CN116609725B - Narrow-band line spectrum target depth estimation method and system by using deep sea vertical array - Google Patents
Narrow-band line spectrum target depth estimation method and system by using deep sea vertical array Download PDFInfo
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Abstract
The invention relates to the fields of underwater sound detection, sonar technology and the like, in particular to a narrow-band line spectrum target depth estimation method and system by using a deep sea vertical array. The invention comprises the following steps: step 1, acquiring time domain waveforms of narrow-band line spectrum signals sent by moving targets near the sea surface at different moments through a vertical hydrophone array; step 2, processing the time domain waveform of the narrowband spectrum signal to obtain a space power spectrum, obtaining a change curve of the actually measured sound field intensity along with the arrival angle based on the space power spectrum, and simultaneously calculating to obtain change curves of the sound field intensity along with the arrival angle under different assumed sound source depths; and step 3, matching the actually measured change curve of the sound field intensity along with the arrival angle with the change curve of the sound field intensity along with the arrival angle under different assumption sound source depths through a cost function, wherein the sound source depth with the highest matching degree is the sound source depth estimated value. The method is suitable for the situation that the available frequency band of the target sound source is very narrow, and can still realize depth estimation under the condition of a shorter array aperture.
Description
Technical Field
The invention relates to the fields of underwater sound detection, sonar technology and the like, in particular to a narrow-band line spectrum target depth estimation method and system by using a deep sea vertical array.
Background
The distance and depth estimation of a deep sea (depth range is 1000-6000 m) target is a hot spot of underwater sound research in recent years, and the target depth estimation is one of the difficult problems. The existing target positioning method comprises a field matching method, a multi-path arrival time delay matching or interference fringe matching method and a multi-path arrival angle matching method. The matching field processing method is sensitive to parameters such as ocean environment parameters, array inclination and the like, and has large searching range, large calculation amount and long time consumption for deep sea environments.
In a deep sea environment, for a sound field received at a large depth, direct waves and sea surface reflected waves radiated by a target sound source in a middle and near range mainly contribute to the received sound field. Therefore, the relationship between the multi-path arrival characteristics (such as multi-path time delay, multi-path interference characteristics and multi-path arrival angles) of the two types of waves and the target distance and depth is utilized, and the method is a main way for realizing target positioning of the deep sea direct sound zone. As in document [1] (A performance study of acoustic interference structure applications on source depth estimation in deep water,2019, 2 nd edition of published in j.acoust.soc.am., "145 th edition, initial page number is 903), sound source depth estimation is achieved by obtaining interference characteristics of sound field intensity on a two-dimensional plane of arrival angle and frequency domain caused by interference of direct wave and sea surface reflected wave by means of a vertical linear array laid on the sea floor. Because the two-dimensional interference characteristics of the arrival angle and the frequency domain are matched, the method has certain requirements on the signal bandwidth.
Document [2] ("Passive broadband source depth estimation in the deep ocean using a single vector sensor", 7 months in 2020 published in "J.Acoust.Soc.Am." 148 th period, the initial page number is EL 88) proposes a sound source depth estimation method of a single vector hydrophone, which mainly utilizes the multi-path interference period of direct waves and sea surface reflected waves to estimate the target depth. However, the method is mainly aimed at broadband target signals, and for narrowband spectrum signals, due to low time resolution, accurate multi-path arrival time delay of direct waves and sea surface reflected waves cannot be obtained, so that the performance of the method is reduced.
A depth estimation method for matching multi-path arrival angles is disclosed in a document [3] ("Passive source localization based on multipath arrival angles with a vertical line array using sparse Bayesian learning", 3 nd month of 2023 is published in 153 th stage of J.Acoust.Soc.Am., the initial page number is 773), the method utilizes a sparse Bayesian method to distinguish direct waves and sea surface reflected waves and estimate arrival angles of the two paths, and the actually measured arrival angles are matched with arrival angle model calculation results under different assumed target distances and depths, so that simultaneous estimation of the target distances and depths is realized, and the method reduces the requirement of depth estimation on the bandwidth of a target sound source to a certain extent. However, for shallower sound source depth, shorter array aperture and lower sound source frequency, the high-resolution sparse Bayesian method can not effectively resolve direct waves and sea surface reflected waves, and further the sound source depth estimation performance of the method is reduced.
Document [4] ("Performance metrics for depth-based signal separation using deep vertical line arrays", release 1 in 2016 in J.Acoust.Soc.Am. "139 th, initial page 418) proposes a sound source depth estimation method suitable for narrowband spectrum signals by utilizing interference characteristics of direct wave and sea surface reflected wave in the arrival angle domain. The method ignores the change of the underwater sound velocity, and the depth estimation error is increased at a longer distance.
The Chinese invention application with publication number of CN113960530A discloses a sound source passive positioning method based on arrival angles of direct wave and sea surface reflected wave, wherein a sound field calculation program based on ray theory is used for calculating template values of the arrival angles of the direct wave and the sea surface reflected wave corresponding to the target sound source when the target sound source is positioned at different assumed distances and assumed depths; and matching the estimated values of the direct wave arrival angle of the target sound source and the sea surface reflected wave arrival angle with the corresponding template values through a cost function, and obtaining the distance and depth of the target sound source through the maximum value of the cost function, thereby realizing the positioning of the target sound source, wherein the method is the same as the basic principle of the method described in the document [3 ]. The method can realize sound source localization on the premise that direct waves and sea surface reflected waves can be resolved, the resolution of the array is required to be superior to the arrival angle difference value of the direct waves and the sea surface reflected waves, and the method is required to be large in array aperture, high in resolution space power spectrum estimation method, large in target depth and high in target frequency. For shallower source depths, shorter array apertures and lower source frequencies, the method cannot estimate the depth of the target if the direct wave and sea surface reflected wave cannot be resolved.
Disclosure of Invention
The invention aims to overcome the technical defects, and provides a depth estimation method suitable for a narrow-band line spectrum target based on a deep sea vertical array, which realizes the estimation of the depth of a target sound source by matching sound field intensity changes in an arrival angle area caused by mutual interference of direct waves and sea surface reflected waves. According to the method, the influence of the sea water sound velocity profile on sound propagation is considered in the depth estimation cost function, only the periodic strong and weak change of the target in the arrival angle domain is utilized, the parameter information such as the multi-path arrival time delay or the frequency domain interference period of the target is not needed, and the problem that the sound source depth estimation method in the existing deep sea environment needs a certain signal bandwidth of the target radiation signal and the depth estimation error at a longer distance is increased can be solved. Meanwhile, the method does not need to distinguish between the direct wave and the sea surface reflected wave in the space power spectrum estimation result, so that the method does not need a large array aperture, a high-resolution space power spectrum estimation method, a large target depth and a high target frequency.
In order to achieve the above purpose, the present invention is realized by the following technical scheme.
The invention provides a narrow band line spectrum target depth estimation method based on a deep sea vertical array, which comprises the following steps:
step 1, acquiring time domain waveforms of narrow-band line spectrum signals sent by moving targets near the sea surface at different moments through a vertical hydrophone array;
step 2, processing the time domain waveform of the narrowband spectrum signal to obtain a space power spectrum, obtaining a change curve of the actually measured sound field intensity along with the arrival angle based on the space power spectrum, and simultaneously calculating to obtain change curves of the sound field intensity along with the arrival angle under different assumed sound source depths;
and step 3, matching the actually measured change curve of the sound field intensity along with the arrival angle with the change curve of the sound field intensity along with the arrival angle under different assumption sound source depths through a cost function, wherein the sound source depth with the highest matching degree is the sound source depth estimated value.
As one of the improvements of the above technical solution, the step 1 includes:
step 1-1, arranging a vertical hydrophone array in deep sea;
step 1-2, acquiring time domain waveforms of narrow-band line spectrum signals sent by moving targets near the sea surface at different moments through a vertical hydrophone array;
step 1-3, segmenting the acquired time domain waveform to obtain a segmented signal time domain waveform.
As one of the improvements of the above technical solution, the step 2 includes:
step 2-1, processing the time domain waveform of the narrow-band line spectrum signal acquired by the vertical array by utilizing fast Fourier transform to obtain the frequency spectrums of the signals at different moments;
step 2-2, processing the narrowband spectrum signal spectrums obtained by the vertical array at different moments by using a space power spectrum estimation method to obtain a space power spectrum estimation result;
step 2-3, determining target arrival angles and sound field intensities at different moments according to peaks in the space power spectrum estimation result, and further obtaining a change curve of the actually measured sound field intensity along with the arrival angles;
and calculating and obtaining the change curves of sound field intensity along with the arrival angles under different assumed sound source depths by utilizing the arrival angles at different moments and combining the sea water sound velocity profile.
As an improvement of the foregoing solution, in the step 2-2, the spatial power spectrum estimation method includes a conventional beamforming (Conventional Beamforming, CBF) azimuth estimation method, a minimum variance distortion-free (Minimum Variance Distortionless Response, MVDR) method, and a high resolution subspace-like method.
As one of the improvements of the above technical solution, the expression of the spatial power spectrum estimation result B (k, θ) obtained by processing the narrowband spectrum signal spectrum acquired by the vertical array at different times by using the conventional beamforming azimuth estimation method is:
wherein θ is the search range of the target arrival angle, R x (k,f l ) Is composed of frequency component f l The cross spectral density matrix calculated for the received data of the vertical array, K representing the number of signal segments, k=1, 2K is the total number of signal segments; h represents conjugate transpose, a (f) l θ) is a steering vector, expressed as:
d n the space between the nth array element and the first array element of the hydrophone is n=1, 2, N, N is the number of the vertical array hydrophones, and j is an imaginary symbol; t is the transpose operator.
As one of the improvements of the above technical solution, in the step 2-3, the target arrival angle and the sound field intensity at different moments are determined according to the peak value in the spatial power spectrum estimation result, so as to obtain the change curve of the actually measured sound field intensity along with the arrival angle, which specifically includes:
taking the maximum value B of the space power spectrum B (k, theta) based on the space power spectrum estimation result exp (k) For the sound field intensity estimated value of the kth segment signal, the maximum value B of the spatial power spectrum exp (k) Corresponding angle theta exp (k) The estimated value of the arrival angle of the kth segment signal is obtained;
obtaining the actual measurement change curve of the sound field intensity along with the arrival angle according to the sound field intensity and the arrival angle estimated value in the signal space power spectrum estimated results of the 1 st to the K th sections
As one of the improvements of the above technical solution, in the step 2-3, the change curves of the sound field intensity with the arrival angle under different assumed sound source depths are obtained by calculating by using the arrival angles at different moments and combining with the sea water sound velocity profile, and the calculation formula is as follows:
wherein f C For the center frequency of the signal processing band, τ (z s θ) is the arrival time delay of the direct wave and the sea surface reflected wave.
As an improvement of the technical proposalFirst, the arrival time delay τ (z s θ) is calculated as:
where Δz is the integration interval, M is the total number of summation points, m=z s /Δz; c (z) is the sound velocity of sea water at depth z, z r Is the center depth of the vertical array.
As one of the improvements of the above technical solution, the cost function E (z s ) The expression is:
wherein xcorr is a cross-correlation coefficient operator;
the depth corresponding to the maximum value of the cost function is the estimated value of the sound source depth.
The invention also provides a narrow-band line spectrum target depth estimation system based on the deep sea vertical array, which comprises the following steps: a vertical hydrophone array and a data processing module; wherein,
the vertical hydrophone array is used for collecting time domain waveforms of narrow-band line spectrum signals sent by moving targets near the sea surface at different moments;
the data processing module is used for processing and obtaining the change curve of the actually measured sound field intensity along with the arrival angle based on the time domain waveform of the narrowband line spectrum signal acquired by the vertical array, and simultaneously calculating and obtaining the change curve of the sound field intensity along with the arrival angle under different assumed sound source depths; and the method is also used for matching the actually measured change curve of the sound field intensity along with the arrival angle with the change curve of the sound field intensity along with the arrival angle under different assumption sound source depths, and the sound source depth with the highest matching degree is the sound source depth estimated value.
Compared with the prior art, the invention has the advantages that:
1. compared with the existing sound source depth estimation method for matching multi-path arrival time delay or interference fringes, which requires a certain bandwidth of a target sound source radiation signal, the sound source depth estimation method for the narrowband line spectrum target provided by the invention is matched with sound field intensity variation in a target arrival angle domain caused by interference of direct waves and sea surface reflected waves, and the sound field intensity variation in a frequency domain is not needed to be utilized, so that the method is suitable for the situation that the available frequency band of the target sound source is very narrow, even the line spectrum signal is still suitable for use;
2. compared with the method for passively positioning the sound source of the arrival angle of the base Yu Zhida wave and the sea surface reflected wave, which has higher requirements on the array aperture, the resolution of the spatial power spectrum estimation method, the depth of the target sound source and the frequency of the target sound source, the method can still realize the depth estimation of the sound source with shallower depth and lower frequency under the condition of shorter array aperture; the method of the invention fully utilizes the marine environment parameter information, matches the actually measured change curve of the sound field intensity along with the arrival angle with the template change curve calculated by utilizing the sea water sound velocity profile, and can accurately estimate the sound source depth for a sound source which is far away and even positioned at the tail end of the arrival sound zone.
Drawings
FIG. 1 is a schematic diagram of the paths of direct waves and sea surface reflected waves received by a vertical array in a deep sea deep reception environment;
FIG. 2 is a sound velocity profile used in a simulation experiment in an embodiment of the present invention;
FIG. 3 is a spatial power spectrum estimation result of a simulation experiment moving object in an embodiment of the present invention;
FIG. 4 is a graph showing the variation of the intensity of the target sound field with the angle of arrival measured by the simulation experiment in the embodiment of the present invention;
FIG. 5 is a graph showing sound field intensity versus angle of arrival at three hypothetical sound source depths of 20m, 45m, and 80m calculated in the example of the present invention;
fig. 6 is a depth estimation cost function in an embodiment of the invention.
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings and examples.
Example 1
In order to achieve the above object, the present invention provides a method for estimating the depth of a narrowband line spectrum sound source using a vertical array, wherein the vertical array receiving system is deployed in the deep sea; the method comprises the following steps:
acquiring time domain waveforms of narrow-band line spectrum signals sent by moving targets near the sea at different moments through a deep sea vertical hydrophone array;
processing the time domain waveform of the narrow-band line spectrum signal acquired by the vertical array by utilizing the fast Fourier transform to obtain the frequency spectrums of the signals at different moments;
and processing the narrowband spectrum signals acquired by the vertical array at different moments by using a space power spectrum estimation method to acquire a space power spectrum estimation result.
And determining target arrival angles (arrival angles corresponding to the peaks) and sound field intensities (peaks, namely spatial power spectrum output at the arrival angles) at different moments according to the peaks in the spatial power spectrum estimation results at different moments, so as to obtain a change curve of the sound field intensity along with the arrival angles.
And calculating and obtaining the change curves of sound field intensity along with the arrival angles under different assumed sound source depths by utilizing the actual measurement values of the target arrival angles and combining the sea water sound velocity profile.
And matching the actually measured change curve of the sound field intensity along with the arrival angle with the change curve of the sound field intensity along with the arrival angle under different assumption sound source depths calculated by a formula, wherein the sound source depth with the highest matching degree is the sound source depth estimated value.
The method comprises the following specific steps:
step 1, a vertical hydrophone array collects time domain waveforms x of narrow-band line spectrum signals sent by moving targets near the sea surface at different moments n (t), wherein n=1, 2,..n is the number of vertical array receiving hydrophones, N is the number of vertical array hydrophones, and t represents time; the sampling rate of the signal is f s The value range is 100Hz-10kHz. Segmenting the acquired time domain waveform to obtain a segmented signal time domain waveform p n (k, t), where k represents the number of signal segments sequence number. k=1, 2, K is the total number of signal segments, k= (T 1 -T 2 )/(T 2 -T 3 ) +1, where T 1 Representing the total duration of the processed signal, T 2 Representing the duration of each signal segment, T 3 Is the overlap time of the previous signal and the next signal.
Step 2, performing fast Fourier transform on the time domain signals acquired by the vertical hydrophone array to obtain a frequency spectrum P of the signals n (k,f l )，P n (k,f l ) Is the nth array element, the kth segment signal and the frequency point f l Signal spectrum at, l=1, 2,.. 1 And f L L is the number of frequency points contained in the processing frequency band, which is the upper and lower bounds of the signal processing frequency band.
And 3, processing the frequency spectrum of the kth segment of signals recorded by the vertical array by using a space power spectrum estimation method to obtain a space power spectrum estimation result B (k, theta), wherein theta is a search range of a target arrival angle, and the value range of theta is 0-90 degrees. In particular, taking the classical spatial power spectrum estimation method of conventional beamforming as an example,wherein R is x (k,f l ) Is composed of frequency component f l Is calculated by cross-spectral density matrix (cross-spectral density matrix, CSDM), a (f l θ) is a guide vector, and,d n the distance between the nth array element and the first array element of the hydrophone is given, and T is a transposition operator.
Step 4, taking the maximum value B of the space power spectrum B (k, theta) exp (k) For the sound field intensity estimated value of the kth segment signal, the angle theta corresponding to the maximum value of the spatial power spectrum exp (k) The estimated value of the arrival angle of the kth segment signal is obtained. Obtaining the actual measurement change curve of the sound field intensity along with the arrival angle according to the sound field intensity and the arrival angle estimated value in the signal space power spectrum estimated results of the 1 st to the K th sections
Step 5: calculating templates of sound field intensity variation along with arrival angle under different assumed sound source depths by combining sea water sound velocity profileA curve. Let the target sound source depth z s The range is set to be 1-400m, and the calculation formula of the template curve is as follows:
wherein f C For the center frequency of the signal processing frequency band, f C ＝(f 1 +f L )/2，τ(θ,z s ) Is the arrival time delay of the direct wave and the sea surface reflected wave. The arrival time delay calculation formula is:
integration may be replaced by summation, namely:
where Δz is the integration interval, M is the total number of summation points, m=z s /Δz; c (z) is the sound velocity of sea water at depth z, z r Is the center depth of the vertical array. In the formula, the sea water sound velocity c (z) can be obtained by experimental measurement, database query or calculation by an empirical formula.
Step 6: and matching the actually measured change curve of the sound field intensity along with the arrival angle with the change curve of the sound field intensity along with the arrival angle under different assumption sound source depths calculated by a formula, and solving the correlation coefficient of the two curves, wherein the depth with the maximum correlation coefficient is the sound source depth estimated value. Defining a depth estimation cost function as:
wherein xcorr is the operator for calculating the cross-correlation coefficient, and the depth corresponding to the maximum value of the cost function is the estimated value of the sound source depth, namely
The following describes the technical scheme of the present invention in detail by using simulation experiments in combination with the accompanying drawings.
The invention provides a narrow-band line spectrum sound source depth estimation method by utilizing a vertical array, which comprises the steps of firstly, arranging a vertical hydrophone array at a deep sea large depth position, and receiving narrow-band line spectrum signals sent by moving targets near the sea at different moments; then obtaining the actual measured sound field intensity variation curve along with the arrival angle through Fourier transformation, space power spectrum estimation and the like; and calculating template curves of sound field intensity along with arrival angle changes under different assumed sound source depths by utilizing the sea water sound velocity profile, and matching with the actually measured curves to realize the estimation of the sound source depths. The depth range of the target sound source is 5-1000m, the arrangement depth range of the vertical array is 500-6000m, and the horizontal distance between the sound source and the vertical array is less than 5 times of the difference between the central depth of the vertical array and the depth of the sound source. The process comprises the following steps:
step 1: the sound source enters the receiving range, the horizontal distance between the sound source and the vertical array is 0km-30km, the sound source depth is 5m-1000m, and the main effect on the sound field in the signal is two paths of direct waves and sea surface reflected waves, referring to fig. 1. FIG. 2 shows the sound velocity profile of sea water used in a simulation experiment, with the sea depth set at 4000m. In the experiment, a vertical array with the interval of 20 elements of 7.5m is arranged near the offshore bottom and is used for receiving line spectrum signals with the frequency of 100Hz radiated by a target sound source, the depth of the target sound source is set to be 45m, and the sound source moves from a position 2km away from the vertical array to a position 14.24km away from a uniform speed. The depth of the array element in the center of the vertical array is 3900m, and the sampling frequency of the vertical array is set to be 10kHz. In the experiment, a sound field simulation program BELLHOP is used for calculating a simulated sound field, and Gaussian white noise is added to simulate the background noise of the sound field actually received by the vertical array. The time domain waveform acquired by the vertical array is processed in a segmentation way, and the duration of each segment of signal is T 2 The overlapping time of the previous section of signal and the next section of signal is T 3 . Obtaining a segmented signal time domain waveform p n (k, t), where k represents the number of signal segments sequence number. k=1, 2, K is the total number of signal segments, k= (T 1 -T 2 )/(T 2 -T 3 ) +1. In this embodiment hang downThe straight arrays collect the total time length T 1 Signal of 6120 seconds, T 2 Set to 150 seconds, T 3 For 120 seconds, a total of 200 segments of signal are divided.
Step 2: performing a fast fourier transform (fast Fourier transform, FFT) on the time domain signal acquired by the vertical hydrophone array to obtain the spectrum P of the signal n (k,f l )，P n (k,f l ) Is the nth array element, the kth segment signal and the frequency point f l Signal spectrum at, l=1, 2,.. 1 And f L The upper and lower boundaries of the signal processing frequency band are 99.8Hz and 100.2Hz respectively, the frequency interval is 1/150Hz, and the total number of the frequency points in the processing frequency band is 60;
step 3: and processing the frequency spectrum of the kth segment of signals recorded by the vertical array by using a space power spectrum estimation method to obtain a space power spectrum estimation result B (k, theta), wherein theta is the search range of the target arrival angle. In particular, taking the classical spatial power spectrum estimation method of conventional beamforming as an example,wherein Rx (k, fl) is defined by a frequency component f l Is calculated by a Cross Spectral Density Matrix (CSDM), a (f) l θ) is a guide vector, and,d n the distance between the nth array element and the first array element of the hydrophone is set. In this embodiment, θ is in a range of 0 ° to 90 °, and the interval between values is 0.1 °, and fig. 3 shows a spatial power spectrum estimation result history chart in the target motion process.
Step 4, taking the maximum value B of the space power spectrum B (k, theta) exp (k) For the sound field intensity estimated value of the kth segment signal, the angle theta corresponding to the maximum value of the spatial power spectrum exp (k) The estimated value of the arrival angle of the kth segment signal is obtained. Obtaining the actual measurement change curve of the sound field intensity along with the arrival angle according to the sound field intensity and the arrival angle estimated value in the signal space power spectrum estimated results of the 1 st section to the K th sectionAs a result, as can be seen from fig. 4, the sound field intensity shows a strong and weak change with increasing angle of arrival due to interference of the direct wave and the sea surface reflected wave.
Step 5: and calculating template curves of sound field intensity along with arrival angle changes under different assumed sound source depths by combining the sea water sound velocity profile. Let the target sound source depth z s The range is set to 1-400m and the depth interval is set to 1m. The calculation formula of the template curve is
Wherein f C ＝(f 1 +f L ) And/2 is the center frequency of the signal processing frequency band, f C Taken as 100Hz, τ (θ, z s ) Is the arrival time delay of the direct wave and the sea surface reflected wave. The arrival time delay calculation formula is
Integration may be replaced by summation, namely:
wherein Δz is the integration interval, the value is 0.1, M is the total number of summation points, and M=z s /Δz; c (z) is the sound velocity of sea water at depth z, z r Is the center depth of the vertical array. In the formula, the sea water sound velocity c (z) is the sea water sound velocity surface used in the present embodiment (see fig. 2). Fig. 5 shows the sound field intensity versus angle of arrival curves for three hypothetical sound source depths of 20m, 45m, and 80m calculated by this step.
Step 6: and matching the actually measured change curve of the sound field intensity along with the arrival angle with the change curve of the sound field intensity along with the arrival angle under different assumption sound source depths calculated by a formula, and solving the correlation coefficient of the two curves, wherein the depth with the highest matching degree and the largest correlation coefficient is the sound source depth estimated value. Defining a depth estimation cost function as:
wherein xcorr is the operator for calculating the cross-correlation coefficient, and the depth corresponding to the maximum value of the cost function is the estimated value of the sound source depth, namelyIn this embodiment, the depth estimation cost function is shown in fig. 6, the depth corresponding to the maximum value of the cost function is 45m, and the estimated depth is consistent with the actual depth of the sound source. Simulation experiment data verification shows that the method can effectively estimate the depth of the narrowband spectrum sound source.
Example 2
The embodiment 2 of the invention designs a narrow-band line spectrum target depth estimation system based on a deep sea vertical array, which comprises the following steps: a vertical hydrophone array and a data processing module; wherein,
the vertical hydrophone array is used for collecting time domain waveforms of narrow-band line spectrum signals sent by moving targets near the sea surface at different moments;
the data processing module is used for processing and obtaining the change curve of the actually measured sound field intensity along with the arrival angle based on the time domain waveform of the narrowband line spectrum signal acquired by the vertical array, and simultaneously calculating and obtaining the change curve of the sound field intensity along with the arrival angle under different assumed sound source depths; and the method is also used for matching the actually measured change curve of the sound field intensity along with the arrival angle with the change curve of the sound field intensity along with the arrival angle under different assumption sound source depths, and the sound source depth with the highest matching degree is the sound source depth estimated value.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and are not limiting. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the appended claims.
Claims (10)
1. A narrowband spectrum target depth estimation method based on a deep sea vertical array, the method comprising:
step 1, acquiring time domain waveforms of narrow-band line spectrum signals sent by moving targets near the sea surface at different moments through a vertical hydrophone array;
step 2, processing the time domain waveform of the narrowband spectrum signal to obtain a space power spectrum, obtaining a change curve of the actually measured sound field intensity along with the arrival angle based on the space power spectrum, and simultaneously calculating to obtain change curves of the sound field intensity along with the arrival angle under different assumed sound source depths;
and step 3, matching the actually measured change curve of the sound field intensity along with the arrival angle with the change curve of the sound field intensity along with the arrival angle under different assumption sound source depths through a cost function, wherein the sound source depth with the highest matching degree is the sound source depth estimated value.
2. The method for estimating the target depth of the narrowband spectrum based on the deep sea vertical array according to claim 1, wherein the step 1 comprises:
step 1-1, arranging a vertical hydrophone array in deep sea;
step 1-2, acquiring time domain waveforms of narrow-band line spectrum signals sent by moving targets near the sea surface at different moments through a vertical hydrophone array;
step 1-3, segmenting the acquired time domain waveform to obtain a segmented signal time domain waveform.
3. The method for estimating the target depth of the narrowband spectrum based on the deep sea vertical array according to claim 1, wherein the step 2 comprises:
step 2-1, processing the time domain waveform of the narrow-band line spectrum signal acquired by the vertical array by utilizing fast Fourier transform to obtain the frequency spectrums of the signals at different moments;
step 2-2, processing the narrowband spectrum signal spectrums obtained by the vertical array at different moments by using a space power spectrum estimation method to obtain a space power spectrum estimation result;
step 2-3, determining target arrival angles and sound field intensities at different moments according to peaks in the space power spectrum estimation result, and further obtaining a change curve of the actually measured sound field intensity along with the arrival angles;
and calculating and obtaining the change curves of sound field intensity along with the arrival angles under different assumed sound source depths by utilizing the arrival angles at different moments and combining the sea water sound velocity profile.
4. The method for estimating the depth of a narrowband spectrum target based on a deep sea vertical array according to claim 3, wherein in the step 2-2, the spatial power spectrum estimation method is a conventional beam forming azimuth estimation method, a minimum variance undistorted method or a high resolution subspace class method.
5. The method for estimating the target depth of the narrowband spectrum based on the deep sea vertical array according to claim 4, wherein the expression of the spatial power spectrum estimation result B (k, θ) obtained by processing the narrowband spectrum signal spectrums acquired by the vertical array at different moments by adopting a conventional beam forming azimuth estimation method is as follows:
wherein θ is the search range of the target arrival angle, R x (k,f l ) Is composed of frequency component f l The vertical array of (1) receives the cross spectrum density matrix calculated by data, K represents the number sequence number of signal segments, k=1, 2, &..K, K is the total number of signal segments; h represents conjugate transpose, a (f) l θ) is a steering vector, expressed as:
d n the distance between the nth array element and the first array element of the hydrophone is n=1, 2, wherein N, N is the number of vertical array hydrophones, and j is the virtual valueA number symbol; t is the transpose operator.
6. The method for estimating the target depth of the narrowband spectrum based on the deep sea vertical array according to claim 5, wherein in the step 2-3, the target arrival angle and the sound field intensity at different moments are determined according to the peak value in the spatial power spectrum estimation result, so as to obtain the change curve of the actually measured sound field intensity along with the arrival angle, and the method specifically comprises the following steps:
taking the maximum value B of the space power spectrum B (k, theta) based on the space power spectrum estimation result exp (k) For the sound field intensity estimated value of the kth segment signal, the maximum value B of the spatial power spectrum exp (k) Corresponding angle theta exp (k) The estimated value of the arrival angle of the kth segment signal is obtained;
obtaining the actual measurement change curve of the sound field intensity along with the arrival angle according to the sound field intensity and the arrival angle estimated value in the signal space power spectrum estimated results of the 1 st to the K th sections
7. The method for estimating the target depth of the narrowband spectrum based on the deep sea vertical array according to claim 6, wherein in the step 2-3, the change curves of the sound field intensity with the arrival angles under different assumed sound source depths are calculated by combining the arrival angles at different moments with the sea water sound velocity profile, and the calculation formula is as follows:
wherein f C For the center frequency of the signal processing band, τ (z s θ) is the arrival time delay of the direct wave and sea surface reflected wave, z s To assume a target sound source depth, θ is the search range of the target arrival angle.
8. The narrow-band line spectrum target depth estimation method based on deep sea vertical array of claim 7Characterized in that the arrival time delay τ (z s θ) is calculated as:
where Δz is the integration interval, M is the total number of summation points, m=z s /Δz; c (z) is the sound velocity of sea water at depth z, z r Is the center depth of the vertical array.
9. The method for estimating the target depth of the narrowband spectrum based on the deep sea vertical array according to claim 1, wherein the cost function E (z s ) The expression is:
wherein xcorr is a cross-correlation coefficient operator;
the depth corresponding to the maximum value of the cost function is the sound source depth estimate,is the actual measurement change curve of the intensity of the sound field along with the arrival angle, B (z s θ) is a template curve of sound field intensity with arrival angle change under different assumed sound source depths, z s To assume a target sound source depth, θ is the search range of the target arrival angle.
10. A narrowband spectrum target depth estimation system based on a deep sea vertical array, the system comprising: a vertical hydrophone array and a data processing module; wherein,
the vertical hydrophone array is used for collecting time domain waveforms of narrow-band line spectrum signals sent by moving targets near the sea surface at different moments;
the data processing module is used for processing and obtaining the change curve of the actually measured sound field intensity along with the arrival angle based on the time domain waveform of the narrowband line spectrum signal acquired by the vertical array, and simultaneously calculating and obtaining the change curve of the sound field intensity along with the arrival angle under different assumed sound source depths; and the method is also used for matching the actually measured change curve of the sound field intensity along with the arrival angle with the change curve of the sound field intensity along with the arrival angle under different assumption sound source depths, and the sound source depth with the highest matching degree is the sound source depth estimated value.
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