CN116299156B - Hydrophone vertical array element position estimation method and optimization strategy thereof - Google Patents
Hydrophone vertical array element position estimation method and optimization strategy thereof Download PDFInfo
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Abstract
The application belongs to the technical field of underwater acoustic signal processing, and provides a hydrophone vertical array element position estimation method and an optimization strategy thereof, wherein the estimation method comprises the following steps: the method comprises the steps of respectively transmitting calibration signals to a hydrophone vertical array through at least two far-field sound sources, respectively receiving the calibration signals transmitted by each far-field sound source through each array element, carrying out beam forming processing on the received signals, and estimating the pitch angle of the actual layout track of the hydrophone vertical array based on the result of the beam forming processingThe corresponding projection pitch angle is formed on a far-field plane where the far-field sound source is located; acquisition based on at least two of said projected pitch anglesEstimate of (2)And azimuth angle of actual layout track of hydrophone vertical arrayEstimate of (2)The method comprises the steps of carrying out a first treatment on the surface of the Based on the following、The actual position of each array element is estimated. The application uses the direction characteristic of the simple wave to form wave beam through the calibration signals emitted by two non-coplanar far-field sound sources, and can obtain the complete array type information of the hydrophone vertical array at the same time.
Description
Technical Field
The application belongs to the technical field of underwater acoustic signal processing, and particularly provides a hydrophone vertical array element position estimation method and an optimization strategy thereof.
Background
With the continuous development of sonar equipment and the maturation of beam forming technology, multi-element hydrophone arrays are increasingly used in the field of target detection and positioning, and hydrophone vertical arrays play an important role as a common distribution mode of sensors in water. For a hydrophone vertical array, the accurate acquisition of the positions of each array element has obvious influence on the gain processing and the detection positioning performance of the vertical array, particularly for high-frequency signals, even if small deviation exists in the estimation of the positions of the array and the array elements, the performance of an array signal processing algorithm is greatly reduced, particularly when the array size of the vertical array is large, obvious phenomena such as inclination and suspension can be generated under the action of ocean currents and gravity, and therefore, the actual positions of the array elements must be accurately estimated for signal calibration before the hydrophone vertical array is used for underwater acoustic signal processing.
The related research of the prior estimation method of the vertical array type is less, and the method is mainly divided into two types, namely, the vertical array is used for arranging a pressure sensor, and the inclination degree of the vertical array is estimated by measuring the depths of the head and the tail of the vertical array and the middle position, but the method can only obtain the pitch angle of the vertical array and cannot estimate the inclination azimuth angle of the vertical array; the other is to arrange sound source emission signals right above the vertical array or to estimate the relative arrival time among the array elements by acoustic means such as ambient noise cross correlation processing and the like, and to estimate the inclination degree of the vertical array by combining the sound velocity distribution in water.
Therefore, a method which is simple in algorithm, small in calculation amount and capable of simultaneously estimating the pitch angle and the azimuth angle of the vertical array of the hydrophone is needed. The algorithm provided by the patent is based on the characteristic of the simple wave, the calibration signal is transmitted by utilizing far-field sound sources in two orthogonal planes or two non-orthogonal planes with known included angles, and the tilt pitch angle and the azimuth angle of the vertical array can be estimated by performing conventional wave beam forming processing on the received signals of the vertical array of the hydrophone, so that the algorithm is simple, the calculated amount is small, and the method has obvious advantages compared with other methods.
Disclosure of Invention
The application aims to solve the problems in the prior art and provides a hydrophone vertical array element position estimation method and a strategy for further optimizing the estimation method.
The first aspect of the present application provides a hydrophone vertical array element position estimation method, which is used for estimating the true positions of all array elements forming a hydrophone vertical array, and comprises the following steps:
s1, respectively transmitting calibration signals to the hydrophone vertical array through at least two far-field sound sources, wherein the positions of any two far-field sound sources are not coplanar with a plane formed by ideal layout tracks of the hydrophone vertical array;
s2, for the calibration signals transmitted by each far-field sound source, respectively receiving through each array element and carrying out beam forming processing on the received signals, and estimating the pitch angle of the actual layout track of the hydrophone vertical array based on the result of the beam forming processingThe method comprises the steps of projecting pitch angles corresponding to far-field planes of far-field sound sources, wherein the far-field plane of each far-field sound source is a plane formed by ideal layout tracks of the far-field sound sources and a hydrophone vertical array;
s3, acquiring based on at least two projection pitch anglesEstimate of +.>And azimuth angle +.of actual layout track of hydrophone vertical array>Estimation of (1)Count->；
S4, based on the、/>The actual position of each array element is estimated.
Preferably, the calibration signal is a broadband short pulse acoustic signal; and the distance between the far-field sound source and the hydrophone vertical array is more than or equal to 10 times of the water depth of the position where the hydrophone vertical array is positioned.
Preferably, the far-field planes corresponding to the at least two far-field sound sources are perpendicular to each other.
Preferably, the number of array elements of the hydrophone vertical array is greater than or equal to 8, and each array element is arranged at equal intervals.
Further, the beamforming process is performed in step S2 for each calibration signal emitted by a far-field sound source based on the following steps:
s21, receiving the calibration signals through each array element and performing Fourier transform of the following formula:
，
wherein ,for the number of array elements of the hydrophone vertical array, +.>For the serial number of array element, < > for>Is->Depth of individual array elements->For integration time +.>To the +.>The time domain received signals generated by the array elements,is->Is a frequency spectrum of (2);
s22, willTransform Jian Zhengbo represents:
,
wherein For water density->For calibrating the frequency spectrum of the signal +.>Depth of far-field sound source +.>Horizontal spacing for vertical array of far-field sound source and hydrophone, < >>Serial number of simple wave, +.>Maximum sequence number for effective reduced wave, < ->、/>Respectively +.>Number Jian Zhengbo, eigenvalue number and eigenvalue function;
s23, further toThe conversion is performed to the following formula:
，
wherein ,is->Glancing angle of the mode ray no Jian Zhengbo, < >>，/>Is the average sound velocity of the water body;
s24, for each array element based on the following formulaBeamforming is carried out to obtain a frequency-glancing angle two-dimensional distribution function of the received signal:
，
wherein ,for receiving signals about frequency->And glancing angle->Is a two-dimensional distribution function of>Is the interval of array elements;
s25, based on the following formulaPerforming inverse Fourier transform to obtain a time-glancing angle two-dimensional distribution function of the received signal:
，
wherein ,for receiving signals about the time of reception->And glancing angle->Is a two-dimensional distribution function of>、/>The upper and lower limits of the frequency integral, respectively;
s26, estimating the following formulaAnd the corresponding projection pitch angle on the far-field plane where each far-field sound source is located:
，
wherein ,serial number of far-field sound source, +.>For said->In->Projection pitch angle corresponding to far-field plane where each far-field sound source is located, < >>Respectively +.>Glancing angle of up-going wave and glancing angle of down-going wave of reduced number wave.
Further, the determination is based on the following formula、/>：
，
wherein ,the sequence numbers of any two different far-field sound sources are respectively given.
The second aspect of the present application also provides an optimization strategy of a hydrophone vertical array element position estimation method, which is used for optimizing the hydrophone vertical array element position estimation method, and includes the following steps:
a1, estimating the actual positions of all array elements by using the hydrophone vertical array element position estimation method;
a2 front based on hydrophone vertical arrayConstructing a first vertical array subarray by array elements and according to the hydrophone vertical arrayFirst->Constructing a second vertical subarray from the array element to the last array element, wherein the number of the array elements of the first vertical subarray and the second vertical subarray is more than or equal to 8;
a3, executing steps S1 to S3 on the first vertical array and the second vertical array respectively, and obtaining the pitch angle of the actual layout track of the first vertical arrayAzimuth angle->Estimate of +.>、/>And acquiring pitch angle of actual layout track of second vertical subarray +.>Azimuth angle->Estimate of +.>、/>；
A4, ifAnd->Difference or +.>And->If the difference of (2) is greater than the preset threshold, executing step A5, otherwise changing +.>And returns to step A1 until +.>Is a value range of (a);
a5 based on the following、/>、/>、/>The actual positions of the individual array elements are re-estimated.
Preferably, the method comprises the steps of,the value range of the hydrophone is 1/4 to 3/4 of the number of the array elements of the vertical array of the hydrophone.
According to the hydrophone vertical array element position estimation method and the hydrophone vertical array element position optimization strategy provided by the embodiment of the application, the hydrophone vertical array in an inclined state is utilized to carry out wave number formation on the calibration signals emitted by a plurality of non-coplanar far-field sound sources, and the symmetry of the forward wave upward traveling wave and the downward traveling wave relative to the incident direction is utilized to conveniently determine the projection information of the hydrophone vertical array actual layout track on each far-field plane, so that the estimation results of the pitch angle and the azimuth angle of the hydrophone vertical array layout track can be simultaneously obtained.
Drawings
FIG. 1 is a schematic diagram of a specific vertical array of hydrophones deployed below the sea surface;
FIG. 2 is a flow chart of a hydrophone vertical array element position estimation method provided in accordance with an embodiment of the present application;
FIG. 3 is a schematic illustration of two orthogonal planes as far field planes in which far field sound sources are disposed, in accordance with a preferred embodiment of the present application;
FIG. 4 is a schematic diagram of a far field sound source arrangement with XZ plane as a far field plane in accordance with a preferred embodiment of the present application;
FIG. 5 is a schematic illustration of far-field acoustic signal incidence when the projection of the hydrophone vertical array actual layout trace on the XZ plane has a counterclockwise offset relative to the OZ axis;
FIG. 6 is a schematic illustration of far-field acoustic signal incidence when the projection of the hydrophone vertical array actual deployment trajectory on the XZ plane has a clockwise offset relative to the OZ axis;
fig. 7 is a schematic diagram of a Jian Zhengbo exploded principle in some specific embodiments;
FIG. 8 is a two-dimensional distribution function of time-glancing angle for a projected pitch angle of a vertical array of hydrophones in the far-field plane of 0℃in some embodimentsIs a picture of (1);
FIG. 9 is a graph showing a two-dimensional distribution function of time-glancing angle for a projected pitch angle of a vertical array of hydrophones in a far-field plane of 5℃in some embodimentsIs a picture of (1);
fig. 10 is a schematic diagram of a three-dimensional trajectory formed by the elements of a vertical array of hydrophones under the combined action of ocean current impact and cable drag in some embodiments.
Detailed Description
The present application will be further described below based on preferred embodiments with reference to the accompanying drawings.
In the description of the embodiments of the present application, it should be noted that, if the terms "upper," "lower," "inner," "outer," and the like indicate an azimuth or a positional relationship based on that shown in the drawings, or an azimuth or a positional relationship that a product of the embodiments of the present application conventionally put in use, it is merely for convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application. Furthermore, in the description of the present application, terms first, second, etc. are used herein for distinguishing between different elements, but not limited to the order of manufacture, and should not be construed as indicating or implying any relative importance, as such may be different in terms of its detailed description and claims. In addition, various components on the drawings are enlarged or reduced for ease of understanding, but this is not intended to limit the scope of the application.
Fig. 1 shows a schematic track of a hydrophone vertical array arranged below the sea surface, in which in order to facilitate the representation of the position and direction in the process of using the hydrophone vertical array to perform underwater acoustic signal processing, an orthogonal coordinate system is generally established by taking the array element at the lowest end as an origin O, and a Z-axis is taken as an ideal layout track of the hydrophone vertical array.
In the actual layout and use process of the hydrophone vertical array, the actual layout track is generally inclined under the influence of ocean currents, so that the actual layout track is not coincident with the ideal layout track. As shown in FIG. 1, the connection line between the origin O and the uppermost array element A is the actual layout track of the hydrophone vertical array, and the attitude deviation from the ideal layout track (namely the OZ axis) can be realized through a pitch angleAzimuth angle->Representation, wherein->Is the included angle between the positive direction of the Z axis and the OA connection line, < >>Is the angle between the projection of the OA line on the horizontal plane (i.e. XY plane) and the positive direction of the X axis. Deviation of actual layout track and ideal layout track of the hydrophone vertical array for subsequent verticalityThe processing of the array data has great influence, and particularly, the processing of the high-frequency acoustic signals is more sensitive to the array type of the vertical array, so that the accurate data of the actual layout track of the vertical array of the hydrophone is necessary to be acquired to ensure that the accurate correction is provided for the subsequent processing of the underwater acoustic signals.
Due to the fact that the multi-path sound propagation characteristic exists in the ocean channel, the ocean channel forms a natural angle filter through multi-path interference, so that the strength of sound signals received by all array elements of the vertical array of the hydrophone is inconsistent at different arrival moments, the strength distribution of the sound signals is related to the depth and the distance of a sound source, and the estimation of the inclination angle of the vertical array by utilizing the relative arrival time of pulses of all array elements is difficult; in addition, there is a method for estimating the vertical array layout track by using the pressure sensor sea test acoustic signal, however, the method can only estimate the pitch angle of the vertical array, but can not effectively estimate the azimuth angle of the vertical array at the same time.
For this purpose, the present application provides a method for estimating the position of a vertical array element of a hydrophone, which can simultaneously obtain estimation results of a pitch angle and an azimuth angle of a vertical array layout track of the hydrophone, and fig. 2 shows a schematic implementation flow chart of the estimation method in some preferred embodiments, and as shown in fig. 2, the estimation method includes the following steps:
s1, respectively transmitting calibration signals to the hydrophone vertical array through at least two far-field sound sources, wherein the positions of any two far-field sound sources are not coplanar with a plane formed by ideal layout tracks of the hydrophone vertical array;
s2, for the calibration signals transmitted by each far-field sound source, respectively receiving through each array element and carrying out beam forming processing on the received signals, and estimating the pitch angle of the actual layout track of the hydrophone vertical array based on the result of the beam forming processingThe method comprises the steps of projecting pitch angles corresponding to far-field planes of far-field sound sources, wherein the far-field plane of each far-field sound source is a plane formed by ideal layout tracks of the far-field sound sources and a hydrophone vertical array;
s3, based onAt least two of the projected pitch angle acquisitionsEstimate of +.>And azimuth angle +.of actual layout track of hydrophone vertical array>Estimate of +.>；
S4, based on the、/>The actual position of each array element is estimated.
According to the hydrophone vertical array element position estimation method provided by the application, firstly, a calibration signal is transmitted in at least two far-field planes which are not coplanar with ideal layout tracks of a vertical array through a step S1, then, projection of actual pitch angles of the vertical array in each far-field plane is estimated through a step S2, finally, estimation results of the at least two far-field planes are utilized to obtain estimation of pitch angles and azimuth angles of the vertical array through steps S3 and S4, and specific implementation modes of the steps S1 to S4 are described in detail below with reference to drawings and specific embodiments.
FIG. 3 shows a schematic diagram of two orthogonal planes, namely an XZ plane and a YZ plane, respectively, as far-field planes for disposing far-field sound sources in a preferred embodiment, projections of actual layout tracks OA of a hydrophone vertical array on the XZ plane and the YZ plane respectively forming angles with OZAnd->In the present application, < > a->And->Pitch angle>Projected pitch angle in far field plane, when +.>、/>Estimate of +.>、/>Then, the pitch angle can be obtained by utilizing the geometric relationship>Azimuth angleEstimate of +.>、/>And then the positions of the array elements are estimated by utilizing the interval information among the array elements.
It should be noted that the embodiment shown in fig. 3, in which two orthogonal planes are taken as far-field planes, is only a preferred embodiment of the present application, in other embodiments of the present application, the number of far-field planes may be greater than 2, and the angle between any two far-field planes may be an included angle different from 90 °, so long as the number of far-field planes is not less than 2, and any two far-field planes are not coplanar with respect to the ideal layout track of the vertical array of the hydrophone, without departing from the inventive concept of the present application.
Fig. 4 illustrates schematically an embodiment of the arrangement of the far-field sound source in the far-field plane, taking the XZ plane as an example, and a person skilled in the art can imagine by means of fig. 4 a specific arrangement of the far-field sound source in other far-field planes (such as YZ plane or other far-field planes) formed by an ideal layout trajectory of the far-field sound source and the vertical array of hydrophones.
As shown in fig. 4, the distance between the sound source 1 and the hydrophone vertical array is far greater than the water depth of the position where the hydrophone vertical array is located, for example, in some preferred embodiments, the ratio of the two is greater than or equal to 10, so that the sound signal emitted from the sound source 1 can be regarded as a far-field sound source in the XZ plane, and the sound signal emitted from the sound source can be regarded as a far-field sound signal incident from the horizontal direction; furthermore, to ensure accuracy of estimation, in some preferred embodiments of the application, the number of array elements of the vertical array of hydrophones is 8 or more (e.g., the vertical array of hydrophones may be an 8-element array, a 16-element array, a 32-element array, etc.), and the individual array elements are equally spaced.
Fig. 5 and 6 further show the scenario of far-field acoustic signal incidence when the projection of the actual layout track of the hydrophone vertical array on the XZ plane has a counterclockwise and clockwise offset relative to the OZ axis, as shown in fig. 5 and 6, the projection of the hydrophone vertical array on the XZ plane has a projection pitch angleAnd the inclination enables the X' axis used for calibrating the horizontal direction to generate an included angle +.>And the included angle->=/>And in this case the far field acoustic signal incident horizontally on the XZ plane (i.e. incident at 0 grazing angle to the X-axis) will be "considered" by the tilted hydrophone vertical array as being along the grazing angle +.>Incidence; it follows that a horizontal incoming far field acoustic signal can be used as the calibration signal, and a tilted hydrophone vertical array will have a glancing angle to the calibration signal relative to the X' axis>Estimation is performed and the ∈ ->Estimated value of (i.e.)>Estimate of +.>。
After the calibration signals are transmitted by the plurality of far-field sound sources through the step S1, the step S2 processes the calibration signals transmitted by the far-field sound sources respectively to obtain estimated values of projection pitch angles corresponding to the hydrophone vertical arrays in the far-field planes, and specifically, in the embodiment of the application, the step S2 comprises the following steps:
s21, receiving the calibration signals through each array element and performing Fourier transform of the following formula:
，
wherein ,for the number of array elements of the hydrophone vertical array, +.>For the serial number of array element, < > for>Is->The depth of the individual array elements is determined,for integration time +.>To the +.>The time domain received signals generated by the array elements,is->Is a frequency spectrum of (c).
S22, willTransform Jian Zhengbo represents:
,
wherein For water density->For calibrating the frequency spectrum of the signal +.>Depth of far-field sound source +.>Horizontal spacing for vertical array of far-field sound source and hydrophone, < >>Serial number of simple wave, +.>Maximum sequence number for effective reduced wave, < ->、/>Respectively +.>Number Jian Zhengbo, eigenvalue wavenumber and eigenvalue function.
S23, further toThe conversion is performed to the following formula:
，
wherein ,is->Glancing angle of the mode ray no Jian Zhengbo, < >>，/>Is the average sound velocity of the water body;
s24, for each array element based on the following formulaBeamforming is carried out to obtain a frequency-glancing angle two-dimensional distribution function of the received signal:
，
wherein ,for receiving signals about frequency->And glancing angle->Is a two-dimensional distribution function of>Is the spacing of the array elements.
S25, based on the following formulaPerforming inverse Fourier transform to obtain a time-glancing angle two-dimensional distribution function of the received signal:
，
wherein ,for receiving signals about the time of reception->And glancing angle->Is a two-dimensional distribution function of>、/>The upper and lower limits of the frequency integral, respectively;
steps S22 to S25 obtain glancing angle information of forward wave up-going wave and down-going wave by means of forward wave beam forming, fig. 7 illustrates the principle of forward wave decomposition by taking OX plane as an example, as shown in fig. 7, for the case of vertical array receiving far-field acoustic signals, ocean environment can be simplified into a layered dielectric waveguide with unchanged level, under the model, frequency domain signals received by each array element are decomposed into a plurality of forward waves, and modal rays can be obtained by synthesizing the forward wave and the down-going wave.
Based on the principle, the wave is carried out on the frequency domain signals of each array element of the vertical arrayBeam forming, the frequency-glancing angle two-dimensional distribution function of the received signal can be obtainedWhen the number of array elements is far greater than 1, the glancing angles of the forward wave upward traveling wave and the downward traveling wave are approximately in a symmetrical relation relative to the glancing angles of the modal rays, so that glancing angles of the forward wave upward traveling wave and the downward traveling wave can be obtained through a frequency-glancing angle two-dimensional distribution function, and glancing angle information of the modal rays of each number Jian Zhengbo is obtained.
For the broadband short pulse signal, when the signal frequency is far greater than the Jian Zhengbo cut-off frequency, the eigenfunction, group velocity and modal ray pitch angle of the simple wave are almost unchanged with the frequency, so that the method can be further applied toPerforming an inverse Fourier transform process to obtain a time-glancing angle two-dimensional distribution function of the received signal>FIGS. 8 and 9 show the time-glancing angle two-dimensional distribution function +.A projection pitch angle of the hydrophone vertical array in a far-field plane is 0 degree and 5 degrees, respectively, obtained by the above steps>The areas with higher sound intensity in the figure represent the arrival time and glancing angle of the upstream wave and the downstream wave of the multiple number simple wave respectively.
As can be seen from fig. 8 and 9, due to the different group velocities of the effective Jian Zhengbo, the arrival time of each simple wave is different, and each simple wave uplink wave and downlink wave are separable not only in the glancing angle, but also in the relative arrival time, so that the estimation accuracy of the glancing angle of the simple wave uplink wave and the glancing angle of the downlink wave is improved.
Further, the previous image can be extracted from fig. 8 and 9 by manual recognition or various existing image recognition algorithmsGlancing angles of the up-going and down-going waves and estimating said +.>Projection pitch angles corresponding to far-field planes where all far-field sound sources are located:
，
wherein ,serial number of far-field sound source, +.>For said->In->Projection pitch angle corresponding to far-field plane where each far-field sound source is located, < >>Respectively +.>Glancing angle of up-going wave and glancing angle of down-going wave of reduced number wave.
Further, if the estimated values of the projected pitch angles of at least two far-field planes are obtained, the pitch angle and the azimuth angle of the actual layout track of the hydrophone vertical array can be estimated through the step S3.
Specifically, in some preferred embodiments, for two mutually perpendicular far field planes, the estimation can be made by:
，
wherein ,the serial numbers of any two different far-field sound sources are respectively shown in the figure 3 as an example, and the projection pitch angles of the actual layout tracks OA of the hydrophone vertical array in the figure on the XZ plane and the YZ plane are respectively +.>、/>The estimated values are +.>、The following formula is introduced:
。
in addition, for two far-field planes with angles other than 90 °, the relationship between the angles of the two far-field planes needs to be considered when estimating the pitch angle and the azimuth angle, and the above processes are known to those skilled in the art and are not described herein.
Although the estimation of the pitch angle and the azimuth angle of the overall array can be obtained by the hydrophone vertical array element position optimization method, in some areas where complex sea currents exist, as shown in fig. 10, the array types of the vertical array are difficult to keep consistent because the degree of the sea water flow velocity changes with depth, and each array element forms an "inflection point" shown as a point A' in the figure on the three-dimensional track under the combined action of sea current impact and cable dragging at a part of the depth with a larger flow velocity, the inflection point can enable the upper and lower array type tracks to be obviously different, even a single pitch angle and a single azimuth angle cannot be used for representing the upper and lower array type tracks, therefore, some preferred embodiments of the application also provide an optimization strategy for the hydrophone vertical array element position estimation method, which comprises the following steps:
a1, estimating the actual positions of all array elements by using the hydrophone vertical array element position estimation method;
a2 front based on hydrophone vertical arrayThe first vertical array subarray is constructed by array elements, and the first vertical array subarray is constructed according to the first vertical array subarray of the hydrophone>Constructing a second vertical subarray from the array element to the last array element, wherein the number of the array elements of the first vertical subarray and the second vertical subarray is more than or equal to 8;
a3, executing steps S1 to S3 on the first vertical array and the second vertical array respectively, and obtaining the pitch angle of the actual layout track of the first vertical arrayAzimuth angle->Estimate of +.>、/>And acquiring pitch angle of actual layout track of second vertical subarray +.>Azimuth angle->Estimate of +.>、/>；
A4, ifAnd->Difference or +.>And->If the difference of (2) is greater than the preset threshold, executing step A5, otherwise changing +.>And returns to step A1 until +.>Is a value range of (a);
a5 based on the following、/>、/>、/>The actual positions of the individual array elements are re-estimated.
In the steps, firstly, the whole array type information of the vertical array of the hydrophone is obtained, then the vertical array is divided into two subarrays in a certain traversing range, the array type information of the vertical array is obtained respectively, whether inflection points exist or not is judged, if yes, the inflection points are used for estimating the array element positions of the upper subarray and the lower subarray respectively, and otherwise, the array element positions are estimated according to the array type information of the whole vertical array.
Analysis of the matrix type change of the vertical matrix under ocean current impact has shown that such inflection points tend to occur in the middle region of the overall vertical matrix, which, in some preferred embodiments,the value range of (a) is hydrophone verticality1/4 to 3/4 of the number of the array elements.
While the foregoing is directed to embodiments of the present application, other and further embodiments of the application may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (8)
1. The hydrophone vertical array element position estimation method is used for estimating the real positions of all array elements forming the hydrophone vertical array and is characterized by comprising the following steps:
s1, respectively transmitting calibration signals to the hydrophone vertical array through at least two far-field sound sources, wherein the positions of any two far-field sound sources are not coplanar with a plane formed by ideal layout tracks of the hydrophone vertical array;
s2, for the calibration signals transmitted by each far-field sound source, respectively receiving through each array element and carrying out beam forming processing on the received signals, and estimating the pitch angle of the actual layout track of the hydrophone vertical array based on the result of the beam forming processingThe method comprises the steps of projecting pitch angles corresponding to far-field planes of far-field sound sources, wherein the far-field plane of each far-field sound source is a plane formed by ideal layout tracks of the far-field sound sources and a hydrophone vertical array;
s3, acquiring based on at least two projection pitch anglesEstimate of +.>And azimuth angle +.of actual layout track of hydrophone vertical array>Estimate of +.>；
S4, based on the、/>The actual position of each array element is estimated.
2. The hydrophone vertical array element position estimation method of claim 1, wherein:
the calibration signal is a broadband short pulse sound signal; the method comprises the steps of,
the distance between the far-field sound source and the hydrophone vertical array is more than or equal to 10 times of the water depth of the position where the hydrophone vertical array is located.
3. The hydrophone vertical array element position estimation method of claim 1, wherein:
the far-field planes corresponding to at least two far-field sound sources are perpendicular to each other.
4. The hydrophone vertical array element position estimation method of claim 1, wherein:
the number of array elements of the hydrophone vertical array is more than or equal to 8, and all the array elements are arranged at equal intervals.
5. The hydrophone vertical array element position estimation method according to claim 4, wherein the beamforming processing is performed in step S2 for each calibration signal emitted by a far-field sound source based on the steps of:
s21, receiving the calibration signals through each array element and performing Fourier transform of the following formula:
，
wherein ,For the number of array elements of the hydrophone vertical array, +.>For the serial number of array element, < > for>Is->Depth of individual array elements->For integration time +.>To the +.>Time domain received signal generated by each array element, < >>Is thatIs a frequency spectrum of (2);
s22, willTransform Jian Zhengbo represents:
,
wherein For water density->For calibrating the frequency spectrum of the signal +.>Depth of far-field sound source +.>Horizontal spacing for vertical array of far-field sound source and hydrophone, < >>Serial number of simple wave, +.>Maximum sequence number for effective reduced wave, < ->、/>Respectively +.>Number Jian Zhengbo, eigenvalue number and eigenvalue function;
s23, further toThe conversion is performed to the following formula:
，
wherein ,is->Glancing angle of the mode ray no Jian Zhengbo, < >>，/>Is the average sound velocity of the water body;
s24, for each array element based on the following formulaBeamforming is carried out to obtain a frequency-glancing angle two-dimensional distribution function of the received signal:
，
wherein ,for receiving signals about frequency->And glancing angle->Is a two-dimensional distribution function of>Is the interval of array elements;
s25, based on the following formulaPerforming inverse Fourier transform to obtain a time-glancing angle two-dimensional distribution function of the received signal:
，
wherein ,for receiving signals about the time of reception->And glancing angle->Is a two-dimensional distribution function of>、/>The upper and lower limits of the frequency integral, respectively;
s26, estimating the following formulaAnd the corresponding projection pitch angle on the far-field plane where each far-field sound source is located:
，
wherein ,serial number of far-field sound source, +.>For said->In->Projection pitch angle corresponding to far-field plane where each far-field sound source is located, < >>Respectively +.>Glancing angle of up-going wave and glancing angle of down-going wave of reduced number positive wave。
6. The hydrophone vertical array element position estimation method of claim 5, wherein the determination is based on the following formula、/>：
，
wherein ,the sequence numbers of any two different far-field sound sources are respectively given.
7. An optimization strategy for a hydrophone vertical array element position estimation method, which is used for optimizing the hydrophone vertical array element position estimation method according to claim 1, and is characterized by comprising the following steps:
a1, estimating the actual positions of the array elements by using the hydrophone vertical array element position estimation method according to claim 1;
a2 front based on hydrophone vertical arrayThe first vertical array subarray is constructed by array elements, and the first vertical array subarray is constructed according to the first vertical array subarray of the hydrophone>Constructing a second vertical subarray from the array element to the last array element, wherein the number of the array elements of the first vertical subarray and the second vertical subarray is more than or equal to 8;
a3, executing steps S1 to S3 on the first vertical array and the second vertical array respectively, and obtaining the pitch angle of the actual layout track of the first vertical arrayAzimuth angle->Estimate of +.>、/>And acquiring pitch angle of actual layout track of second vertical subarray +.>Azimuth angle->Estimate of +.>、/>；
A4, ifAnd->Difference or +.>And->If the difference of (2) is greater than the preset threshold, executing step A5, otherwise changing +.>And returns to step A1 until +.>Is a value range of (a);
a5 based on the following、/>、/>、/>The actual positions of the individual array elements are re-estimated.
8. The optimization strategy of the hydrophone vertical array element position estimation method according to claim 7, wherein:
the value range of the hydrophone is 1/4 to 3/4 of the number of the array elements of the vertical array of the hydrophone.
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