JP6669987B2 - Sonar device, hearing sound output method and program - Google Patents

Description

  The present invention relates to a sonar device, a sound output method, and a program.

  A sonar device is generally a device that detects a target that moves underwater or the like, and notifies the operator of the detection result. The active sonar device detects a target by transmitting a sound wave into water and then receiving a reflected wave thereof. The passive sonar device detects a target by receiving underwater sound waves without transmitting sound waves by itself.

  For example, the active sonar device described in Patent Literature 1 performs a frequency analysis such as a fast Fourier transform on a received wave to create and display a spectrogram indicating a signal intensity for each frequency in a time series. The active sonar device determines that there is a moving target when there is a region (cell) having a signal strength exceeding a threshold in the spectrumgram.

  At this time, the reverberation of the transmitted wave remains in the water for a considerably long time, and as a result of receiving the reverberation, the detection value corresponding to the frequency of the transmitted wave exceeds the threshold value in the spectrogram, and the target is erroneously detected. There is.

  The active sonar device described in Patent Document 1 separates and detects reverberation and echo by considering the direction of arrival of reverberation and the direction of arrival of reflected waves, that is, echoes, at a target. This reduces the possibility of erroneously detecting a target due to the effects of reverberation.

JP 2012-207963 A

  In general, a sonar device that notifies the presence of a moving target by display can notify based on only the signal intensity of the echo, but a sonar device that notifies the presence of a moving target by sound uses a sonar device. Amplitude information is needed for notification.

  However, according to the technology described in Patent Document 1, the analysis result for separating and detecting the reverberation and the echo includes the signal strength of the echo but does not include the amplitude information of the received wave itself which is analog data. Conceivable.

  Therefore, even if the reverberation and the echo can be detected separately by the technique described in Patent Document 1, it is difficult to reflect the detection result in the sound output from the sonar device to the operator. That is, with the technology described in Patent Document 1, it is difficult for an operator to reduce the possibility of erroneously recognizing a target object due to reverberation in a sonar device for recognizing the target object by hearing sound.

  The present invention has been made in view of the above circumstances, and provides a sonar device or the like capable of reducing the possibility of erroneously recognizing a target when recognizing the target by hearing sound. With the goal.

The sonar device according to the first aspect of the present invention includes:
A receiving unit that receives a sound wave and outputs a reception signal including the received sound wave,
By performing a frequency analysis on the output received signal, a frequency analysis unit that generates frequency analysis data for each frequency band,
By performing a detection process for each frequency band of the generated frequency analysis data, a detection unit that generates detection data,
By separating the generated detection data into an echo component and a reverberation component, a signal detection unit that generates echo component data corresponding to the echo component and reverberation component data corresponding to the reverberation component,
By subtracting the generated detection data from the generated echo component data, a reverberation suppression gain calculator that generates time-series reverberation suppression gain data for each frequency band,
By multiplying the generated detection data by the generated reverberation suppression gain data, a reverberation suppression gain multiplying unit that generates reverberation suppression data,
A speaker control unit that outputs a listening sound obtained by adding the signal intensities of the respective frequencies to the speaker unit based on the generated reverberation suppression data.

A hearing sound output method according to a second aspect of the present invention includes:
Receiving a sound wave and outputting a reception signal including the received sound wave;
By performing a frequency analysis of the output received signal, to generate frequency analysis data of each frequency band,
By performing detection processing for each frequency band of the generated frequency analysis data, to generate detection data,
By separating the generated detection data into an echo component and a reverberation component, to generate echo component data corresponding to the echo component and reverberation component data corresponding to the reverberation component,
By subtracting the generated detection data from the generated echo component data, to generate time-series reverberation suppression gain data of each frequency band,
By multiplying the generated detection data by the generated reverberation suppression gain data, to generate reverberation suppression data,
Outputting a audible sound obtained by adding the signal intensities of the respective frequencies to the speaker unit based on the generated reverberation suppression data.

A program according to a third aspect of the present invention includes:
On the computer,
A receiving unit that receives a sound wave and outputs a reception signal including the received sound wave;
A frequency analysis unit that generates frequency analysis data of each frequency band by performing frequency analysis on the output received signal,
A detection unit that generates detection data by performing detection processing for each frequency band of the generated frequency analysis data,
By separating the generated detection data into an echo component and a reverberation component, a signal detection unit that generates echo component data corresponding to the echo component and reverberation component data corresponding to the reverberation component,
By subtracting the generated detection data from the generated echo component data, a reverberation suppression gain calculator that generates time-series reverberation suppression gain data for each frequency band,
By multiplying the generated detection data by the generated reverberation suppression gain data, a reverberation suppression gain multiplying unit that generates reverberation suppression data,
This is a program for realizing a speaker control unit that causes a speaker unit to output a hearing sound obtained by adding signal intensities of respective frequencies based on the generated reverberation suppression data.

  ADVANTAGE OF THE INVENTION According to this invention, when recognizing a target by a hearing sound, it becomes possible to reduce the possibility that a target is erroneously recognized.

It is a figure showing the functional composition of the sonar device concerning one embodiment of the present invention. 5 is a flowchart showing a processing flow of a sound output method according to one embodiment of the present invention. 5 is a flowchart showing a processing flow of a sound output method according to one embodiment of the present invention. It is a figure showing an example of an image showing a detection result of a target. It is a figure showing the physical composition of the sonar device concerning one embodiment of the present invention.

  An embodiment of the present invention will be described with reference to the drawings.

  The sonar device 100 according to one embodiment of the present invention detects a target object that is an underwater object such as a ship or a submarine using a sound wave propagating in water, or measures a distance to the target object. It is a device for. The sonar device 100 is a so-called passive sonar device that transmits sound waves into water.

  As shown in FIG. 1, the sonar device 100 includes an instruction receiving unit 101, a sound wave output unit 102, a receiving unit 103, a frequency analyzing unit 104, a detecting unit 105, a signal detecting unit 106, a display control unit 107. , A display unit 108, a reverberation suppression gain calculation unit 109, a reverberation suppression gain multiplication unit 110, a speaker control unit 111, and a speaker unit 112.

  The instruction receiving unit 101 receives an instruction from an operator.

  When the instruction receiving unit 101 receives an instruction, the sound wave output unit 102 outputs a sound wave pulse as transmission wave in water according to the instruction. This sound wave pulse is, for example, a pulsed continuous wave (PCW) pulse.

  The receiving unit 103 receives an underwater sound wave and outputs an analog reception signal RS indicating a received wave that is the received sound wave. When a target is present in water or in the sea, the received wave usually includes echoes, reverberations, and the like, which are transmitted waves reflected by the target. If the target is moving, the echo will be a Doppler shifted frequency.

  The frequency analysis unit 104 performs frequency analysis (for example, fast Fourier transform (FFT)) on the received signal RS, and thereby generates frequency analysis data Pfi indicating the signal strength of each frequency band fi in a time series.

  For example, the frequency analysis data Pfi of the frequency band fi includes the signal strength Sfi_tj of the frequency fi at each discrete time tj included in the time T0 to the time TM.

  Here, N and M are appropriately determined natural numbers. i is a natural number from 1 to N, and j is a natural number from 1 to M. That is, the frequency analysis data Pfi according to the present embodiment includes M values indicating each of the signal intensities Sfi_t1 to Sfi_tM.

  The detection unit 105 performs a detection process for each piece of the frequency analysis data Pfi generated by the frequency analysis unit 104, and generates detection data DD as a result of the detection.

  The detection processing is, for example, a square detection processing. Detection data DD generated as a result of the detection processing includes a time-series detection value Dfi_tj for each frequency band fi.

  The signal detection unit 106 separates the detection data DD generated by the detection unit 105 into data corresponding to the respective frequencies fp and fq of the echo component and the reverberation component. Then, the signal detection unit 106 generates, as a result of the separation, echo component data DDfp corresponding to the frequency fp of the echo component and reverberation component data DDfq corresponding to the frequency fq of the reverberation component.

  That is, the echo component data DDfp is data corresponding to an echo that is a reflected wave from a moving target. This reflected wave is typically a Doppler shifted sound wave. The reverberation component data DDfq is data corresponding to a sound wave having a frequency other than the Doppler component. Sound waves having a frequency other than the Doppler component include, for example, reverberation corresponding to the frequency of the transmitted wave.

  The display control unit 107 causes the display unit 108 to display an image showing the echo and the reverberation separately based on the echo component data DDfp and the reverberation component data DDfq generated by the signal detection unit 106.

  Specifically, the display control unit 107 generates display data including a detection result image indicating the detection result of the target based on the echo component data DDfp and the reverberation component data DDfq. Then, the display control unit 107 outputs the generated display data to the display unit 108. In the detection result image according to the present embodiment, echo and reverberation are shown separately.

  The display unit 108 displays an image under the control of the display control unit 107.

  The reverberation suppression gain calculator 109 generates time-series reverberation suppression gain data GD for each frequency band fi by subtracting the detection data DD from the echo component data DDfp.

  More specifically, the reverberation suppression gain calculator 109 subtracts the value of each time element of each frequency included in the detection data DD from the value of each element included in the echo component data DDfp for each corresponding frequency and time. I do. The reverberation suppression gain calculation unit 109 generates reverberation suppression gain data GD composed of the value GDfi_tj of each element obtained as a result of the subtraction.

  That is, the reverberation suppression gain data GD includes a value GDfi_tj of an element for each time of each frequency band fi.

  The reverberation suppression gain multiplying unit 110 generates reverberation suppression data by multiplying the detection data DD by the reverberation suppression gain data GD generated by the reverberation suppression gain calculation unit 109.

  More specifically, the reverberation suppression gain multiplication unit 110 multiplies the value GDfi_tj of each element included in the reverberation suppression gain data GD and the value Dfi_tj of each element of the detection data DD for each combination of frequency and time. I do. The result of the multiplication is a value representing the signal strength of each frequency in which reverberation has been suppressed in a time series, and is an element of reverberation suppression data. As a result, reverberation suppression data in which reverberation included in the detection data DD is suppressed is generated.

  Based on the reverberation suppression data generated by the reverberation suppression gain multiplying unit 110, the speaker control unit 111 causes the speaker unit 112 to output a listening sound obtained by adding the signal intensities of the respective frequencies.

  Specifically, upon acquiring the reverberation suppression data generated by the reverberation suppression gain multiplying unit 110, the speaker control unit 111 adds the values of the elements of the respective frequency bands at the corresponding times to convert the time-series listening sound data. Generate. Then, the speaker control unit 111 sequentially outputs the generated listening sound data to the speaker unit 112 according to a time series. Thereby, the operator can listen to the listening sound included in the listening sound data.

  The speaker unit 112 outputs a sound to be heard by the operator under the control of the speaker control unit 111.

  So far, the configuration of the sonar device 100 according to one embodiment of the present invention has been described. From here, processing executed by the sonar device 100 according to one embodiment of the present invention will be described.

  The sonar device 100 executes a sound output process as shown in FIG. The audible sound output process is a process for outputting the audible sound with suppressed reverberation from the speaker unit 112.

  The sound wave output unit 102 outputs a sound wave pulse into water as a transmission wave (step S101).

  The receiving unit 103 receives the underwater sound wave, and outputs an analog reception signal RS indicating a received wave that is the received sound wave (step S102).

  The frequency analysis unit 104 performs frequency analysis (for example, FFT) on the received signal RS to generate frequency analysis data Pfi indicating the signal strength of each frequency band fi in a time series (step S103).

  The detection unit 105 generates detection data DD by performing a detection process for each of the frequency analysis data Pfi generated by the frequency analysis unit 104 (step S104).

  The signal detection unit 106 separates the detection data DD generated by the detection unit 105 into data corresponding to the respective frequencies fp and fq of the echo component and the reverberation component, thereby obtaining the echo component data DDfp and the reverberation component data DDfq. Is generated (step S105).

  The display control unit 107 causes the display unit 108 to display a detection result image showing the echo and the reverberation separately based on the echo component data DDfp and the reverberation component data DDfq generated by the signal detection unit 106 (step S106). ).

  FIG. 3 is an example of a detection result image displayed on the display unit 108 as a result of the processing in step S106. In this detection result image, the signal intensity of each frequency fi is shown in a time series with the luminance of a matrix composed of a horizontal time axis and a vertical frequency axis.

  Thereby, the operator can recognize the target in the image in which the echo and the reverberation are separated. Therefore, it is possible to reduce the possibility that the target is erroneously recognized due to reverberation.

  The reverberation suppression gain calculator 109 generates time-series reverberation suppression gain data GD for each frequency band fi by subtracting the detection data DD from the echo component data DDfp (step S107).

  The reverberation suppression gain multiplying section 110 multiplies the detection data DD by the reverberation suppression gain data GD generated by the reverberation suppression gain calculating section 109 to generate reverberation suppression data in which reverberation included in the detection data DD is suppressed ( Step S108).

  Based on the reverberation suppression data generated by the reverberation suppression gain multiplying unit 110, the speaker control unit 111 causes the speaker unit 112 to output a listening sound obtained by adding the signal intensities of the respective frequencies (step S109).

  As described above, in the present embodiment, the hearing sound is created based on the reverberation suppression data obtained by multiplying the detection data DD by the reverberation suppression gain data GD. Thereby, the operator can listen to the hearing sound in which reverberation is suppressed. Therefore, when recognizing the target by the hearing sound, it is possible to reduce the possibility that the target is erroneously recognized due to reverberation.

  Here, an example of a physical configuration of the sonar device 100 according to the present embodiment is shown in FIG. As shown in the figure, the sonar device 100 physically includes a CPU (Central Processing Unit) 1001, a RAM (Random Access Memory) 1002, a ROM (Read Only Memory) 1003, a flash memory 1004, an operation unit 1005, and an underwater. A speaker 1006a for outputting sound waves to the operator, a speaker 1006b for outputting sound to the operator, an antenna 1007, an amplifier circuit 1008, a liquid crystal display panel 1009, and the like. These components 101 to 112 that constitute the sonar device 100 are connected by an internal bus 1010 and can transmit and receive data.

  Each function of the sonar device 100 is realized, for example, by the CPU 1001 executing a software program (also simply referred to as a “program”) installed in advance using the RAM 1002 as a workspace.

  In detail, for example, the functions of the frequency analysis unit 104, the detection unit 105, the signal detection unit 106, the display control unit 107, the reverberation suppression gain calculation unit 109, the reverberation suppression gain multiplication unit 110, and the speaker control unit 111 are as described above. This is realized by the CPU 1001 that executes the program. The function of the instruction receiving unit 101 is realized by an operation unit 1005 such as a touch panel configured with operation buttons and a liquid crystal display panel 1009. The function of the sound wave output unit 102 is realized by the speaker 1006a and the like. The function of the speaker unit 112 is realized by the speaker 1006b and the like. The function of the receiving unit 103 is realized by the antenna 1007, the amplifier circuit 1008, and the like. The function of the display unit 108 is realized by the liquid crystal display panel 1009 or the like.

  As mentioned above, although one Embodiment of this invention was described, this invention is not limited to this Embodiment. For example, the present invention may be modified as follows, and includes a form in which some or all of the embodiments and the modified examples are appropriately combined, and a form in which the form is appropriately changed.

(Modification)
In the embodiment, the example in which the sonar device 100 is an active sonar device has been described. However, the sonar device 100 may be a passive sonar device. In this case, the sonar device 100 separates noise and echo with sharp level fluctuations. Then, the sonar device 100 calculates a suppression gain for sudden noise based on the separation result and the time-series data of each frequency band after the detection is performed. This makes it possible to reduce the possibility of erroneously recognizing the target due to noise when recognizing the target based on the hearing sound.

  Also, the reverberation suppression gain calculator 109 generates reverberation suppression gain data GD including an element obtained by adding a gain of a predetermined magnitude to each element included in the reverberation suppression gain data GD as in the embodiment. Good. By multiplying the detection data DD by each element of the reverberation suppression gain data GD according to such a modification, the signal can be further emphasized. Therefore, when recognizing the target by the hearing sound, it is possible to reduce the possibility that the target is erroneously recognized due to reverberation.

Some or all of the above-described embodiments can be described as in the following supplementary notes, but are not limited thereto.
(Appendix 1)
A receiving unit that receives a sound wave and outputs a reception signal including the received sound wave,
By performing a frequency analysis on the output received signal, a frequency analysis unit that generates frequency analysis data for each frequency band,
By performing a detection process for each frequency band of the generated frequency analysis data, a detection unit that generates detection data,
By separating the generated detection data into an echo component and a reverberation component, a signal detection unit that generates echo component data corresponding to the echo component and reverberation component data corresponding to the reverberation component,
By subtracting the generated detection data from the generated echo component data, a reverberation suppression gain calculator that generates time-series reverberation suppression gain data for each frequency band,
By multiplying the generated detection data by the generated reverberation suppression gain data, a reverberation suppression gain multiplying unit that generates reverberation suppression data,
A sonar device comprising: a speaker control unit that outputs a listening sound obtained by adding the signal intensities of the respective frequencies to the speaker unit based on the generated reverberation suppression data.
(Appendix 2)
The sonar device according to claim 1, further comprising: a display control unit configured to display an image showing the echo and reverberation separately on the display unit based on the generated echo component data and reverberation component data. .
(Appendix 3)
The sonar device according to claim 1 or 2, further comprising a sound wave output unit 102 that outputs a sound wave pulse to the water as a transmission wave.
(Appendix 4)
Receiving a sound wave and outputting a reception signal including the received sound wave;
By performing frequency analysis on the output received signal, to generate frequency analysis data of each frequency band,
By performing detection processing for each frequency band of the generated frequency analysis data, to generate detection data,
By separating the generated detection data into an echo component and a reverberation component, to generate echo component data corresponding to the echo component and reverberation component data corresponding to the reverberation component,
By subtracting the generated detection data from the generated echo component data, to generate time-series reverberation suppression gain data of each frequency band,
By multiplying the generated detection data by the generated reverberation suppression gain data, to generate reverberation suppression data,
Outputting a listening sound obtained by adding the signal intensities of the respective frequencies to the speaker unit based on the generated reverberation suppression data.
(Appendix 5)
On the computer,
A receiving unit that receives a sound wave and outputs a reception signal including the received sound wave;
By performing a frequency analysis of the output received signal, a frequency analysis unit that generates frequency analysis data of each frequency band,
A detection unit that generates detection data by performing detection processing for each frequency band of the generated frequency analysis data,
By separating the generated detection data into an echo component and a reverberation component, a signal detection unit that generates echo component data corresponding to the echo component and reverberation component data corresponding to the reverberation component,
By subtracting the generated detection data from the generated echo component data, a reverberation suppression gain calculator that generates time-series reverberation suppression gain data for each frequency band,
By multiplying the generated detection data by the generated reverberation suppression gain data, a reverberation suppression gain multiplying unit that generates reverberation suppression data,
A program for realizing a speaker control unit that causes a speaker unit to output a hearing sound obtained by adding signal intensities of respective frequencies based on the generated reverberation suppression data.

  INDUSTRIAL APPLICATION This invention can be utilized usefully for a sonar apparatus etc. In particular, in the marine environment, the effect of reverberation often increases, so that it is useful for a sonar device used in the marine environment.

Reference Signs List 100 sonar device 101 instruction receiving unit 102 sound wave output unit 103 receiving unit 104 frequency analysis unit 105 detection unit 106 signal detection unit 107 display control unit 108 display unit 109 reverberation suppression gain calculation unit 110 reverberation suppression gain multiplication unit 111 speaker control unit 112 speaker Department

Claims (5)

A receiving unit that receives a sound wave and outputs a reception signal including the received sound wave,
By performing a frequency analysis on the output received signal, a frequency analysis unit that generates frequency analysis data for each frequency band,
By performing a detection process for each frequency band of the generated frequency analysis data, a detection unit that generates detection data,
By separating the generated detection data into an echo component and a reverberation component, a signal detection unit that generates echo component data corresponding to the echo component and reverberation component data corresponding to the reverberation component,
By subtracting the generated detection data from the generated echo component data, a reverberation suppression gain calculator that generates time-series reverberation suppression gain data for each frequency band,
By multiplying the generated detection data by the generated reverberation suppression gain data, a reverberation suppression gain multiplying unit that generates reverberation suppression data,
A sonar device comprising: a speaker control unit that outputs a listening sound obtained by adding the signal intensities of the respective frequencies to the speaker unit based on the generated reverberation suppression data. 2. The sonar according to claim 1, further comprising: a display control unit configured to display an image indicating the echo and reverberation separately on a display unit based on the generated echo component data and reverberation component data. 3. apparatus. The sonar device according to claim 1, further comprising a sound wave output unit that outputs a sound wave pulse as transmission wave into water. Receiving a sound wave and outputting a reception signal including the received sound wave;
By performing a frequency analysis of the output received signal, to generate frequency analysis data of each frequency band,
By performing detection processing for each frequency band of the generated frequency analysis data, to generate detection data,
By separating the generated detection data into an echo component and a reverberation component, to generate echo component data corresponding to the echo component and reverberation component data corresponding to the reverberation component,
By subtracting the generated detection data from the generated echo component data, to generate time-series reverberation suppression gain data of each frequency band,
By multiplying the generated detection data by the generated reverberation suppression gain data, to generate reverberation suppression data,
Outputting a listening sound obtained by adding the signal intensities of the respective frequencies to the speaker unit based on the generated reverberation suppression data. On the computer,
A receiving unit that receives a sound wave and outputs a reception signal including the received sound wave;
A frequency analysis unit that generates frequency analysis data of each frequency band by performing frequency analysis on the output received signal,
A detection unit that generates detection data by performing detection processing for each frequency band of the generated frequency analysis data,
By separating the generated detection data into an echo component and a reverberation component, a signal detection unit that generates echo component data corresponding to the echo component and reverberation component data corresponding to the reverberation component,
By subtracting the generated detection data from the generated echo component data, a reverberation suppression gain calculator that generates time-series reverberation suppression gain data for each frequency band,
By multiplying the generated detection data by the generated reverberation suppression gain data, a reverberation suppression gain multiplying unit that generates reverberation suppression data,
A program for realizing a speaker control unit that causes a speaker unit to output a hearing sound obtained by adding signal intensities of respective frequencies based on the generated reverberation suppression data.

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