signal is obtained.
S3, based on the scattering point time domain signals, response signals of M rows of scattering points in any receiving primitive are obtained.
Assuming that the single-pass propagation path is considered and propagation loss is not taken into account, is located at
Figure SMS_43
Scattering points at->
Figure SMS_44
The incident signal is +.>
Figure SMS_45
Then it acts on the receive primitive +.>
Figure SMS_46
The response signal of (2) can be expressed as:
Figure SMS_47
wherein the method comprises the steps of
Figure SMS_48
Is a scattering point->
Figure SMS_49
And receive matrix->
Figure SMS_50
Propagation delay between>
Figure SMS_51
。/>
According to the half-wavelength array principle, the distance between adjacent receiving elements
Figure SMS_52
. If each receiving element is omni-directional and the sensitivity is the same, then either receiving element +.>
Figure SMS_53
And reference center->
Figure SMS_54
Can be expressed as the radial dimension of
Figure SMS_55
Therefore scattering point->
Figure SMS_56
Acting on the receiving matrix>
Figure SMS_57
The response signal of (2) is recorded as:
Figure SMS_58
scattering point
Figure SMS_59
Incident signal reaching the receiving element->
Figure SMS_60
And receive primitive->
Figure SMS_61
Acoustic Cheng Shiyan difference:
Figure SMS_62
in which the primitives are arrived and received
Figure SMS_63
The sound path calculation formula is as follows:
Figure SMS_64
thus, the first
Figure SMS_65
Row->
Figure SMS_66
The scattering points are in any receiving element->
Figure SMS_67
The output signal of (2) can be expressed as:
Figure SMS_68
in the same way, the processing method comprises the steps of,
Figure SMS_69
group scatter point set->
Figure SMS_70
Coacting on any of the receiving motifs>
Figure SMS_71
The output signal of (2) can be expressed as:
Figure SMS_72
in sum, the number is
Figure SMS_73
Linear uniform linear array near field signal model composed of multiple receiving elements>
Figure SMS_74
Can be expressed as:
Figure SMS_75
wherein the method comprises the steps of
Figure SMS_76
Representing the receive primitive->
Figure SMS_77
Is included in the noise component of the (c). />
Is positioned at
Figure SMS_78
Point of scattering>
Figure SMS_79
Incident signal->
Figure SMS_80
The frequency spectrum of (2) is:
Figure SMS_81
in which primitives are received
Figure SMS_82
The response signal of (2) can be re-expressed as:
Figure SMS_83
therefore, scattering points
Figure SMS_84
Acting on any receiving matrix>
Figure SMS_85
The response signal of (2) can be expressed as:
Figure SMS_86
will be the first
Figure SMS_87
Row->
Figure SMS_88
The frequency domain model of the individual scatter point injection signals is expressed as:
Figure SMS_89
which acts on the response signal components of the respective received primitive:
Figure SMS_90
can be represented as shown in FIG. 12, the symbols
Figure SMS_91
Is Hadamard product (/ -L)>
Figure SMS_92
) Refer to two
And performing product operation on corresponding elements of the homotype matrix.
Within the mapping region, the same is true
Figure SMS_93
Such scattering points are in total->
Figure SMS_94
Therefore, the scattering point incident signal is reduced to +.>
Figure SMS_95
Order matrix->
Figure SMS_96
The representation is made of a combination of a first and a second color,
the noise component of each received primitive is represented as
Figure SMS_97
Order matrix->
Figure SMS_98
，/>
Figure SMS_99
The matrix form of the response signals of the row scattering points on the received cells is:
Figure SMS_100
wherein the matrix
Figure SMS_102
And->
Figure SMS_106
Is->
Figure SMS_108
Three-dimensional matrix of steps>
Figure SMS_101
In response to the signal, the signal is transmitted,
Figure SMS_104
is->
Figure SMS_107
Single pass phase shift of the incident signal at each scattering point to any receiving element,/for>
Figure SMS_109
For each scattering point, acting on the phase difference between the response component of the respective received element and the reference element,/for each scattering point>
Figure SMS_103
Time domain signal representing each scattering point, +.>
Figure SMS_105
Representing a noise signal.
For example, receive primitives
Figure SMS_110
Output signal->
Figure SMS_111
For->
Figure SMS_112
Amount of propagation delay at pixel cell: />
Figure SMS_113
While each received primitive
Figure SMS_114
Relative to the reference center->
Figure SMS_115
Is a phase difference of:
Figure SMS_116
s4, summing the response signals of all the received primitives to obtain output signals of the received primitives, and obtaining a frequency domain model of the received matrix signals based on the output signals of the received primitives;
further, response signals to each received primitive
Figure SMS_117
Each row vector in the array is summed to obtain any received primitive output signal:
Figure SMS_118
in the middle of
Figure SMS_119
Time-domain signal for scattering points, < >>
Figure SMS_120
Representing a noise signal, k is a constant.
Will be
Figure SMS_121
After the incident signals of the group scattering points are overlapped, the total output signal of the receiving element can be expressed as:
Figure SMS_122
the frequency domain model of the 5 sets of receiving matrix signals is as follows:
Figure SMS_123
where e is a constant.
S5, carrying out beam forming of the receiving matrix output signals based on the receiving matrix output signals;
consider only the one-way propagation path and not propagation loss to receive the matrix
Figure SMS_124
Establishing a polar coordinate system for the origin while mapping the position of the origin in the plane by +.>
Figure SMS_125
The composition of individual pixel cells, and the process of signal inversion of pixel cells located at coordinate points can be described as:
Figure SMS_126
wherein the pixel unit->
Figure SMS_127
And receive matrix->
Figure SMS_128
The propagation delay between them is->
Figure SMS_129
While the respective receiving matrix is->
Figure SMS_130
Relative to the reference center->
Figure SMS_131
The phase differences of (2) are:
Figure SMS_132
/>
the beamforming based on the received matrix output signal is therefore:
Figure SMS_133
in the middle of
Figure SMS_134
Representation->
Figure SMS_135
The single pass phase shift of the incoming signal at each scattering point to either receiving matrix,
Figure SMS_136
representing the phase difference between the response component of each scattering point acting on the respective receive matrix and the reference matrix.
S6, forming beams based on output signals of the receiving matrixes, dividing a single-frame imaging plane into areas according to radial installation positions of the receiving matrixes and the width of a main horizontal beam lobe, and selecting the number of combinations of different receiving matrixes according to the beam coverage condition of each area to form the synthetic receiving aperture focusing beams.
Further, simplifying the wave number forming model by using the receiving matrixes can reduce the complexity of the signal processing system, but the horizontal beam opening angle of each receiving matrix is limited, and the correlation of response signals of scattering points outside the main lobe area on each element in the same receiving matrix is lower, so that the output signals of the receiving matrixes mainly reflect the phase information of the incident signals in the main lobe area.
As shown in fig. 3 in particular, in the area formed in step S5, for the area identified as (1, 1), the "1" designation thereof indicates that it has been covered by the array, this area is thus simultaneously covered by acoustic beams of 5 receive arrays, whereas for the labels (1, 0), (0,1,1,1,0), (0, 1), its "0" label indicates that it is not covered by the array, therefore, the different areas are only covered by the acoustic beams of the 3 receiving arrays in turn, so if any area can be covered by the acoustic beams of w receiving arrays at the same time, the w is embodied in a weighting coefficient manner, and the synthetic receiving aperture focusing beam forming of the area is obtained by the following formula:
Figure SMS_137
in some embodiments of the present invention, since the imaging area belongs to the near field range, a focusing error inevitably exists in a dynamic focusing manner adopted in near field imaging, so in the process of performing beam forming on a single area, far-field secondary beam forming can be independently performed on 5 receiving subarrays inside each array, so as to further improve focusing resolution, and a secondary beam forming frame is shown in fig. 4.
Further, the digital signal is accompanied with the problem of excessive environmental noise component or data volume, and the digital sequence after the summation is formed by the wave beam
Figure SMS_138
Digital filtering may be performed in the frequency domain.
In some embodiments of the present invention, the frequency domain signal of the synthetic receive aperture focused beam forming is converted to a time domain signal by:
Figure SMS_139
and summing the discrete point values of the time signals to obtain map color information of the designated imaging position.
In order to verify the effectiveness of the single-frame imaging algorithm, in fig. 5, a plurality of scattering point targets are set for imaging verification, targets 1 to 5 are respectively located in different imaging areas, and target 2 and target 6 are separated from a receiving matrix
Figure SMS_140
The same propagation delay of the same delay point can be verified. Theoretically, the imaging results of scattering points at different positions should be uniform without taking into account propagation loss and scattering intensity of the target.
Emulation environment setup
Figure SMS_141
Signal operating frequency->
Figure SMS_142
Frequency bandwidth->
Figure SMS_143
Pulse width
Figure SMS_144
Spherical wave propagation loss coefficient->
Figure SMS_145
Receive signal go +.>
Figure SMS_146
Time-varying gain compensation, the scattering point target intensity is uniformly set to +.>
Figure SMS_147
。/>
FIG. 6 is a simulation result of near-field dynamic focusing beam forming based on full array participation, wherein the large difference of imaging results of all scattering points can be obviously observed, the position of a target 1 has no obvious imaging result, the situation of omission is detected, and a false alarm target with equal intensity appears at the position of an equal heading position of a target 2; fig. 7 is a simulation result based on synthetic receive aperture focused beam forming, with individual scattering points imaged clearly and no false alarm missed detection target.
Further, the area is established in FIG. 8
Figure SMS_148
Depth->
Figure SMS_149
Setting a sinusoidal raised target with a height of 2 meters, thereby checking the contrast imaging results of different imaging algorithms in the continuous sailing process
As shown in FIG. 9, the simulation result of single-beam side-scan sonar navigation measurement under the low navigation speed condition shows that the curve target profile at the near end in FIG. 9 has a certain resolvable capacity under the low navigation speed 2 section, but the resolution of the single-beam side-scan sonar along the course distance is affected by the propagation distance, so that the condition of resolution reduction of the target profile at the far end can occur, and the function characteristics of the conventional single-beam side-scan sonar are also met.
For single-beam side-scan sonar navigation measurement simulation results under the high navigational speed condition are shown in fig. 10, the mapping results show obvious missing scanning conditions, and mapping imaging is basically unavailable.
The simulation result of the multi-array synthetic aperture side-scan sonar navigation measurement by adopting the beam forming method disclosed by the invention is shown in figure 11, and is positioned in figure 11 under the high navigation speed 10-section mapping mode
Figure SMS_150
The imaging effect of the area is ideal, no false alarm target exists, and +.>
Figure SMS_151
The first set of curves at this point presents several defects as a result of the close range correlation locations being imaged at a single receive array. However, in practical use, the relevant area is often in a dead zone range due to the vertical beam opening angle, so that the influence on the whole measurement and drawing result is small.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.

Claims (7)

1. A synthetic receive aperture focused beam forming method suitable for high-speed undersea mapping, comprising the steps of:
s1, establishing 5 groups of receiving matrixes formed by 2E-1 receiving primitives, establishing a polar coordinate system in a two-dimensional imaging plane by taking any receiving primitive as an origin, and simultaneously establishing
Figure QLYQS_1
Go->
Figure QLYQS_2
Scattering point set of columns->
Figure QLYQS_3
Wherein 2E-1 represents the number of the reception primitives;
s2, carrying out analog/digital sampling through a receiving matrix to obtain a scattering point digital sampling signal, and carrying out FFT processing on the scattering point digital sampling signal to obtain a scattering point time domain signal;
s3, based on the scattering point time domain signals, response signals of M rows of scattering points in any receiving primitive are obtained;
s4, summing the response signals of all the received primitives to obtain output signals of the received primitives, and obtaining a frequency domain model of the received matrix signals based on the output signals of the received primitives;
s5, carrying out beam forming of the receiving matrix output signals based on the receiving matrix output signals;
s6, forming beams based on output signals of the receiving matrixes, dividing a single-frame imaging plane into areas according to radial installation positions of the receiving matrixes and the width of a main horizontal beam lobe, and selecting the number of combinations of different receiving matrixes according to the beam coverage condition of each area to form the synthetic receiving aperture focusing beams.
2. A synthetic receive aperture focused beam forming method suitable for high-speed undersea mapping as defined in claim 1, wherein the analog/digital sampling by the receive matrix to obtain the scatter digital sampling signal is:
Figure QLYQS_4
in the formula->
Figure QLYQS_5
For inputting analog signals, < >>
Figure QLYQS_6
For the center frequency +.>
Figure QLYQS_7
Is periodic.
3. A synthetic receive aperture focused beam forming method suitable for high-speed undersea mapping as claimed in claim 2, wherein response signals of M rows of scattering points in any one of the receive elements are obtained based on the scattering point time domain signals, the matrix form of the response signals being:
Figure QLYQS_8
in the method, in the process of the invention,
Figure QLYQS_9
for responding to the signal +.>
Figure QLYQS_10
Is->
Figure QLYQS_11
Single pass phase shift of the incident signal at each scattering point to any receiving element,/for>
Figure QLYQS_12
For each scattering point, acting on the phase difference between the response component of the respective received element and the reference element,/for each scattering point>
Figure QLYQS_13
Time domain signal representing each scattering point, +.>
Figure QLYQS_14
Representing noise signal, symbol->
Figure QLYQS_15
Is the Hadamard product.
4. A synthetic receive aperture focused beam forming method suitable for high-speed seafloor mapping as claimed in claim 3, characterized by obtaining the output signal of the receive primitive based on its response signal and combining
Figure QLYQS_16
The group scattering point incidence signals are overlapped to obtain receiving matrix output signals, and the method specifically comprises the following steps: response signal to each received primitive->
Figure QLYQS_17
Each row vector in the array is summed to obtain any received primitive output signal:
Figure QLYQS_18
in the formula->
Figure QLYQS_19
Time-domain signal for scattering points, < >>
Figure QLYQS_20
Representing a noise signal;
will be
Figure QLYQS_21
After the incident signals of the group scattering points are overlapped, the total output signal of the receiving element can be expressed as:
Figure QLYQS_22
the frequency domain model of the 5 sets of receiving matrix signals is as follows:
Figure QLYQS_23
where e is a constant.
5. A synthetic receive aperture focused beam forming method suitable for high-speed undersea mapping as defined in claim 4 wherein the beam forming of the receive matrix output signals is performed based on the receive matrix output signals by:
Figure QLYQS_24
in the formula->
Figure QLYQS_25
Representation->
Figure QLYQS_26
Single pass phase shift of the incident signal at each scattering point to either receiving matrix,/for each receiving matrix>
Figure QLYQS_27
Representing the phase difference between the response component of each scattering point acting on the respective receive matrix and the reference matrix.
6. The method of claim 5, wherein in the area formed in step S5, if any area can be covered by acoustic beams of w receiving arrays at the same time, the synthetic receiving aperture focused beam forming of the area is obtained by:
Figure QLYQS_28
。
7. a synthetic receive aperture focused beam forming method suitable for high-speed marine mapping according to any of claims 1-6 characterized by converting the frequency domain signal of the synthetic receive aperture focused beam forming into a time domain signal by:
Figure QLYQS_29
and summing the discrete point values of the time signals to obtain map color information of the designated imaging position. />
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