JP4367243B2 - Adaptive phasing device, its program and adaptive phasing system - Google Patents

Description

  The present invention adaptively removes interference waves from acoustic signals (sound waves) received by a plurality of acoustic sensors arranged on a straight line or on a circumference, for example, in order to estimate a target orientation with a sonar or the like. It is related with the adaptive phasing apparatus which extracts only a target signal by doing, its program, and an adaptive phasing system.

  The conventional adaptive phasing method uses a complex frequency domain signal of an acoustic signal (sound wave) received by a sensor array composed of a plurality of acoustic sensors, a primary beam having a maximum sensitivity in phasing direction, and a phasing. A zero-order beam having zero sensitivity in the phase direction is generated. Next, the inverse matrix of the time average of the autocorrelation matrix of the zeroth order beam and the time average of the cross correlation vector of the first order beam and the zeroth order beam are respectively calculated, and the time of the inverse matrix and the cross correlation vector is calculated. The filter coefficient of the adaptive filter is calculated based on the average. Based on these filter coefficients, the adaptive filter output of the 0th-order beam is subtracted from the primary beam to adaptively remove signals coming from directions other than the phasing direction.

  In this adaptive phasing method, it is determined whether or not the accuracy of the calculated inverse matrix is within the allowable range, and if the calculation accuracy of the inverse matrix is within the allowable range, the inverse matrix is used. When adaptive removal is performed using the calculated filter coefficient and the calculation accuracy of the inverse matrix is out of the allowable range, the filter coefficient calculated using the inverse matrix is not used (for example, Patent Document 1). reference.).

Japanese Patent Laying-Open No. 2003-232849 (Claims 1, [0058] to [0098], FIGS. 3 and 4)

  By the way, in the conventional adaptive phasing method described above, the position error of each acoustic sensor constituting the sensor array, variation in the amplitude or phase of the output signal of each acoustic sensor, failure of any acoustic sensor, etc. An error occurs in the response of the array. Variations in the amplitude and phase of the output signals of each acoustic sensor are caused by individual differences among the acoustic sensors, and for example, the acoustic sensor is mounted on a platform such as a flat plate. If it is not uniform, it may be caused by the fact that the interference state between the signal directly coming to each acoustic sensor and the signal reflected from the platform is different for each acoustic sensor.

  In an adaptive phasing device using a sensor array, it is assumed that an incoming signal is a plane wave, and a signal arriving at each acoustic sensor from a desired orientation (phasing orientation) is an acoustic center (for example, the center of the sensor array). The amount of delay (phase amount in frequency space) is compensated so as to coincide with the time of arrival at (position). In the case of the primary beam, a beam pattern having the maximum sensitivity (maximum response of the sensor array) is obtained in a desired direction by adding the received signals of the compensated acoustic sensors (direction characteristics of the response of the sensor array) ) Is generated.

  On the other hand, in the case of the 0th-order beam, when the received signals of compensated acoustic sensors are added, for example, half of the received signals of all acoustic sensors are multiplied by +1, and the remaining half of the received signals are multiplied by -1. By adding all later, a beam pattern in which the sensitivity in the desired direction is zero is generated. At this time, if there is a position error in the acoustic sensor, the phase amount compensated by each acoustic sensor with respect to the signal arriving from the desired direction, and the position of the signal actually arriving at each acoustic sensor and the signal arriving at the acoustic center. The phase difference will be different.

  As described above, when a primary beam is generated based on the phase compensation result of each acoustic sensor having an error in the phase compensation result, the desired orientation does not become the maximum sensitivity or the beam pattern is deformed. On the other hand, when the 0th-order beam is generated, the sensitivity in a desired direction does not become zero, or the beam pattern is deformed. That is, the desired phasing azimuth differs from the maximum sensitivity azimuth in the primary beam, and the sensitivity of the desired phasing azimuth does not become zero in the zero-order beam. The same inconvenience occurs when there are variations in amplitude or phase in the output signals of the acoustic sensors.

  By the way, in the conventional adaptive phasing method described above, when the response error of the sensor array is not so large and the input signal is stationary, the calculation error in the inverse matrix calculation is within the allowable range. When the optimal solution of the adaptive filter obtained from the matrix calculation result is used as the filter coefficient of the adaptive filter, there is a case where the degradation of the desired signal becomes large in the adaptive phasing result. In particular, when the SN ratio of the desired signal is very high with respect to the JN ratio of the disturbing sound J coming from a direction other than the phasing direction, the deterioration of the desired signal in the adaptive phasing result becomes remarkable.

  This is for the following reason. That is, since an error occurs in the response of the sensor array, the sensitivity of the desired phasing direction is not zero in the zero-order beam generated so that the sensitivity of the desired phasing direction is zero. The desired signal coming from the desired phasing direction is mixed in. The adaptive phasing result is obtained by subtracting the adaptive filter output of the reference signal from the primary beam output using the 0th-order beam mixed with the desired signal as a reference signal. Therefore, the desired signal deteriorates in the adaptive phasing result. It ends up. As a result, there are problems that it is difficult to detect a desired signal, and that a step in the background level is erroneously detected as a signal.

  In order to solve the above-described problem, an adaptive phasing device according to the present invention uses a signal received by a sensor array and a plurality of primary beams having a maximum sensitivity in the phasing direction and a zero sensitivity in the phasing direction. And a signal arriving from a direction other than the phasing direction is adaptively obtained by subtracting the filtering result in the adaptive filter of a plurality of 0th order beams from the primary beam to obtain the adaptive phasing result. Based on the primary beam and a plurality of zero-order beams, it is determined whether or not the desired signal in the adaptive phasing result using the filter coefficient of the adaptive filter to be calculated this time is deteriorated. When it is determined that the signal is not deteriorated, the first signal is output. When it is determined that the desired signal is deteriorated, the deterioration determiner that outputs the second signal; and when the first signal is supplied, this time Calculation The adaptive phasing result using the selected filter coefficient is selected and output as the current adaptive phasing result, and when the second signal is supplied, the primary beam is selected and output as the current adaptive phasing result. And a selector.

  The adaptive phasing device according to the present invention generates a primary beam having the maximum sensitivity in the phasing direction and a plurality of zero-order beams having zero sensitivity in the phasing direction using the signals received by the sensor array. Then, by subtracting the filtering results in the adaptive filters of a plurality of zero-order beams from the primary beam to obtain the adaptive phasing result, signals arriving from directions other than the phasing direction are adaptively removed. Based on the next beam and a plurality of 0th beams, it is determined whether the desired signal in the adaptive phasing result using the filter coefficient of the adaptive filter to be calculated this time is deteriorated, and it is determined that the desired signal is not deteriorated. A deterioration determining unit that outputs a second signal when it is determined that the desired signal is deteriorated in the case, and the adaptive filter receives the first beam when the first signal is supplied. Using the filter coefficient calculated based on a fine multiple of the zero-order beam, using the initial value of the pre-stored filter coefficients when the second signal is supplied.

  The adaptive phasing device according to the present invention generates a primary beam having the maximum sensitivity in the phasing direction and a plurality of zero-order beams having zero sensitivity in the phasing direction using the signals received by the sensor array. Then, by subtracting the filtering results in the adaptive filters of a plurality of zero-order beams from the primary beam to obtain the adaptive phasing result, signals arriving from directions other than the phasing direction are adaptively removed. The adaptive filter includes a deterioration determining unit that determines whether or not the desired signal in the adaptive phasing result using the filter coefficient of the adaptive filter to be calculated this time is deteriorated based on the next beam and the plurality of zeroth beams. When the deterioration determining unit determines that the desired signal in the adaptive phasing result obtained by using the filter coefficient to be calculated this time at the next time does not deteriorate at the current time, The filter coefficient that has been calculated and stored internally is used, and the filter coefficient is updated based on the plurality of zeroth-order beams and the adaptive phasing result, and the updated filter coefficient is filtered at the next time This is stored internally as a coefficient, and if the deterioration determiner determines that the desired signal in the adaptive phasing result obtained by using the filter coefficient to be calculated at this time at the next time deteriorates, the previous calculation is performed. Then, the filter coefficient stored inside is used, and the filter coefficient is initialized with the initial value of the filter coefficient and stored inside.

An adaptive phasing program according to the present invention is for causing a computer to realize any of the functions of the adaptive phasing device described above.
In addition, an adaptive phasing system according to the present invention includes any one of the above-described adaptive phasing devices provided in parallel in a plurality of stages corresponding to a plurality of frequency bins when realized in the frequency domain.
The adaptive phasing system according to the present invention includes any one of the above adaptive phasing devices arranged in parallel in a plurality of stages corresponding to a plurality of phasing directions.

  In the adaptive phasing device according to the present invention, the degradation determiner degrades the desired signal in the adaptive phasing result using the filter coefficient of the adaptive filter to be calculated this time based on the primary beam and the plurality of 0th beams. The first signal is output when it is determined that the desired signal does not deteriorate, and the second signal is output when it is determined that the desired signal is deteriorated. As a result, when the first signal is supplied, the selector selects the adaptive phasing result using the filter coefficient calculated this time and outputs it as the current adaptive phasing result, and the second signal is supplied. If this occurs, the primary beam is selected and output as the current adaptive phasing result. Therefore, when there is an error in the response of the sensor array, an adaptive phasing result in which a decrease in the desired signal and an increase in the background level are generated is not output to the subsequent stage for a desired signal that is strong enough to eliminate the interference signal. Can be.

In the adaptive phasing system according to the present invention, any one of the above adaptive phasing devices is provided in parallel in a plurality of stages corresponding to a plurality of frequency bins in the case of being realized in the frequency domain. Therefore, a plurality of frequency bins can be processed.
In the adaptive phasing system according to the present invention, any one of the above adaptive phasing devices is provided in parallel in a plurality of stages corresponding to a plurality of phasing directions. Therefore, processing for a plurality of phasing directions can be performed.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of an adaptive phasing device according to Embodiment 1 of the present invention. The adaptive phasing device of this example includes a primary beam generation unit 1, a 0th-order beam generation unit 2, an adaptive filter unit 3, a subtractor 4, a deterioration determination unit 5, and a selector 6. . The primary beam generation unit 1 generates a primary beam having the maximum sensitivity in the phasing direction θ with respect to N (N is a natural number) digital complex frequency domain signals x ₁ (k) to x _N (k). Generate. k indicates a sample number. The N frequency domain signals x ₁ (k) to x _N (k) are analog acoustic signals received by an N sensor array including a plurality of acoustic sensors arranged on a straight line or a circumference. (Sound wave) is converted into time-series digital data and then divided into N frequency bins that are limited to the band necessary for frequency analysis by Fourier transform, wavelet transform, etc. . The adaptive phasing device shown in FIG. 1 performs this adaptive phasing process for one bin of frequency bins.

The primary beam generation unit 1 includes a phase compensator 11, a space window multiplier 12, and an adder 13. In order to make the phase of the frequency domain signals x ₁ (k) to x _N (k) coincide with the direction of the phasing direction θ, the phase compensator 11 uses the phase amount v with respect to the phasing direction θ based on the equation (1). ₁ (θ) to v _N (θ) are calculated, phase compensation is performed based on the equation (2), and the phase compensation results g ₁ (k) to g _N (k) are converted into space window multipliers 12 and 0. The next beam generation unit 2 is supplied.

In Equation (1), n = 1 to N, ω ₀ is the angular frequency of the frequency domain signal x _n (k), h _n is the position vector of the nth acoustic sensor, and r (θ) is the phasing direction θ. , C is the speed of sound, and <a, b> is the inner product of vectors a and b.
g _n (k) = v _n ^* (θ) · x _n (k) (2)
In the formula (2), the subscript “*” indicates a complex conjugate. The same applies to the following equations.

The space window multiplier 12 multiplies the phase compensation results g ₁ (k) to g _N (k) supplied from the phase compensator 11 by corresponding space window coefficients a _{1 to} a _N , respectively, and then multiplies them. The results a ₁ · g ₁ (k) to a _N · g _N (k) are supplied to the adder 13. The adder 13 adds the multiplication results a ₁ · g ₁ (k) to a _N · g _N (k), and then adds the addition result to the primary having the maximum sensitivity in the phasing direction θ shown in Expression (3). The beam d (k) is supplied to the adaptive filter unit 3, the subtracter 4, the deterioration determiner 5, and the selector 6.

Based on the phase compensation results g ₁ (k) to g _N (k) supplied from the primary beam generator 1, the zero-order beam generator 2 has L (L is (Natural number) zero-order beam is generated. The zero-order beam generation unit 2 includes a BM (Block Matrix) multiplier 14. For the phase compensation results g ₁ (k) to g _N (k) supplied from the primary beam generation unit 1, the BM multiplier 14 converts the constraint matrix B _E shown in Equation (4) into Equation (5). Based on this, L 0th-order beams y ₁ (k) to y _L (k) having zero sensitivity in the phasing direction θ are calculated, and the L 0th-order beams are applied to the adaptive filter unit 3. Supply.

In Equation (4), n = 1 to N, j = 1 to L, and b _nj are constraints on the _nth phase compensation result g _n (k) for generating the _jth zeroth-order beam y _j (k). The coefficient is shown. In Equation (5), ^H of B _E ^H indicates a conjugate transpose operation of the matrix. As long as b _nj that is an element of the constraint matrix B _E satisfies the relationship shown in Expression (6), which is a condition that makes the sensitivity of the _{phasing direction} θ zero, other arbitrary constraints such as zero-order constraint, first-order derivative constraint, and the like. Can be restrained.

The adaptive filter unit 3 includes L multipliers 15 ₁ to 15 _L , an adder 16, and a filter coefficient calculator 17. The multipliers 15 ₁ to 15 _L include zeroth-order beams y ₁ (k) to y _L (k) and L filter coefficients w ₁ (k) to corresponding to time k supplied from the filter coefficient calculator 17. multiplies the w _L (k), supplied to the adder 16 the result of the multiplication _{^{w * 1 (k) · y}} 1 (k) ~w * L (k) · y L (k). The adder 16 adds the multiplication results w ^* ₁ (k) · y ₁ (k) to w ^* _L (k) · y _L (k), and then adds the addition result to the filtering result shown in Expression (7). A certain adaptive filter result z (k) is supplied to the subtracter 4.

The filter coefficient calculator 17 is a so-called DMI type (also referred to as SMI type) that updates the optimum filter coefficient solution each time. The primary beam d (k) supplied from the primary beam generation unit 1 and the 0th order Based on the 0th-order beams y ₁ (k) to y _L (k) supplied from the beam generator 2, the adaptive filter result z (k) supplied from the adaptive filter unit 3 by the subtractor 4 is used as the primary beam. L filter coefficients w ₁ (k) to w _L (k) that minimize the square value | ε (k) | ² of the subtraction result ε (k) subtracted from d (k) are calculated, and each filter coefficient w ₁ (k) to w _L (k) are supplied to the multipliers 15 ₁ to 15 _L.

Here, a method for calculating the optimum solution of the filter coefficients w ₁ (k) to w _L (k) each time in the filter coefficient calculator 17 will be described. First, a cross-correlation vector P _dy (k) between the primary beam d (k) and the zero-order beams y ₁ (k) to y _L (k) is calculated based on the equation (8), and the equation (9) Based on the cross correlation vector P _dy (k), the time average M [P _dy (k)] of the cross correlation vector, which is the time average of a predetermined section, is calculated for each element. [X] indicates an average value x. In Equation (9), M indicates the number of samples corresponding to a predetermined section. In either case, the same applies below.

Then, to calculate the autocorrelation matrix R _yy (k) of on the basis of the equation (10) 0 order beam _{y 1 (k) ~y L (} k), the autocorrelation matrix R _yy based on equation (11) For (k), the time average M [R _yy (k)] of the autocorrelation matrix, which is the time average of a predetermined section, is calculated for each element.

Next, the inverse matrix M [R _yy (k)] ⁻ of the time average M [R _yy (k)] of the autocorrelation matrix is used by using an inverse matrix formula such as LU decomposition method or Cholesky decomposition method. ¹ is calculated. Then, based on the equation (12), the inverse matrix M [R _yy (k)] of the time average M [P _dy (k)] of the cross-correlation vector and the time average M [R _yy (k)] of the autocorrelation matrix. By multiplying by ⁻¹ , filter coefficients w ₁ (k) to w _L (k) which are optimum solutions of the filter coefficient at time k are obtained.

The subtracter 4 subtracts the adaptive filter result z (k) supplied from the adaptive filter unit 3 from the primary beam d (k) supplied from the primary beam generation unit 1 based on Expression (13). Thereafter, the subtraction result is supplied to the second input terminal of the selector 6 as the adaptive phasing result ε (k).
ε (k) = d (k) −z (k) (13)

The degradation determiner 5 includes a primary beam d (k) supplied from the primary beam generator _{1 and} zero-order beams y ₁ (k) to y _L (k) supplied from the zero-order beam generator 2. Are compared to determine whether the desired signal in the adaptive phasing result ε (k) deteriorates, and the determination result RES is supplied to the control terminal of the selector 6. Based on the determination result RES supplied from the deterioration determiner 5, the selector 6 receives the primary beam d (k) supplied from the first input terminal or the adaptive phasing result supplied from the second input terminal. Select one of ε (k) and output.

Next, the configuration of the deterioration determiner 5 will be described with reference to FIG. The deterioration determiner 5 in this example includes L squarers 21 _{1 to} 21 _L , a squarer 22, an adder 23, integrators 24 and 25, a level difference calculator 26, and a level difference determiner 27. It consists of and. The squarers 21 _{1 to} 21 _L square the corresponding zero-order beams y ₁ (k) to y _L (k) supplied from the zero-order beam generation unit 2, respectively, and then square values | y ₁ (k) | ² to | y _L (k) | ² are supplied to the adder 23. The squarer 22 squares the primary beam d (k) supplied from the primary beam generator 1, and then supplies the square value | d (k) | ² to the integrator 25.

The adder 23 adds the square values | y ₁ (k) | ² to | y _L (k) | ² of all the zero-order beams, and then supplies them to the integrator 24 as the addition result A shown in Expression (14). To do.

The integrator 24 performs an addition averaging process on the addition result A supplied from the adder 23 for a time corresponding to the specified integration time, and the level average calculator 26 calculates the time average value M [A]. To the first input terminal. The integrator 25 performs an addition averaging process for the time corresponding to the specified integration time on the squared value | d (k) | ^{2 of the} primary beam supplied from the squarer 22, and the time average value thereof. M [| d (k) | ² ] is supplied to the second input terminal of the level difference calculator 26.

The level difference calculator 26 calculates a ratio between the time average value M [A] supplied from the integrator 24 and the time average value M [| d (k) | ² ] supplied from the integrator 25, and The result M [A] / M [| d (k) | ² ] is supplied to the level difference determiner 27. The level difference determiner 27, based on the deterioration determination information THL supplied from the outside, the adaptive phasing result from the value M [A] / M [| d (k) | ² ] supplied from the level difference calculator 26. It is determined whether or not the desired signal at ε (k) is deteriorated, and the determination result RES is supplied to the control terminal of the selector 6 shown in FIG.

Next, the operation of the adaptive phasing device configured as described above will be described. 2, the primary beam d (k) is supplied from the primary beam generator 1 and the L zero-order beams y ₁ (k) to y are supplied from the zero-order beam generator 2. _{When L} (k) is supplied, each squarer 21 _{1 to} 21 _L is set to the square value of each of the corresponding zero-order beams y ₁ (k) to y _L (k) based on Expression (15). y ₁ (k) | ² to | y _L (k) | ² are calculated and supplied to the adder 23.

The adder 23 adds the square values | y ₁ (k) | ² to | y _L (k) | ² of all the zero-order beams, and then adds the integrator 24 as the addition result A shown in the above equation (14). To supply. Thereby, the integrator 24 calculates the addition average value for the time corresponding to the specified integration time with respect to the addition result A based on the equation (16), and sets the time average value M [A] to the level. This is supplied to the first input terminal of the difference calculator 26.

On the other hand, the squarer 22 calculates the squared value | d (k) | ² of the primary beam d (k) based on the equation (17), and supplies it to the integrator 25. Thereby, the integrator 25 calculates an addition average value for a time corresponding to the designated integration time with respect to the squared value | d (k) | ^{2 of the} primary beam based on the equation (18), The time average value M [| d (k) | ² ] is supplied to the second input terminal of the level difference calculator 26.
| D (k) | ² = d (k) · d ^* (k) (17)

Therefore, the level difference calculator 26 calculates the ratio of the time average value M [A] and the time average value M [| d (k) | ² ] and uses the result as the level difference M [A] / M [| d (K) | ² ] is supplied to the level difference determiner 27. As a result, the level difference determiner 27 includes the deterioration determination information THL supplied from the outside and the level difference M [A] / M [| d (k) | ² ] as shown in (a) to (c) below. When the condition is satisfied, it is determined whether or not the desired signal in the adaptive phasing result ε (k) is deteriorated, and the determination result RES is supplied to the control terminal of the selector 6 shown in FIG.

(A) When M [A] / M [| d (k) | ² ]> THL, RES = 0
(B) When M [A] / M [| d (k) | ² ] = THL, RES = 0 (or RES = 1 may be used)
(C) When M [A] / M [| d (k) | ² ] <THL, RES = 1

  For example, the level difference calculator 26 outputs RES = 0 when the desired signal does not deteriorate, and outputs RES = 1 when it deteriorates. Thereby, based on the determination result RES, the selector 6 selects the adaptive phasing result ε (k) supplied from the second input terminal and outputs it to the subsequent stage when RES = 0. When = 1, the primary beam d (k) supplied from the first input terminal is selected and output to the subsequent stage.

Thus, according to the embodiment, provided with a deterioration judging unit 5, the square values of all the zero-order beam ^{_{| y 1 (k) | 2}} ~ | y L (k) | 2 of the time average value M Level difference M [A] / M [| d (k) | ² between [A] and the time average value M [| d (k) | ² ] of the squared value | d (k) | ² of the primary beam ], The selector 6 determines whether or not the desired signal in the adaptive phasing result ε (k) deteriorates, and the selector 6 deteriorates the desired signal in the adaptive phasing result ε (k) based on the determination result RES. In this case, the primary beam d (k) is selected and output to the subsequent stage. If the desired signal in the adaptive phasing result ε (k) does not deteriorate, the adaptive phasing result ε (k) is selected and the subsequent stage is output. Output.

  For this reason, in the case where a decrease in the desired signal and an increase in the background level occur in the adaptive phasing result ε (k), the maximum sensitivity is detected in the phasing direction θ where the decrease in the desired signal and the increase in the background level have not occurred A primary beam d (k) having is output. Therefore, when the desired signal is weak in the adaptive phasing output when the response error of the sensor array exists, the adaptive phasing result ε (k) from which the interference signal is adaptively removed is output, and the interference signal When the desired signal is so strong that removal is not required, it is possible to output the primary beam d (k) having the maximum sensitivity in the phasing azimuth θ without causing a decrease in the desired signal and an increase in the background level.

Embodiment 2. FIG.
FIG. 3 is a block diagram showing a configuration of the degradation determination unit 31 constituting the adaptive phasing device according to the second embodiment of the present invention. In FIG. 3, parts corresponding to those in FIG. In the deterioration determination unit 31 shown in FIG. 3, integrators 32 _{1 to} 32 _L , level difference calculators are used instead of the adder 23, integrator 24, level difference calculator 26 and level difference determiner 27 shown in FIG. 2. 33 _{1 to} 33 _L and a level difference determiner 34 are newly provided. The configuration other than the degradation determination device 31 of the adaptive phasing device is the same as the configuration of the adaptive phasing device shown in FIG.

The integrators 32 _{1 to} 32 _L have a specified integration time with respect to the square values | y ₁ (k) | ² to | y _L (k) | ² supplied from the corresponding squares 21 _{1 to} 21 _L. Addition averaging processing for the corresponding time is performed, and the time average values M [| y ₁ (k) | ² ] to M [| y _L (k) | ² ] are corresponding level difference calculators 33 _{1 to} 33. Supply to the first input of _L. The level difference calculators 33 _{1 to} 33 _L are time average values M [| y ₁ (k) | ² ] to M [| y _L (k) | ² ] supplied from the corresponding integrators 32 _{1 to} 32 _L. And the time average value M [| d (k) | ² ] supplied from the integrator 25, and as a result, M [| y ₁ (k) | ² ] / M [| d (k) | ² ] to M [| y _L (k) | ² ] / M [| d (k) | ² ] are supplied to the level difference determination unit 34.

The level difference determiner 34 is based on the deterioration determination information THL supplied from the outside, and the value M [| y ₁ (k) | ² ] / M [| d supplied from the level difference calculators 33 _{1 to} 33 _L. (K) | ² ] to M [| y _L (k) | ² ] / M [| d (k) | ² ] to determine whether or not the desired signal in the adaptive phasing result ε (k) is deteriorated. The determination result RES is supplied to the control terminal of the selector 6 shown in FIG.

Next, the operation of the adaptive phasing device configured as described above will be described. In the degradation determination unit 31, the primary beam generator with 1 from the primary beam d (k) is supplied, the zero-order beam from the generator 2 of the L 0 order beam _{y 1 (k) ~y L (} k) Is supplied to each squarer 21 _{1 to} 21 _L based on the above-described equation (15), the square value | y _{1 of the} corresponding zero-order beam y ₁ (k) to y _L (k). (K) | ² to | y _L (k) | ² are calculated and supplied to the corresponding integrators 32 _{1 to} 32 _L.

Thereby, the integrators 32 _{1 to} 32 _L are designated for the square values | y ₁ (k) | ² to | y _L (k) | ^{2 of} the corresponding zero-order beam based on the equation (19). The addition average value for the time corresponding to the integration time is calculated, and the time average values M [| y ₁ (k) | ² ] to M [| y _L (k) | ² ] are corresponding level difference calculators. 33 _to 333 is supplied to the first input terminal of the _L.

On the other hand, the squarer 22 calculates the squared value | d (k) | ² of the primary beam d (k) based on the above-described equation (17) and supplies it to the integrator 25. Thereby, the integrator 25 calculates the addition average value for the time corresponding to the designated integration time with respect to the squared value | d (k) | ^{2 of the} primary beam based on the above equation (18). The time average value M [| d (k) | ² ] is supplied to the second input terminals of the level difference calculators 33 _{1 to} 33 _L.

Therefore, the level difference calculators 33 _{1 to} 33 _L respectively correspond to the time average values M [| y ₁ (k) | ² ] to M [| y _L (k) | ² ] and the time average values M [| d (K) | ² ] is calculated, and each result is expressed as a level difference M [| y ₁ (k) | ² ] / M [| d (k) | ² ] to M [| y _L (k) | ² ] / M [| d (k) | ² ] (hereinafter abbreviated as M [| y _j (k) | ² ] / M [| d (k) | ² ] (j = 1 to L)). This is supplied to the level difference determiner 34. Thereby, the level difference determiner 34 shows deterioration determination information THL supplied from the outside and the level difference M [| y _j (k) | ² ] / M [| d (k) | ² ] as follows ( When the conditions d) to (f) are satisfied, it is determined whether or not the desired signal in the adaptive phasing result ε (k) deteriorates, and the primary determination results RES1 _{1 to} RES1 _L (hereinafter abbreviated as RES1 _j). .) Is calculated.

(D) When M [| y _j (k) | ² ] / M [| d (k) | ² ]> THL, RES1 _j = 0
(E) When M [| y _j (k) | ² ] / M [| d (k) | ² ] = THL, RES1 _j = 0 (or RES1 _j = 1 may be set)
(F) When M [| y _j (k) | ² ] / M [| d (k) | ² ] <THL, RES1 _j = 1

For example, the level difference determiner 34 calculates RES1 _j = 0 when the desired signal does not deteriorate, and calculates RES1 _j = 1 when it deteriorates. Further, the level difference determiner 34, when the determination coefficient J (0 ≦ J ≦ L) and the addition results of the primary determination results RES1 _{1 to} RES1 _L satisfy the following conditions (g) to (i): It is determined whether or not the desired signal in the adaptive phasing result ε (k) is deteriorated, and the determination result RES is supplied to the control terminal of the selector 6 shown in FIG.

(G) If equation (20) holds, RES = 0
(H) When Expression (21) is satisfied, RES = 1 (or RES = 0 may be set).
(I) If equation (22) holds, RES = 1

For example, the level difference determiner 34 outputs RES = 0 when the desired signal does not deteriorate, and outputs RES = 1 when it deteriorates. For example, when J = 1, when a primary determination is made that even one of the L primary determination results RES1 _j deteriorates, a desired value in the adaptive phasing result ε (k) is determined in the determination result RES. It is determined that the desired signal in the adaptive phasing result ε (k) is not deteriorated in the determination result RES only when it is determined that the signal is deteriorated and it is determined not to deteriorate in all the primary determination results RES1 _j . Thereby, based on the determination result RES, the selector 6 selects the adaptive phasing result ε (k) supplied from the second input terminal and outputs it to the subsequent stage when RES = 0. When = 1, the primary beam d (k) supplied from the first input terminal is selected and output to the subsequent stage.

Thus, according to the embodiment, provided with a deterioration judging unit 31, the square values of all the zero-order beam ^{_{| y 1 (k) | 2}} ~ | y L (k) | 2 of the time average value M Level difference M [| y _j (k) | ² ] / M [A] and the time average value M [| d (k) | ² ] of the squared value | d (k) | ² of the primary beam | d (k) | to implement L linearly determined to calculate the L linearly determination result RES1 ₁ ～RES1 _L based on ^2, this L linearly determination result RES1 ₁ ～RES1 _L Based on this, it is comprehensively determined whether or not the desired signal in the adaptive phasing result ε (k) deteriorates, and the selector 6 degrades the desired signal in the adaptive phasing result ε (k) based on the determination result RES. In this case, the primary beam d (k) is selected and output to the subsequent stage. If the desired signal in the adaptive phasing result ε (k) does not deteriorate, the adaptive phasing result ε k) selects and outputs to the subsequent stage.

  For this reason, according to the configuration of this example, it is determined whether or not the desired signal in the adaptive phasing result ε (k) is deteriorated based on the determination criterion more detailed than in the case of the first embodiment. Can do. For example, when the determination coefficient J = 1 in the above-described conditions (g) to (i), it becomes a stricter determination criterion than in the case of the first embodiment, and when the determination coefficient J = L, The judgment criterion is more gradual than in the case of the first embodiment described above. Based on such detailed determination criteria, when the desired signal decreases and the background level increases in the adaptive phasing result ε (k), the desired signal decreases and the background level increases. The primary beam d (k) having the maximum sensitivity in the phasing direction θ is not output.

  Therefore, when the desired signal is weak in the adaptive phasing output when the response error of the sensor array exists, the adaptive phasing result ε (k) from which the interference signal is adaptively removed is output, and the interference signal When the desired signal is so strong that removal is not required, it is possible to output the primary beam d (k) having the maximum sensitivity in the phasing azimuth θ without causing a decrease in the desired signal and an increase in the background level.

Embodiment 3 FIG.
In the above-described second embodiment, the example in which the determination result RES is obtained based on the addition result of the _L primary determination results RES1 _{1 to} RES1 _L has been described, but the present invention is not limited to this. For example, the present invention obtains the determination result RES based on the above-described conditions (g) to (i) after weighting the _L primary determination results RES1 _{1 to} RES1 _L , or the L primary determination results RES1. ₁ ～RES1 combination may be asking for the decision result RES in consideration of the relative _L.

  With such a configuration, it is possible to make a determination flexibly corresponding to the characteristics of the individual 0th-order beams, the external environment, and the like. This is for the following reason. That is, each 0th-order beam is generated so as to be orthogonal to the phasing azimuth in the signal space and so that the 0th-order beamspaces are orthogonal to each other (characteristics of individual 0th-order beams). Therefore, when an error occurs in the response of the sensor array and the desired signal is mixed into the zero-order beam, the degree of mixing (the output level of the desired signal at the zero-order beam output) is “the arrival direction and the phasing direction of the desired signal”. Depending on the degree of deviation ”(external environment), there are zero-order beams in which the desired signal components are hardly output and zero-order beams in which many desired signal components are output. In addition, the degree of mixing of the desired signal into each 0th-order beam also changes depending on the occurrence state of the response error of the sensor array (external environment), and there are many 0th-order beams and components of the desired signal in which almost no desired signal component is output. There is an output zero order beam. Further, depending on the arrival direction (external environment) of the disturbing sound J to be removed, the disturbing sound level at each 0th-order beam output is different. Will exist.

  Therefore, even when an error occurs in the response of the sensor array and the desired signal is mixed in the 0th-order beam, the 0th-order beam and the desired signal are much less in the 0th-order beam output than the interference sound J in the 0th-order beam output. There are very many 0th-order beams compared to the disturbing sound J, and the 0th-order beam whose number of desired signals is very large compared to the disturbing sound J causes deterioration of the desired signal in the adaptive phasing output. For this reason, rather than comparing the average value of all the 0th-order beam outputs and the primary beam output, it is better to judge from the result of comparing the individual 0th-order beam outputs and the primary beam outputs, and to degrade the desired signal. The ability to detect increases.

  Based on such detailed and flexible criteria, when the desired signal decreases and the background level increases in the adaptive phasing result ε (k), the desired signal decreases and the background level increases. A primary beam d (k) having the maximum sensitivity in the phasing direction θ that is not generated is output.

Embodiment 4 FIG.
FIG. 4 is a block diagram showing a configuration of an adaptive phasing device according to the fourth embodiment of the present invention. 4, parts corresponding to those in FIG. 1 are given the same reference numerals, and descriptions thereof are omitted. In the adaptive phasing device shown in FIG. 4, an adaptive filter unit 41 is newly provided in place of the adaptive filter unit 3 shown in FIG. 1, and the selector 6 is removed, so that the adaptive phasing from the subtractor 4 is performed. The result ε (k) is output as it is. Further, the determination result RES from the deterioration determiner 5 is supplied to the adaptive filter unit 41. The adaptive filter unit 41 shown in FIG. 4 is different from the adaptive filter unit 3 shown in FIG. 1 in that a filter coefficient selector 42 is newly provided between the multipliers 15 ₁ to 15 _L and the filter coefficient calculator 17. And the determination result RES from the deterioration determiner 5 is supplied to the filter coefficient selector 42.

The filter coefficient selector 42 stores the filter coefficients w ₁ (k) to w _L (k) supplied from the filter coefficient calculator 17 based on the determination result RES supplied from the deterioration determiner 5 or internally. One of the initial values w _{0,1 to} w _{0, L} of the filter coefficient is selected, and the selected filter coefficient is supplied to the multipliers 15 ₁ to 15 _L. As shown in FIG. 5, the filter coefficient selector 42 includes filter coefficient storage means 43 and a selector 44.

The filter coefficient storage means 43 is composed of, for example, a non-volatile semiconductor memory such as EPROM, in which initial values w _{0,1 to} w _{0, L of} filter coefficients are stored in advance _{, and the L} second inputs of the selector 44 The initial value w _{0,1 to} w _{0, L} of the filter coefficient is supplied to the end group. Based on the determination result RES supplied from the deterioration determiner 5, the selector 44 supplies filter coefficients w ₁ (k) to w _L (k) supplied from the L first input end groups or L pieces of filter coefficients. One of the initial values w _{0,1 to} w _{0, L} of the filter coefficients supplied from the second input end group is selected and output.

Next, the operation of the adaptive phasing device configured as described above will be described. Hereinafter, only differences from the above-described first embodiment will be described. For example, when the desired signal does not deteriorate, the deterioration determining unit 5 outputs RES = 0 and supplies it to the filter coefficient selector 42, and when it deteriorates, outputs RES = 1 and supplies it to the filter coefficient selector 42. . Accordingly, the selector 44 shown in FIG. 5 performs filter coefficients w ₁ (k) to w _L supplied from the L first input end groups based on the determination result RES when RES = 0. (K) is selected and output, and when RES = 1, the initial values w _{0,1 to} w _{0, L} of the filter coefficients supplied from the L second input end groups are selected. Output.

Accordingly, the multipliers 15 ₁ to 15 _L correspond to the zero-order beams y ₁ (k) to y _L (k) and the time k supplied from the filter coefficient selector 42 when RES = 0. Multiply _L filter coefficients w ₁ (k) to w _L (k), and add multiplication results w ^* ₁ (k) · y ₁ (k) to w ^* _L (k) · y _L (k) When RES = 1, the zero-order beam y ₁ (k) to y _L (k) and the initial value w _{0,1 of the} filter coefficient supplied from the filter coefficient selector 42 are supplied. w _0, by multiplying the _L, supplied to the multiplication result ^{_{w * 0,1 · y 1 (k}} ) ~w * 0, L · y L (k) of the adder 16.

Thus, when RES = 0, the adder 16 adds the multiplication results w ^* ₁ (k) · y ₁ (k) to w ^* _L (k) · y _L (k), and then adds them. The result is supplied to the subtracter 4 as the adaptive filter result z (k) that is the filtering result shown in the above equation (7). When RES = 1, the multiplication result w ^* _0,1 · y ₁ After adding (k) to w ^* _{0, L} · y _L (k), the addition result is supplied to the subtracter 4 as the adaptive filter result z ₀ (k) that is the filtering result shown in Expression (23). .

Therefore, when RES = 0, the subtractor 4 is configured to output the primary beam d (k) supplied from the primary beam generation unit 1 and the adaptive filter unit 3 based on the above-described equation (13). After subtracting the supplied adaptive filter result z (k), the subtraction result is output as the adaptive phasing result ε (k). When RES = 1, the primary beam is calculated based on the equation (24). After subtracting the adaptive filter result z ₀ (k) supplied from the adaptive filter unit 3 from the primary beam d (k) supplied from the generation unit 1, the subtraction result is output as the adaptive phasing result ε (k). To do.
ε (k) = d (k) −z ₀ (k) (24)

As described above, according to the configuration of this example, the deterioration determination unit 5 is provided to determine whether or not the desired signal in the adaptive phasing result ε (k) is deteriorated, and the filter coefficient is selected in the adaptive filter unit 41. A filter 42 is provided, and the filter coefficient used in the adaptive phasing result ε (k) is set to the filter coefficient used in the filtering in the adaptive filter unit 41 based on the determination result RES supplied from the deterioration determination unit 5 by the filter coefficient selector When the signal does not deteriorate, the filter coefficients w ₁ (k) to w _L (k) supplied from the filter coefficient calculator 17 are converted into the desired signal in the adaptive phasing result ε (k). The initial values w _{0,1 to} w _{0, L} of the filter coefficients stored in the filter coefficient storage means 43 are selected.

For this reason, when a decrease in the desired signal and an increase in the background level occur in the adaptive phasing result ε (k), for example, the filter coefficient storage means 43 stores the initial value w _0,1 = w ₀ of the filter coefficient. _{, 2} =... = W _{0, L} = 0 in advance, the primary signal d (k) having the maximum sensitivity in the phasing azimuth θ in which the desired signal is not lowered and the background level is not raised. Is output. Therefore, according to the configuration of this example, the same effect as in the first embodiment and the second embodiment described above can be obtained, and in the adaptive phasing output when the response error of the sensor array exists, When the desired signal is weak, the adaptive phasing result ε (k) from which the interference signal is adaptively removed is output. When the desired signal is so strong that it is not necessary to remove the interference signal, the desired signal is reduced. It is possible to output a primary beam d (k) having a maximum sensitivity in the phasing direction θ without causing an increase in background level.

Embodiment 5 FIG.
FIG. 6 is a block diagram showing a configuration of a filter coefficient selector 51 constituting the adaptive phasing device according to the fifth embodiment of the present invention. In FIG. 6, parts corresponding to those in FIG. In the filter coefficient selector 51 shown in FIG. 6, a filter coefficient storage means 53 is newly provided in place of the filter coefficient storage means 43, and a selector 52 is newly provided. The configuration other than the filter coefficient selector 51 of the adaptive phasing device is the same as the configuration of the adaptive phasing device shown in FIG.

The selector 52 converts the filter coefficients w ₁ (k) to w _L (k) supplied from the L first input end groups based on the determination result RES supplied from the deterioration determiner 5 to the L of the selector 44. Are supplied to the first input terminal groups and supplied to the filter coefficient storage means 53, or the L first input terminal groups of the selector 44 of the filter coefficients w ₁ (k) to w _L (k) and The supply to the filter coefficient storage means 53 is stopped.

The filter coefficient storage means 53 is composed of, for example, a rewritable semiconductor memory such as a RAM, and the initial values w _{0,1 to} w _{0, L of the} filter coefficients are stored in advance and supplied from the selector 52. The filter coefficients w ₁ (ki) to w _L (ki) (i is a natural number) output from the filter coefficient calculator 17 in the nearest past in which the desired signal in the phasing result ε (k) does not deteriorate is over. The selector 44 selects either the initial value w _{0,1 to} w _{0, L} of the filter coefficient or the overwritten past filter coefficient w ₁ (ki) to w _L (ki), which is configured to be writable. To the L second input terminals.

Next, the operation of the adaptive phasing device configured as described above will be described. Hereinafter, only differences from the above-described first embodiment will be described. For example, when the desired signal in the adaptive phasing result ε (k) does not deteriorate, the deterioration determining unit 5 outputs RES = 0 and supplies it to the filter coefficient selector 51, and outputs RES = 1 when it deteriorates. To the filter coefficient selector 51. Accordingly, the selector 52 shown in FIG. 6 performs the filter coefficients w ₁ (k) to w _L supplied from the L first input end groups when RES = 0 based on the determination result RES. (K) is supplied to the L first input terminal groups of the selector 44 and also supplied to the filter coefficient storage means 53. As a result, the filter coefficient storage means 53 sets the initial values w _{0,1 to} w _{0, L} of the filter coefficients stored in advance or the past filter coefficients w ₁ (ki) to w _L (ki). The new filter coefficients w ₁ (k) to w _L (k) that are supplied this time and that do not degrade the desired signal in the adaptive phasing result ε (k) are overwritten. On the other hand, since RES = 0, the selector 44 selects and outputs the filter coefficients w ₁ (k) to w _L (k) supplied from the L first input end groups.

Accordingly, the multipliers 15 ₁ to 15 _L include the zeroth-order beams y ₁ (k) to y _L (k) and L filter coefficients w ₁ (k corresponding to the time k supplied from the filter coefficient selector 42. ) To w _L (k) and the multiplication results w ^* ₁ (k) · y ₁ (k) to w ^* _L (k) · y _L (k) are supplied to the adder 16. Thus, the adder 16, the multiplication result _{^{w * 1 (k) · y}} 1 (k) ~w * L (k) · y L (k) after adding and the addition result, Equation (7) described above Are supplied to the subtracter 4 as an adaptive filter result z (k) which is a filtering result shown in FIG. Therefore, the subtractor 4 is based on the above equation (13), and the primary beam d (k) supplied from the primary beam generation unit 1 and the adaptive filter result z (k) supplied from the adaptive filter unit 3. ) Is subtracted, and the subtraction result is output as the adaptive phasing result ε (k).

On the other hand, when RES = 1, the selector 52 supplies the filter coefficients w ₁ (k) to w _L (k) to the L first input terminals of the selector 44 and the filter coefficient storage means 53. To stop. Since RES = 1, the selector 44 receives the initial values w _{0,1 to} w of the filter coefficients stored in advance supplied from the filter coefficient storage means 53 via the L second input terminal groups. _{0, L} or selects and outputs the adaptive phasing result ε closest past filter coefficients desired signal does not deteriorate in the _{(k) w 1 (k-} i) ~w L (k-i).

Accordingly, the multipliers 15 ₁ to 15 _L include the zero-order beams y ₁ (k) to y _L (k) and the initial values w _{0,1 to} w _{0, L of the} filter coefficients supplied from the filter coefficient selector 42. Alternatively, the product is multiplied by the nearest past filter coefficients w ₁ (k−i) to w _L (k−i) in which the desired signal in the adaptive phasing result ε (k) does not deteriorate, and the multiplication result w ^* _0,1 ,. ^{_{y 1 (k) ~w * 0}} , L · y L (k) or the multiplication result _{^{w * 1 (k-i)}} · y 1 (k) ~w * L (k-i) · y L (k) Is supplied to the adder 16.

Accordingly, the adder 16 causes the multiplication results w ^* _0,1 · y ₁ (k) to w ^* _{0, L} · y _L (k) or the multiplication results w ^* ₁ (ki) · y ₁ (k). _{^{~w * L (k-i)}} · y after adding _L (k), the addition result, the equation (23) adaptive filter is a filtering result shown in the result z ₀ (k) or the formula (25) Is supplied to the subtracter 4 as an adaptive filter result z ₁ (k) which is a filtering result shown in FIG.

Therefore, the subtractor 4 is adapted from the primary beam d (k) supplied from the primary beam generation unit 1 based on the above-described equation (23) or (26). After subtracting the filter result z ₀ (k) or z ₁ (k), the subtraction result is output as the adaptive phasing result ε (k).
ε (k) = d (k) −z ₁ (k) (26)

Therefore, for example, when RES = 0 at time (k−1) and RES = 1 at time k, the filter coefficient output from the filter coefficient calculator 17 at time (k−1). The adaptive phasing result ε (k−1) using w ₁ (k−1) to w _L (k−1) is output from the adaptive phasing device of this example, and the filter coefficient w ₁ (k− 1) to w _L (k−1) are stored in the filter coefficient storage means 53.

Next, at time k, the filter coefficients w ₁ (k−1) to w _L (k−1) stored in the filter coefficient storage unit 53 are not updated, and the filter coefficients w ₁ (k−1) are not updated. It operates so that the adaptive phasing result ε (k) using ˜w _L (k−1) is output from the adaptive phasing device of this example. Further, from the start of operation until the first RES = 0, the adaptive phasing result ε () using the initial values w _{0,1 to} w _{0, L} of the filter coefficients stored in advance in the filter coefficient storage means 53. k) is output from the adaptive phasing device of this example.

As described above, according to the configuration of this example, the deterioration determination unit 5 is provided to determine whether or not the desired signal in the adaptive phasing result ε (k) is deteriorated, and the filter coefficient is selected in the adaptive filter unit 41. The filter coefficient selector 51 provides a filter coefficient to be used for filtering in the adaptive filter unit 41 based on the determination result RES supplied from the deterioration determination unit 5 to the desired coefficient in the adaptive phasing result ε (k). When the signal does not deteriorate, the filter coefficients w ₁ (k) to w _L (k) supplied from the filter coefficient calculator 17 are selected, and the desired signal in the adaptive phasing result ε (k) at this time is selected. filter coefficients not degraded _{w 1 (k) ~w L (} k) is stored in the filter coefficient storage unit 53, when the desired signal in the adaptive phasing results epsilon (k) is deteriorated, the filter coefficients憶means 53 is stored, the initial value w _{0, 1} to w 0 of the filter coefficient, _L or adaptive phasing result ε closest past filter coefficients desired signal does not deteriorate in the (k) w ₁ (k- i) to w _L (ki) are selected.

  For this reason, when a decrease in the desired signal and an increase in the background level occur in the adaptive phasing result ε (k), the adaptive phasing process is performed using the filter coefficient that is the optimal solution in the nearest past. Therefore, the adaptive phasing result ε (k) from which the interference signal is adaptively removed to some extent is output, in which the decrease in the desired signal and the increase in the background level do not occur so much.

  Therefore, according to the configuration of this example, when the desired signal is weak in the adaptive phasing output when there is a response error of the sensor array, the adaptive phasing result ε (k ) To output the adaptive phasing result ε (k) from which the interference signal is adaptively removed to some extent, even when the desired signal is strong, the decrease in the desired signal and the increase in the background level do not occur so much. it can.

Embodiment 6 FIG.
In the first, second, fourth, and fifth embodiments described above, the adaptive phasing device has an example in which the adaptive phasing device is configured separately and independently. However, the present invention is not limited to this. In the present invention, Embodiment 4 or 5 described above may be combined with Embodiment 1 or 2 described above. For example, the filter coefficient selector 42 in the fourth embodiment shown in FIG. 5 is replaced with the multipliers 15 ₁ to 15 in the _first embodiment shown in FIG. 1 in which the deterioration determining unit 5 having the configuration shown in FIG. 2 is provided. It may be provided between _L and the filter coefficient calculator 17.

Further, the filter coefficient selector 42 in the fourth embodiment shown in FIG. 5 is replaced with the multipliers 15 ₁ to 15 in the second embodiment (see FIG. 1) in which the deterioration determining unit 31 having the configuration shown in FIG. 3 is provided. It may be provided between 15 _L and the filter coefficient calculator 17. Furthermore, the filter coefficient selector 51 in the fifth embodiment shown in FIG. 6 is replaced with the multipliers 15 ₁ to 15 in the _first embodiment shown in FIG. 1 in which the deterioration determining unit 5 having the configuration shown in FIG. 2 is provided. 6 may be provided between _L and the filter coefficient calculator 17, or the filter coefficient selector 51 in the fifth embodiment shown in FIG. 6 is provided with a deterioration determining unit 31 having the configuration shown in FIG. In the second embodiment (see FIG. 1), it may be provided between the multipliers 15 ₁ to 15 _L and the filter coefficient calculator 17.

Embodiment 7 FIG.
In the first embodiment described above, the integrator 24 calculates the addition average value for the time corresponding to the specified integration time with respect to the addition result A supplied from the adder 23, and the second embodiment described above. in the integrator 32 ₁ to 32 _L, the square value of the corresponding zero-order beam ^{_{| y 1 (k) | 2}} ~ | y L (k) | with respect to ^2, the time corresponding to the specified integration time Although the example which calculates an addition average value was shown, this invention is not limited to this. For example, the integrator 24 and the integrators 32 _{1 to} 32 _L may perform exponential integration processing using a time corresponding to a specified integration time as a time constant. Even if comprised in this way, the effect similar to the case of Embodiment 1 or 2 mentioned above can be acquired.

Embodiment 8 FIG.
FIG. 7 is a block diagram showing a configuration of an adaptive phasing device according to the eighth embodiment of the present invention. 7, parts corresponding to those in FIG. 1 are given the same reference numerals, and descriptions thereof are omitted. In the adaptive phasing device shown in FIG. 7, an adaptive filter unit 61 is newly provided instead of the adaptive filter unit 3 shown in FIG. 1, and the adaptive filter unit 61 has a primary beam d (k). Instead, the adaptive phasing result ε (k) from the subtractor 4 is supplied. The adaptive filter unit 61 shown in FIG. 7 is different from the adaptive filter unit 3 shown in FIG. 1 in that a filter coefficient calculator 62 is newly provided in place of the filter coefficient calculator 17.

The filter coefficient calculator 62 is a so-called LMS type that sequentially updates the optimum filter coefficient solution, and the L filter coefficients w ₁ (k) to w _L (k) calculated and stored in the previous time. ) To the multipliers 15 ₁ to 15 _L, and then supplied from the subtractor 4 and the zero-order beams y ₁ (k) to y _L (k) at the current time k supplied from the zero-order beam generation unit 2. Substituting the adaptive phasing result ε (k) at the current time k into the equation (27), the L filter coefficients w ₁ (k + 1) to w _L (k + 1) are updated, and the updated L pieces The filter coefficients w ₁ (k + 1) to w _L (k + 1) are stored internally as filter coefficients at the next time (k + 1).

  In Expression (27), μ is a convergence coefficient. A is a normalization coefficient. Various update algorithms can be selected according to the setting method of the normalization coefficient A. For example, in the case of the LMS algorithm, A = 1, and in the case of the learning algorithm, A is expressed by the above equation (14).

Next, the operation of the adaptive phasing device configured as described above will be described. Hereinafter, only differences from the above-described first embodiment will be described. First, at time k, the filter coefficient calculator 62 supplies the _L filter coefficients w ₁ (k) to w _L (k) calculated and stored in the previous time to the multipliers 15 ₁ to 15 _L. After that, the zero-order beam y ₁ (k) to y _L (k) at the current time k supplied from the zero-order beam generation unit 2 and the adaptive phasing result ε (at the current time k supplied from the subtractor 4 a k) and by substituting the equation (27) as described above, L-number of filter coefficient w ₁ (k + ₁₎ to update processing of ~w _L (k + 1), updated the L filter coefficient w ₁ (k + ₁₎ ~ w _L (k + 1) is stored internally as a filter coefficient at the next time (k + 1).

Next, at time (k + 1), the filter coefficient calculator 62 uses the L filter coefficients w ₁ (k + 1) to w _L (k + 1) previously calculated and stored therein as multipliers 15 ₁ to 15. After being supplied to _L , the 0th-order beams y ₁ (k + 1) to y _L (k + 1) at the current time (k + 1) supplied from the 0th-order beam generation unit 2 and the current time (k + 1) supplied from the subtractor 4 Substituting the adaptive phasing result ε (k + 1) in the above equation (27), the L filter coefficients w ₁ (k + 2) to w _L (k + 2) are updated, and the updated L filters The coefficients w ₁ (k + 2) to w _L (k + 2) are stored internally as filter coefficients at the next time (k + 2).

Thereby, the multipliers 15 ₁ to 15 _L are supplied with the 0th-order beams y ₁ (k + 1) to y _L (k + 1) and the L filter coefficients w calculated from the filter coefficient calculator 62 at the time k. ₁ (k + 1) to w _L (k + 1) are multiplied, and the multiplication results w ^* ₁ (k + 1) · y ₁ (k + 1) to w ^* _L (k + 1) · y _L (k + 1) are supplied to the adder 16. As a result, the adder 16 adds the multiplication results w ^* ₁ (k + 1) · y ₁ (k + 1) to w ^* _L (k + 1) · y _L (k + 1), and then adds the addition result to the above equation (7). Is supplied to the subtracter 4 as an adaptive filter result z (k + 1) which is a filtering result shown in FIG. Therefore, the subtractor 4 subtracts the primary beam d (k + 1) and the adaptive filter result z (k + 1), and then outputs the subtraction result as the adaptive phasing result ε (k + 1).

Further, the degradation determiner 5 uses the L filter coefficients w ₁ (k + 1) to w _L (k + 1) to be calculated this time at time k and uses the adaptive phasing result ε (k + 1) obtained at time (k + 1). ) Is output to the selector 6 when it is determined that the desired signal does not deteriorate, and is supplied to the selector 6. When it is determined that the desired signal is deteriorated, RES = 1 is output to indicate that fact. To supply. Accordingly, at time (k + 1), the selector 6 selects the adaptive phasing result ε (k + 1) supplied from the second input terminal when RES = 0 based on the determination result RES. When it is output to the subsequent stage and RES = 1, the primary beam d (k + 1) supplied from the first input terminal is selected and output to the subsequent stage.

Embodiment 9 FIG.
In the above-described eighth embodiment, the example in which the deterioration determining device 5 having the configuration shown in FIG. 2 is used as the deterioration determining device has been described. However, the present invention is not limited to this. In the present invention, a deterioration determiner 31 having the configuration shown in FIG. 3 may be used as the deterioration determiner.

Embodiment 10 FIG.
FIG. 8 is a block diagram showing a configuration of an adaptive phasing device according to the tenth embodiment of the present invention. In FIG. 8, parts corresponding to those in FIG. 4 are given the same reference numerals, and explanation thereof is omitted. In the adaptive phasing device shown in FIG. 8, an adaptive filter unit 71 is newly provided and a filter coefficient controller 72 is newly provided instead of the adaptive filter unit 41 shown in FIG. The adaptive filter unit 71 is supplied with the adaptive phasing result ε (k) from the subtractor 4 instead of the primary beam d (k), and is supplied with the determination result RES from the deterioration determiner 5. The filter coefficient controller 72 supplies initial values w _{0,1 to} w _{0, L of} filter coefficients. The adaptive filter unit 71 shown in FIG. 8 is different from the adaptive filter unit 41 shown in FIG. 4 in that a filter coefficient calculator 73 is newly provided in place of the filter coefficient calculator 17 and filter coefficient selection is performed. The filter 42 is removed, and the filter coefficients w ₁ (k) to w _L (k) from the filter coefficient calculator 73 are directly supplied to the multipliers 15 ₁ to 15 _L and the determination result from the deterioration determiner 5 The point is that RES is supplied.

The filter coefficient calculator 73 is of the so-called LMS type, and is an adaptive adjustment obtained by using _L filter coefficients w ₁ (k + 1) to w _L (k + 1) to be calculated at time k at time (k + 1). When the deterioration determination unit 5 determines that the desired signal in the phase result ε (k + 1) does not deteriorate and RES = 0 indicating that fact is supplied, the L number of values calculated and stored internally After supplying the filter coefficients w ₁ (k) to w _L (k) to the multipliers 15 ₁ to 15 _L , the 0th-order beams y ₁ (k) to y _L (k) supplied from the 0th-order beam generation unit 2 are used. And the adaptive phasing result ε (k) supplied from the subtracter 4 is substituted into the above equation (27) to update the _L filter coefficients w ₁ (k + 1) to w _L (k + 1). done, of L the updated filter coefficient _{w 1 (k + 1) ~w} L (k + 1) the following: Stored therein as the filter coefficients of the time (k + 1). At time (k + 1), the filter coefficient calculator 73 uses the L filter coefficients w ₁ (k + 1) to w _L (k + 1) previously calculated and stored therein as multipliers 15 ₁ to 15 _L. To supply.

On the other hand, the desired signal in the adaptive phasing result ε (k + 1) obtained by using the L filter coefficients w ₁ (k + 1) to w _L (k + 1) to be calculated at time k at time (k + 1) is deteriorated. Then, when RES = 1 indicating that it is determined by the deterioration determining unit 5 and is supplied, L filter coefficients w ₁ (k) to w _L (k) calculated and stored in the previous time. ) Is supplied to the multipliers 15 ₁ to 15 _L , and the L filter coefficients w ₁ (k) to w _L (k) stored therein are initially set to the filter coefficients supplied from the filter coefficient controller 72. It is initialized with values w _{0,1 to} w _{0, L} and stored internally. At time (k + 1), the filter coefficient calculator 73 uses the initial values w _{0,1 to} w _{0, L} of _{the L} filter coefficients calculated and stored in the previous time as multipliers 15 ₁ to 15. Supply to _L.

Although not shown, the filter coefficient controller 72 has a filter coefficient storage unit, and the filter coefficient storage unit stores initial values w _{0,1 to} w _{0, L} of filter coefficients in advance, and is based on the determination result RES. If RES = 1, the filter coefficient initial values w _{0,1 to} w _{0, L} stored in the filter coefficient storage means are read out and supplied to the adaptive filter unit 71.

Next, the operation of the adaptive phasing device configured as described above will be described. Hereinafter, only differences from the above-described fourth embodiment will be described. First, the degradation determination unit 5 uses the L filter coefficients w ₁ (k + 1) to w _L (k + 1) to be calculated this time at time k and uses the adaptive phasing result ε (k + 1) obtained at time (k + 1). If it is determined that the desired signal does not deteriorate, RES = 0 indicating that fact is output and supplied to the filter coefficient calculator 73 and the filter coefficient controller 72 constituting the adaptive filter unit 71 and determined to deteriorate. In this case, RES = 1 indicating that fact is output and supplied to the filter coefficient calculator 73 and the filter coefficient controller 72.

Thereby, the filter coefficient calculator 73 calculates the L filter coefficients w ₁ (k) to w _L (k) based on the determination result RES and the multipliers 15 ₁ to 15 _L when RES = 0. Then, L filter coefficients w ₁ (k + 1) to w _L (k + 1) are updated and stored internally as filter coefficients at the next time (k + 1). In addition, when RES = 1, the filter coefficient calculator 73 supplies _L filter coefficients w ₁ (k) to w _L (k) to the multipliers 15 ₁ to 15 _L and then stores them internally. The L filter coefficients w ₁ (k) to w _L (k) are initialized with the initial values w _{0,1 to} w _{0, L} of the filter coefficients supplied from the filter coefficient controller 72 and stored internally. To do.

Next, the degradation determination unit 5 uses the L filter coefficients w ₁ (k + 2) to w _L (k + 2) to be calculated this time at time (k + 1) at time (k + 2). When it is determined that the desired signal at ε (k + 2) does not deteriorate, RES = 0 indicating that fact is output and supplied to the filter coefficient calculator 73 and the filter coefficient controller 72 constituting the adaptive filter unit 71. If it is determined, RES = 1 indicating that is output and supplied to the filter coefficient calculator 73 and the filter coefficient controller 72.

Accordingly, the filter coefficient calculator 73 calculates the L filter coefficients w ₁ (k + 1) to w _L (k + 1) based on the determination result RES and the multipliers 15 ₁ to 15 _L when RES = 0. Then, L filter coefficients w ₁ (k + 2) to w _L (k + 2) are updated and stored internally as filter coefficients at the next time (k + 2). Further, when RES = 1, the filter coefficient calculator 73 supplies _L filter coefficients w ₁ (k + 1) to w _L (k + 1) to the multipliers 15 ₁ to 15 _L and then stores them internally. The L filter coefficients w ₁ (k + 1) to w _L (k + 1) are initialized with the initial values w _{0,1 to} w _{0, L} of the filter coefficients supplied from the filter coefficient controller 72 and stored internally. To do.

Accordingly, at time (k + 1), the multipliers 15 ₁ to 15 _L have the 0th-order beams y ₁ (k + 1) to y _L (k + 1) and L filter coefficients w ₁ (k + 1) when RES = 0. ) To w _L (k + 1) and supplies the multiplication results w ^* ₁ (k + 1) · y ₁ (k + 1) to w ^* _L (k + 1) · y _L (k + 1) to the adder 16. In addition, when RES = 1, the multipliers 15 ₁ to 15 _L have zero-order beams y ₁ (k + 1) to y _L (k + 1) and initial values w _{0,1 to} w _{0, L of} filter coefficients. And the multiplication results w ^* _0,1 · y ₁ (k + 1) to w ^* _{0, L} · y _L (k + 1) are supplied to the adder 16.

Thus, when RES = 0, the adder 16 adds the multiplication results w ^* ₁ (k + 1) · y ₁ (k + 1) to w ^* _L (k + 1) · y _L (k + 1), and then adds The result is supplied to the subtracter 4 as an adaptive filter result z (k + 1) that is a filtering result. Therefore, the subtractor 4 subtracts the primary beam d (k + 1) and the adaptive filter result z (k + 1), and then outputs the subtraction result as the adaptive phasing result ε (k + 1). On the other hand, when RES = 1, the adder 16 adds the multiplication results w ^* _0,1 · y ₁ (k + 1) to w ^* _{0, L} · y _L (k + 1), An adaptive filter result z (k + 1) that is a filtering result is supplied to the subtracter 4. Therefore, the subtractor 4 subtracts the primary beam d (k + 1) and the adaptive filter result z (k + 1), and then outputs the subtraction result as the adaptive phasing result ε (k + 1).

Embodiment 11 FIG.
In the tenth embodiment described above, the filter coefficient calculator 73 is obtained by using the L filter coefficients w ₁ (k + 1) to w _L (k + 1) to be calculated this time at time k at time (k + 1). When the desired signal in the adaptive phasing result ε (k + 1) deteriorates, when the deterioration determination unit 5 determines that RES = 1 indicating that is supplied, L previously calculated and stored internally after the filter coefficients w ₁ a (k) ~w _L (k) is supplied to the multiplier 15 ₁ ~15 _{L, L-number} of filter coefficients w ₁ stored therein a (k) ~w _L (k) filter Initialized with initial values w _{0,1 to} w _{0, L} of filter coefficients supplied from the coefficient controller 72 and stored internally. Further, based on the determination result RES, the filter coefficient controller 72 reads the initial values w _{0,1 to} w _{0, L} of the filter coefficients stored in the filter coefficient storage means when RES = 1. To the adaptive filter unit 71. However, the present invention is not limited to this.

For example, the filter coefficient controller 72 uses the L filter coefficients w ₁ (k + 1) to w _L (k + 1) to be calculated this time at time k and uses the adaptive phasing result ε () obtained at time (k + 1). If the desired signal in k + 1) is deteriorated and is determined by the deterioration determining unit 5 and RES = 1 indicating that is supplied, the filter coefficient calculator 73 calculates the L number of values previously calculated and stored internally. after the filter coefficients w ₁ a (k) ~w _L (k) and supplied to the multiplier 15 ₁ ~15 _{L, L-number} of filter coefficients w ₁ stored therein a (k) ~w _L (k) update Instead, at time (k + 1), L filter coefficients w ₁ (k) to w _L (k) stored therein are multiplied as filter coefficients for calculating the adaptive phasing result ε (k + 1). it may be controlled so as to supply to the vessel 15 ₁ to 15 _L

Embodiment 12 FIG.
In the tenth embodiment described above, an example in which L filter coefficients are collectively selected has been described. However, the present invention is not limited to this, and the configuration may be such that L filter coefficients are individually selected. good. In this case, the filter coefficient w ₁ (k) supplied from the filter coefficient calculator 73 for each 0th-order beam according to the primary determination results RES _{1 to} RES _L based on the above conditions (d) to (f). ˜w _L (k) and the initial values w _{0,1 to} w _{0, L of the} filter coefficients may be selected individually.

Embodiment 13 FIG.
In the eleventh embodiment described above, an example in which L filter coefficients are collectively controlled has been shown. However, the present invention is not limited to this, and the L filter coefficients may be individually controlled. good. In this case, the filter coefficient w ₁ (k) supplied from the filter coefficient calculator 17 for each zero-order beam in accordance with the primary determination results RES _{1 to} RES _L based on the above conditions (d) to (f). whether or not to update the to w _L (k) may be configured to control individually.

Embodiment 14 FIG.
In each of the above-described embodiments, an example in which the adaptive phasing device performs only the processing of one frequency bin when realized in the frequency domain has been described. However, the present invention is not limited to this, and the adaptive phasing in each of the embodiments. The configuration of the apparatus may be provided in a plurality of stages in parallel. If comprised in this way, the adaptive phasing system which processes several frequency bins can be comprised.

Embodiment 15 FIG.
In each of the above-described embodiments, an example in which the adaptive phasing device performs only processing for one phasing direction has been described. You may provide in parallel. If comprised in this way, what is called a stand-by-type adaptive phasing system which can process about a some phasing direction can be comprised.

Embodiment 16 FIG.
Each of the above-described embodiments can be applied to, for example, the techniques described in Japanese Patent Application Laid-Open Nos. 2003-232849 and 2001-343441. With such a configuration, even when an operation error is not detected by the inverse matrix operation of the ABF of the DMI algorithm (also referred to as the SMI algorithm), the ABF of the LMS algorithm that does not perform the inverse matrix operation, or a combination of these, Degradation of the desired signal in the adaptive phasing result that occurs when there is an error in the response of the sensor array can be avoided.

Embodiment 17. FIG.
In each of the above-described embodiments, specific implementation means of the adaptive phasing device is not particularly mentioned. However, the adaptive phasing device is, for example, an SOC (System (SOC)) in which all components are housed in one chip. On-chip) or an ASIC (Application Specific Integrated Circuit) may be used, or each component may be configured by an individual circuit such as the above-described integrated circuit.

Embodiment 18 FIG.
In each of the above-described embodiments, an example in which each component is configured by hardware has been described. However, the present invention is not limited to this. That is, the adaptive phasing device includes a central processing unit (CPU), an internal storage device such as ROM and RAM, FDD (floppy (registered trademark) disk drive), HDD (hard disk drive), CD -Consists of a computer having an external storage device such as a ROM drive, an output means, and an input means. The primary beam generator 1 and the like are constituted by a CPU, and these functions are used as an adaptive phasing program such as a ROM. It may be configured to be stored in a semiconductor memory or a storage medium such as FD, HD, or CD-ROM. In this case, the adaptive phasing program is read from the storage medium to the CPU and controls the operation of the CPU. When the adaptive phasing program is activated, the CPU functions as the primary beam generation unit 1 and the like, and executes the above-described processing under the control of the adaptive phasing program. The same applies when the adaptive phasing device is constituted by a digital signal processor (DSP) or the like.

  The embodiment has been described in detail with reference to the drawings. However, the specific configuration is not limited to the embodiment, and there are design changes and the like without departing from the scope of the invention. Are also included in the present invention. In addition, each of the above-described embodiments can divert each other's technology as long as there is no particular contradiction or problem in its purpose and configuration.

It is a block diagram of the adaptive phasing apparatus which shows Embodiment 1 of this invention. It is a block diagram of the degradation determination device which comprises the said adaptive phasing apparatus. It is a block diagram of the degradation determination device which comprises the adaptive phasing apparatus which shows Embodiment 2 of this invention. It is a block diagram of the adaptive phasing apparatus which shows Embodiment 4 of this invention. It is a block diagram of the filter coefficient selector which comprises the said adaptive phasing apparatus. It is a block diagram of the filter coefficient selector which comprises the adaptive phasing apparatus which shows Embodiment 5 of this invention. It is a block diagram of the adaptive phasing apparatus which shows Embodiment 8 of this invention. It is a block diagram of the adaptive phasing apparatus which shows Embodiment 10 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 1st order beam generation part, 2 0th order beam generation part, 3, 41, 61, 71 Adaptive filter part, 4 Subtractor, 5, 31 Degradation judgment device, 6, 44, 52 Selector, 11 Phase compensator, 12 Space Window multiplier, 13, 16, 23 adder, 14 BM multiplier, 15 ₁ to 15 _L multiplier, 17, 62, 73 filter coefficient calculator, 21 _{1 to} 21 _L , 22 squarer, 24, 25, 32 _{1 to} 32 _L integrator, 26, 33 _{1 to} 33 _L level difference calculator, 27, 34 level difference determiner, 42, 51 filter coefficient selector, 43, 53 filter coefficient storage means, 72 filter coefficient controller.

Claims (18)

Using a signal received by a sensor array including a plurality of sensors, a primary beam having a maximum sensitivity in a phasing direction and a plurality of zero-order beams having a zero sensitivity in the phasing direction are generated, An adaptive phasing device that adaptively removes signals coming from directions other than the phasing azimuth by subtracting the filtering result in the adaptive filter of the zero-order beam from the primary beam to obtain an adaptive phasing result;
Based on the first-order beam and the plurality of zero-order beams, it is determined whether or not a desired signal in the adaptive phasing result using a filter coefficient of the adaptive filter to be calculated this time is deteriorated, and the desired signal A deterioration determiner that outputs a first signal when it is determined that the desired signal is deteriorated, and a second signal that is output when the desired signal is determined to be deteriorated;
When the first signal is supplied, the adaptive phasing result using the filter coefficient calculated this time is selected and output as the current adaptive phasing result, and the second signal is supplied. And a selector that selects the primary beam and outputs the result as the current adaptive phasing result.   When the first signal is supplied, the adaptive filter uses the filter coefficient calculated based on the first-order beam and the plurality of zero-order beams, and the second signal is supplied. 2. The adaptive phasing device according to claim 1, wherein an initial value of the filter coefficient stored in advance is used.   The adaptive filter uses the filter coefficient previously calculated and stored therein, and performs update processing of the filter coefficient based on the plurality of zeroth-order beams and the adaptive phasing result. 2. The adaptive phasing device according to claim 1, wherein the filter coefficient is stored as the filter coefficient at the next time. Using a signal received by a sensor array including a plurality of sensors, a primary beam having a maximum sensitivity in a phasing direction and a plurality of zero-order beams having a zero sensitivity in the phasing direction are generated, An adaptive phasing device that adaptively removes signals coming from directions other than the phasing azimuth by subtracting the filtering result in the adaptive filter of the zero-order beam from the primary beam to obtain an adaptive phasing result;
Based on the first-order beam and the plurality of zero-order beams, it is determined whether or not a desired signal in the adaptive phasing result using a filter coefficient of the adaptive filter to be calculated this time is deteriorated, and the desired signal A deterioration determiner that outputs a first signal when it is determined that the signal does not deteriorate, and outputs a second signal when it is determined that the desired signal deteriorates,
When the first signal is supplied, the adaptive filter uses the filter coefficient calculated based on the first-order beam and the plurality of zero-order beams, and the second signal is supplied. In this case, an initial value of the filter coefficient stored in advance is used.   The adaptive filter uses the initial value of the filter coefficient when the second signal is supplied or the nearest past filter coefficient that does not degrade the desired signal. 4. The adaptive phasing device according to 4. Using a signal received by a sensor array including a plurality of sensors, a primary beam having a maximum sensitivity in a phasing direction and a plurality of zero-order beams having a zero sensitivity in the phasing direction are generated, An adaptive phasing device that adaptively removes signals coming from directions other than the phasing azimuth by subtracting the filtering result in the adaptive filter of the zero-order beam from the primary beam to obtain an adaptive phasing result;
A deterioration determiner for determining whether a desired signal in the adaptive phasing result using the filter coefficient of the adaptive filter to be calculated this time is deteriorated based on the primary beam and the plurality of zero-order beams; Prepared,
The adaptive filter, when it is determined by the deterioration determiner that the desired signal in the adaptive phasing result obtained by using the filter coefficient to be calculated this time at the next time does not deteriorate at the current time. , Using the filter coefficient calculated and stored in the previous time, updating the filter coefficient based on the plurality of zeroth order beams and the adaptive phasing result, and updating the filter coefficient Is stored as the filter coefficient at the next time, and the deterioration determination is performed when the desired signal in the adaptive phasing result obtained by using the filter coefficient to be calculated at the current time at the next time is deteriorated. If the filter coefficient is determined, the filter coefficient previously calculated and stored inside is used, and the filter coefficient is converted to the filter coefficient. Adaptive phasing device and to store therein initialized with initial values of the coefficients.   The adaptive filter, when it is determined by the deterioration determiner that the desired signal in the adaptive phasing result obtained by using the filter coefficient to be calculated this time at the next time is deteriorated, The filter coefficient or the initial value of the filter coefficient is selected individually for each filter coefficient previously calculated and stored internally, and stored internally. Adaptive phasing device.   The adaptive filter, when it is determined by the deterioration determiner that the desired signal in the adaptive phasing result obtained by using the filter coefficient to be calculated this time at the next time is deteriorated, The filter coefficient previously calculated and stored internally is used, and the filter coefficient stored internally is used at the next time without updating the filter coefficient. The adaptive phasing device according to claim 6.   The adaptive filter, when it is determined by the deterioration determiner that the desired signal in the adaptive phasing result obtained by using the filter coefficient to be calculated this time at the next time is deteriorated, 9. The adaptive phasing device according to claim 8, wherein whether or not to update each of the filter coefficients previously calculated and stored therein is individually controlled.   The degradation determination unit calculates a first time average value of a sum of square values of the plurality of zeroth-order beams and a second time average value of the square values of the primary beams, and The adaptive phasing device according to any one of claims 1 to 9, wherein whether or not the desired signal is deteriorated is determined based on the second time average value.   The degradation determination unit calculates a plurality of first time average values of square values of the respective zero-order beams and a second time average value of square values of the primary beams, and Based on the first time average value and the second time average value, primary determination is made as to whether or not the desired signal is degraded, and whether or not the desired signal is degraded based on a plurality of primary determination results. The adaptive phasing device according to claim 1, wherein the adaptive phasing device is comprehensively determined.   12. The adaptive phasing device according to claim 11, wherein the deterioration determiner comprehensively determines whether or not the desired signal deteriorates after weighting the plurality of primary determination results.   12. The adaptive phasing device according to claim 11, wherein the deterioration determiner comprehensively determines whether or not the desired signal deteriorates in consideration of a combination with respect to the plurality of primary determination results.   The deterioration determiner performs an addition averaging process for the first time average value, the plurality of first time average values, and the second time average value for a time corresponding to a specified integration time. The adaptive phasing device according to claim 10, wherein the adaptive phasing device is obtained.   The deterioration determiner includes an exponential integration process in which the first time average value, the plurality of first time average values, and the second time average value are time constants corresponding to a specified integration time. The adaptive phasing device according to claim 10, wherein the adaptive phasing device is obtained by performing the following.   An adaptive phasing program for causing a computer to realize the function according to any one of claims 1 to 15.   An adaptive phasing system, wherein the adaptive phasing device according to any one of claims 1 to 15 is provided in a plurality of stages in parallel corresponding to a plurality of frequency bins when realized in the frequency domain. An adaptive phasing system, wherein the adaptive phasing device according to any one of claims 1 to 15 is provided in parallel in a plurality of stages corresponding to a plurality of phasing directions.

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