JP6879123B2 - Signal processing device, signal processing method program and signal processing method - Google Patents

Description

The present invention relates to a signal processing device that performs phase adjustment processing, frequency analysis processing, etc. on a received signal received by a receiver such as a sonar, a signal processing method program, and a signal processing method. Is.

For example, there is a signal processing device that processes a received signal such as a sound received by a receiver array, identifies a target object, estimates the direction of the target object, and the like. As a signal processing method in the signal processing apparatus, for example, there is a grid-free compression phase adjustment processing method using sparse signal processing (see, for example, Non-Patent Document 1). There is also a grid-free compression frequency analysis processing method using sparse signal processing.

Xenaki A. and Gerstoft P., “Grid-free compressive beamforming”, 1923-1935 J. Acoust. Soc. Am. 137 (4)

When the received signal of each receiver does not contain noise, the target orientation and the target level of the compression phase adjustment processing result match their true values.

However, if the received signal of each receiver contains noise, the target azimuth may be divided into both directions near the true value in the compression phase adjustment processing result with the true value of the target azimuth in between. is there. In addition, since the target level is calculated for each broken target direction, the target level is also divided into a plurality of target levels lower than the true value. In the following, it will be described as being particularly divided into two.

The problem of cracking also occurs in the compression frequency analysis processing result of analyzing the frequency component in the received signal of the receiver. Even in the compression frequency analysis process, the target frequency in the signal from the target is divided into multiple target frequencies near the true value, and the target level is also set to multiple targets lower than the true value according to each target frequency. It breaks into levels. When such a crack in the target direction or a crack in the target frequency occurs, an error occurs between the true value and the target, and it is difficult to accurately obtain data on the target such as the target direction, the target frequency, and the target level. Become.

Therefore, it has been desired to realize a signal processing device that can improve errors included in data related to a target object such as a target direction, a target frequency, and a target level.

The signal processing device according to the present invention is a signal processing device that outputs data related to a target signal emitted from a target based on a received signal from the receiver, and is a receiver having a plurality of receivers. Based on a frequency division processing unit that performs conversion related to the frequency of the received signal based on a plurality of received signals from the array to obtain array frequency bin data related to the amplitude and phase of the received signal, and based on the array frequency bin data. , The optimization processing unit that calculates the solution of the optimization problem using the linear matrix inequality as a constraint, and the target orientation calculation processing unit that calculates the target orientation data indicating the target orientation of the target object based on the solution. A target orientation crack detection processing unit that detects cracks in the target orientation with respect to the target object, and a target orientation correction processing unit that calculates correction target orientation data that corrects the cracked target orientation into one target orientation from the target orientation data. It is provided with a target level calculation processing unit that calculates a target level indicating the magnitude of the target signal based on the corrected target orientation data and the array frequency bin data.

Further, the signal processing device according to the present invention is a signal processing device that outputs data related to the target signal emitted from the target based on the received signal from the receiver, and is based on the time sample data of the received signal. The optimization processing unit that calculates the solution of the optimization problem using the linear matrix inequality as a constraint, and the target frequency calculation processing unit that calculates the target frequency data indicating the target frequency of the target signal based on the solution. Target frequency cracking detection processing unit that detects cracks in the target frequency with respect to the target signal from the target frequency data, and target frequency correction processing that calculates the correction target frequency data that corrects the cracked target frequency into one target frequency. It is provided with a unit and a target level calculation processing unit that calculates a target level indicating the magnitude of the target signal based on the modified target frequency data and the time sample data.

Further, the signal processing method program according to the present invention is a signal processing method program that outputs data related to a target signal emitted from a target based on a received signal from a receiver, and is a plurality of received signals. A frequency division processing step of performing conversion related to the frequency of the received signal based on a plurality of received signals from a receiver array having a device to obtain array frequency bin data related to the amplitude and phase of the received signal, and an array. An optimization processing process that calculates the solution of the optimization problem using the linear matrix inequality as a constraint based on the frequency bin data, and the target orientation calculation that calculates the target orientation data indicating the target orientation of the target object based on the solution. From the processing process and the calculated target azimuth data, the target azimuth crack detection processing process for detecting and processing the crack of the target azimuth with respect to the target object, and the modified target azimuth data for correcting the cracked target azimuth into one target azimuth. A computer is made to perform a target azimuth correction processing process for calculation processing and a target level calculation processing process for calculating a target level indicating the magnitude of a target signal based on the correction target azimuth data and array frequency bin data. is there.

The signal processing method program according to the present invention is a signal processing method program that outputs data related to the target signal emitted from the target based on the received signal from the receiver, and is a time of the received signal. An optimization process that calculates the solution of an optimization problem that uses linear matrix inequality as a constraint based on sample data, and a target frequency calculation process that calculates target frequency data that indicates the target frequency of the target signal based on the solution. From the process and the calculated target frequency data, the target frequency crack detection processing step for detecting the crack of the target frequency with respect to the target signal and the modified target frequency data for correcting the cracked target frequency to one target frequency are calculated. The computer is made to perform the target direction correction processing step and the target level calculation processing step of calculating the target level indicating the magnitude of the target signal based on the correction target frequency data and the time sample data.

Further, the signal processing method according to the present invention is a signal processing method that outputs data related to a target signal emitted from a target based on a received signal from the receiver, and is a receiver having a plurality of receivers. A frequency division processing step of converting the frequency of the received signal based on a plurality of received signals from the wave device array to obtain array frequency bin data related to the amplitude and phase of the received signal, and array frequency bin data. Based on the optimization processing process that calculates the solution of the optimization problem using the linear matrix inequality as a constraint, and the target orientation calculation processing process that calculates the target orientation data indicating the target orientation of the target object based on the solution. From the calculated target orientation data, a target orientation crack detection processing process that detects and processes cracks in the target orientation with respect to the target object, and a target that calculates and processes modified target orientation data that corrects the cracked target orientation into one target orientation. It has an orientation correction processing step and a target level calculation processing step for calculating and processing a target level indicating the magnitude of the target signal based on the correction target orientation data and the array frequency bin data.

Further, the signal processing method according to the present invention is a signal processing method that outputs data related to the target signal emitted from the target based on the received signal from the receiver, and is based on the time sample data of the received signal. The optimization processing process for calculating the solution of the optimization problem using the linear matrix inequality as a constraint, and the target frequency calculation processing process for calculating the target frequency data indicating the target frequency of the target signal based on the solution. A target frequency cracking detection processing step for detecting a crack in the target frequency with respect to the target signal from the obtained target frequency data, and a target orientation correction processing for calculating the correction target frequency data for correcting the cracked target frequency into one target frequency. It has a process and a target level calculation processing process for calculating a target level indicating the magnitude of the target signal based on the modified target frequency data and the time sample data.

According to the present invention, a received signal including a target signal generated from a target object is processed, and in the processing, a crack in which one data is originally split into a plurality of data is detected, and the cracked data is combined into one. Since the data related to the target signal is output, the error from the true value can be reduced and the data related to the target can be obtained more accurately.

It is a figure explaining the structure centering on the signal processing apparatus 100 which realizes the signal processing which concerns on Embodiment 1 of this invention. It is a figure explaining the outline of the signal processing which concerns on Embodiment 1 of this invention. It is a figure explaining the process of the target direction crack detection processing unit 114 which concerns on Embodiment 1 of this invention. It is a figure explaining the process of the target direction correction processing part 115 which concerns on Embodiment 1 of this invention. It is a figure which shows the compression phase adjustment processing result which performs the target direction correction processing in the signal processing apparatus 100 which concerns on Embodiment 1 of this invention, and is displayed on the display apparatus 130. It is a figure explaining the structure centering on the signal processing apparatus 100 which realizes the signal processing which concerns on Embodiment 2 of this invention. It is a figure explaining the process of the target interpolation processing part 117 which concerns on Embodiment 2 of this invention. It is a figure explaining the structure centering on the signal processing apparatus 100 which realizes the signal processing which concerns on Embodiment 3 of this invention. It is a figure explaining the structure centering on the signal processing apparatus 100 which realizes the signal processing which concerns on Embodiment 4 of this invention. It is a figure explaining the structure centering on the signal processing apparatus 100 which realizes the signal processing which concerns on Embodiment 5 of this invention. It is a figure explaining the structure centering on the signal processing apparatus 100 which realizes the signal processing which concerns on Embodiment 6 of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Here, in the following drawings, those having the same reference numerals are the same or equivalent thereto, and are common to the whole texts of the embodiments described below. In addition, the forms of the components shown in the full text of the specification are merely examples and are not limited to these descriptions. In particular, the combination of components is not limited to the combination in each embodiment, and the components described in other embodiments can be appropriately applied to other embodiments.

Embodiment 1.
FIG. 1 is a diagram illustrating a configuration centered on a signal processing device 100 that realizes signal processing according to the first embodiment of the present invention. In FIG. 1, the receiver array 10 has a plurality of receivers (not shown) that receive a signal including a signal generated by a target (target signal) and convert it into a received signal. Here, for the sake of simplicity, it is assumed that the receivers of the receiver array 10 are arranged on a straight line at equal intervals. As shown in FIG. 1, the receiver array 10 and the signal processing device 100 are communicably connected to each other. The receiver array 10 converts the signals received by the plurality of receivers into digital signals by A / D conversion or the like, and sends the signals to the signal processing device 100 as array reception signals.

The signal processing device 100 includes an arithmetic processing unit 110, a storage device 120, and a display device 130. The storage device 120 is a device that stores data related to the processing of the arithmetic processing unit 110. The storage device 120 includes a volatile storage device (not shown) such as a random access memory (RAM) capable of temporarily storing data, and a non-volatile auxiliary storage device (not shown) such as a hard disk and a flash memory capable of storing data for a long period of time. (Not shown). Further, the display device 130 displays based on the display signal indicating the compression phase adjustment processing result sent from the signal processing device 100. Specifically, for example, a display signal displaying the direction of the target object, the magnitude of the signal (target level), and the like is sent from the arithmetic processing unit 110.

The arithmetic processing apparatus 110 includes a frequency division processing unit 111, an optimization processing unit 112, a target direction calculation processing unit 113, a target direction crack detection processing unit 114, a target direction correction processing unit 115, and a target level calculation processing unit 116. There is.

The frequency division processing unit 111 performs frequency division processing on the array received signal from the receiver array 10 and converts it into array frequency bin data related to the amplitude and phase of the received signal. Further, the optimization processing unit 112 calculates the solution of the optimization problem based on the array frequency bin data converted by the frequency division processing unit 111. Further, the target direction calculation processing unit 113 converts the target direction data indicating the direction of the target object (hereinafter referred to as the target direction) based on the solution calculated by the optimization processing unit 112.

Further, the target direction crack detection processing unit 114 detects a crack in the target direction based on the target direction data from the target direction calculation processing unit 113. Then, based on the detected crack, the correction target target direction data indicating the target direction to be corrected is generated. Further, the target direction correction processing unit 115 generates the correction target direction data in which the crack of the target direction is corrected based on the correction target target direction data generated by the target direction crack detection processing unit 114. Then, the target level calculation processing unit 116 calculates the target level based on the correction target direction data from the target direction correction processing unit 115. Then, a display signal indicating the compression phase adjustment processing result is sent to the display device 130.

Here, the arithmetic processing unit 110 is usually composed of an apparatus that performs control arithmetic processing such as a computer centered on a CPU (Central Processing Unit), for example. Then, the arithmetic processing unit 110 executes a pre-programmed procedure of the signal processing method performed by each unit to realize the signal processing process. Here, for example, the storage device 120 described above has the data of the program. However, the present invention is not limited to this, and each part may be separately configured by a dedicated device (hardware).

FIG. 2 is a diagram illustrating an outline of signal processing according to the first embodiment of the present invention. In the array received signal of the receiver array 10, when the received signal of each receiver does not contain noise, as shown in FIG. 2A, the target orientation and the target level of the compression phase adjustment processing result are set. Matches its true value.

On the other hand, if the received signal contains noise, the target orientation is split on both sides near the true value of the target orientation, as shown in FIG. 2B. In addition, the target level of the target signal indicated by each direction is also lower than the true value. Therefore, the signal processing device 100 of the first embodiment detects the target direction crack in the target object, corrects the cracked target direction to one, and calculates the target level.

Next, the operation related to the grid-free compression phase adjustment processing performed by the arithmetic processing unit 110 of the signal processing unit 100 will be described in detail. Here, the arithmetic processing unit 110 performs the compression phase adjustment process and outputs the target direction and the target level as the result of the compression phase adjustment process. When the array reception signal from the receiver array 10 is input, the frequency division processing unit 111 performs frequency division processing of the array reception signal by using FFT (Fast Fourier Transform: Fast Fourier Transform) or the like. The frequency division processing unit 111 converts the received signal for each receiver into array frequency bin data by the frequency division processing. Here, the array frequency bin data y _j of the frequency bin number j can be expressed by the following equation (1), where _{y j} (m) is the frequency bin of the receiver of the receiver number m. Here, m is a receiver number, and m = 1, ..., M. M is the total number of receivers of the receivers constituting the receiver array 10. Further, j is a frequency bin number, and j = 1, ..., J. J is the number of frequency bins. And T represents the transpose of the vector.

_{The optimization processing unit 112 calculates the solution c ^ j} of the optimization problem based on the following equation (2) for each frequency bin j from the array frequency bin data converted by the frequency division processing unit 111. Here, the solution c ^ _j of the equation (2) is c ^ _j = [c _j (0), c _j (1), ..., c _j (M-1)] ^T. H represents the complex conjugate transpose of the vector or matrix, and T represents the transpose of the vector or matrix.

Further, in the equation (2), F _j is M × representing the received signal of each receiver, which is created on the assumption that the signal emitted by the target arrives from N directions t _{n = sin φ (n).} It is a matrix of N. F _j is expressed by the following equation (3). Here, t _n represents a hypothesized target direction. Further, n is a target number, and n = 1, ..., N (N> M). N is the assumed target number. λ _j is the wavelength of the jth frequency bin. Then, ΔD is the interval between the receivers of the receiver array 10.

_{Next, the trigonometric polynomial H j} (z) of _{the following equation (4) is defined, which expresses F j} ^H c _j within the inequality constraint in the equation (2) using the coefficients of the total number of receivers M. Then, the inequality constraint of the equation (2) is converted into a linear matrix inequality constraint of a finite degree. _{Then, the solution c ^ j} of the optimization problem based on the following equation (5) converted into the optimization problem of the linear matrix inequality constraint is calculated. Here, Q = c _j ^H c _j . Further, λ _j is the wavelength of the j-th frequency bin. Then, the solution c ^ _j of the equation (5) is c ^ _j = [c _j (0), c _j (1), ..., c _j (M-1)] ^T as described above. H represents the complex conjugate transpose of the vector or matrix, and T represents the transpose of the vector or matrix.

The target orientation calculation processing unit 113 has M-1 roots z of the _{polynomial P +} (z _j ) based on the following equation (6) for each frequency bin j from _{the solution c ^ j calculated by the optimization processing unit 112.} Calculate _j. Here, the root z _j is z _j = [z _j (1), z _j (2), ..., z _j (m), ... z _j (M-1)] ^T. T represents the transpose of the vector. Also, m> 0. r _{j and m} are represented by the following equation (7). Then, r _{j, −m} = r ^* _{j, m} .

The target direction calculation processing unit 113 further performs a process of extracting the _{root w j} on the unit circle of the complex plane from _{the root z j by using the following equation (8).} Then, the target direction v ^ _j is calculated _{from the root w j} based on the following equation (9). Here, w _j is w _j = [w _j (1), ..., w _j (k), ..., w _j (K)] ^T. Further, v ^ _j = [v ^ _j (1), ..., v ^ _j (k), ..., v ^ _j (K)] ^T. And T represents the transpose of a vector or matrix. Further, select () represents a process of selecting a complex value on the unit circle of the complex plane from the complex values in (). arg () represents the calculated value of the phase angle of the complex value in (). And K is the number of roots on the unit circle of the complex plane.

FIG. 3 is a diagram illustrating processing of the target directional crack detection processing unit 114 according to the first embodiment of the present invention. _{FIG. 3 describes a process of calculating a directional interval Δt k} between each target azimuth in the target azimuth v ^ _j and detecting a crack in the target by thresholding the directional interval Δt _k.

Target azimuth crack detection processing unit 114, based on the target direction v ^ _j of target direction computing unit 113 has calculated, detecting the cracking of target direction in target direction v ^ _j by performing threshold processing for each frequency bin j To do. In FIG. 3A, one target direction is divided into two target directions t ₃ and a target direction t ₄ . Further, the directional spacing Δt ₃ in FIG. 3B is the directional spacing between the target directional t ₃ and the target directional t ₄ split in two. Target azimuth crack detection processing section 114, the azimuth spacing Delta] t _k between FIGS. 3 (a) and 3 (b) in as shown, target direction v _{^ j} from the front and rear target direction _{t k} and the target azimuth _{t k + 1} Is calculated using the following equation (10). Here, k = 1, 2, ..., K-1, K are the number of solutions on the unit circle of the complex plane.

Next, the target directional crack detection processing unit 114 detects _{the directional interval Δt k} equal to or less than the threshold value t _{TH from each directional interval Δt k} calculated by the equation (10). Then, the detected directional interval number k is stored in the storage device 120 as the correction target directional number h. Further, the two target directions t _k and the target direction t _{k + 1} used for calculating the detected direction interval Δt _k are set as the correction target target direction t _h and the correction target target direction t _{h + 1,} and are stored as the correction target target direction data. Store at 120. Here, h = 1, 2, ..., H, H are the detected number of directional intervals.

FIG. 4 is a diagram illustrating the processing of the target direction correction processing unit 115 according to the first embodiment of the present invention. Target direction correction processing unit 115, based on the correction object target direction t _h a target azimuth crack detection processing unit 114 is stored in the storage device 120 as the corrected target target direction data and the correction target target heading t _{h + 1,} for each frequency bin j Correct the crack in the target direction in the target direction v ^ _j.

When the target direction v ^ _j is divided into two target directions t _k and a target direction t _{k + 1} , the true value of the target direction v ^ _j is between the two divided target directions t _k and the target direction t _{k + 1.} .. Therefore, as shown in FIG. 4, according to the following formulas (11), calculates the average value of the correction object target direction t _h a correction object target direction t _{h + 1,} and corrected target azimuth t _h1. Here, h1 = 1, 2, ..., H is the number of detected directional intervals.

Target direction correction processing unit 115, a targeted for correction target direction _{t h} a correction target target heading _{t h + 1,} is removed from the target direction v _{^ j.} Then, instead of the correction target goal orientation t _h and the correction target goal orientation t _{h + 1} has been deleted, make modifications to add the revised target direction t _h1 the target orientation v ^ _j, modification of the target direction v ^ _j of the modified Generate target orientation data.

_{The target level calculation processing unit 116 calculates the target level x ^ j} represented by the following equation (12) for each frequency bin j based on the correction target direction data generated by the target direction correction processing unit 115. A display signal indicating the compression phase adjustment processing result including the target direction v ^ _j and the target level x ^ _{j is sent to the display device 130.} Here, the matrix A _j ⁺ is a pseudo inverse matrix of the matrix A _j. Also, x ^ _j = [x ^ _j (1), ..., x ^ _j (g), ..., x ^ _j (G)] ^T , v ^ _j = [v ^ _j (1), ..., v ^ _j (g), ..., v ^ _j (G)] ^T and G are the corrected target orientation data numbers. Then, abs () in the equation (13) is a calculation of the absolute value in ().

FIG. 5 is a diagram showing a compression phase adjustment processing result displayed on the display device 130 after performing the target direction correction processing in the signal processing device 100 according to the first embodiment of the present invention. As described above, according to the signal processing unit 100 of the first embodiment, the arithmetic processing unit 110 includes a target directional cracking detection processing unit 114 and a target directional cracking processing unit 115. Then, with respect to the target direction v ^ _j calculated by the target direction calculation processing unit 113, the target direction crack detection processing unit 114 detects a crack in the target direction within the target direction _{v ^ j.} Further, the target direction correction processing unit 115 calculates the added average of the cracked target directions to generate the corrected target direction data in which the cracks are corrected. Therefore, as shown in FIG. 5, the error between the target direction in the compression phase adjustment processing result and the true value of the target direction can be reduced. Further, in the target level calculation processing unit 116, the target level is calculated from the target direction in which the direction error from the true value of the target direction is small, so that the error between the target level and the true value of the target level is reduced. be able to.

Embodiment 2.
FIG. 6 is a diagram illustrating a configuration centered on a signal processing device 100 that realizes signal processing according to the second embodiment of the present invention. In FIG. 6, with respect to the devices and the like having the same reference numerals as those in FIG. 1, basically, the same operations and processes as those described in the first embodiment are performed.

In FIG. 6, in the arithmetic processing device 110 of the signal processing device 100 of the second embodiment, the target level calculation processing unit 116 calculates the target level based on the target direction data from the target direction calculation processing unit 113. Further, the arithmetic processing unit 110 of the second embodiment does not have the target direction correction processing unit 115 of the first embodiment. Instead, the arithmetic processing unit 110 of the second embodiment has a target interpolation processing unit 117. The target interpolation processing unit 117 interpolates the target direction based on the correction target target direction data from the target direction crack detection processing unit 114. Further, the target level calculated by the target level calculation processing unit 116 is interpolated based on the target orientation data to be corrected. Then, a display signal indicating the compression phase adjustment processing result including the interpolation-processed correction target direction and the correction target level is sent to the display device 130.

Next, the processing performed by the arithmetic processing unit 110 of the signal processing unit 100 of the second embodiment will be described. The processing of each part until the target direction crack detection processing unit 114 generates the correction target target direction data is the same as that described in the first embodiment.

_{Further, the target level calculation processing unit 116 calculates the target level x ^ j} based on the target direction data from the target direction calculation processing unit 113 instead of the modified target direction data. Although the calculation is performed from the target direction data, the content of the processing performed by the target level calculation processing unit 116 is the same as that described in the first embodiment.

Target interpolation processing unit 117, based on the target direction v ^ _j and the target level x ^ _j from the correction target target orientation data and target level calculation processing unit 116 from the target direction crack detection processing unit 114, target direction v ^ _j Interference processing is performed to interpolate the cracks in the inside and the cracks in the corresponding target level x ^ _j.

FIG. 7 is a diagram illustrating the processing of the target interpolation processing unit 117 according to the second embodiment of the present invention. The processing procedure, first, reads the stored correction target target direction t _h in the storage unit 120 as the corrected target target direction data and the correction target target heading t _{h + 1.} Also, to extract a correction target target direction t _h a correction object target direction t _{h + 1} and the correction object target level l _h corresponding respectively corrected target target level l _{h + 1.} Then, as shown in FIG. 7, according to the following formulas (14), corrected target target direction t _h a correction object target direction t _{h + 1} and the azimuth gap Delta] t _h between, correction object target level l _h a correction object target level l _{From h + 1} , the target direction t _h1 after interpolation is calculated. Further, based on the following equation (15), the interpolated target level l _h1 is calculated _{from the correction target target level l h} and the correction target target level l _{h + 1.} Here, the azimuthal interval _{Δt h (= t h + 1} -t h).

Then, the target interpolation processing unit 117, a targeted for correction target direction _{t h} a correction target target heading _{t h + 1,} is removed from the target direction v _{^ j.} Then, instead of the correction target goal orientation t _h and the correction target goal orientation t _{h + 1} has been deleted, make the corrections to add a post-interpolation target direction t _h1 the target orientation v ^ _j, modification of the target direction v ^ _j of the modified Generate target orientation data.

Further, the correction target target level l _h and the correction target target level l _{h + 1} are deleted from the target level x ^ _j. Then, instead of the correction object target level l _h and the correction object target level l _{h + 1} has been deleted, make modifications to add interpolated target level l _h1 to the target level x ^ _j, correction of the target level x ^ _j after interpolation Generate target level data. Then, the target interpolation processing unit 117 sends a display signal indicating the compression phase adjustment processing result including the correction target direction and the correction target level after the interpolation processing to the display device 130.

As described above, the signal processing device 100 of the second embodiment includes the target directional crack detection processing unit 114 and the target interpolation processing unit 117. Then, the target direction crack detection processing unit 114 detects the cracked target direction as the target direction to be corrected. Further, the target interpolation processing unit 117 performs interpolation processing on the target azimuth divided into two and the two target levels corresponding thereto, and the correction target azimuth and the correction target target level are interpolated with the target azimuth after interpolation. The correction target orientation and the correction target level instead of the post-target level are output as the compression phase adjustment processing result. In this way, the correction target direction and the correction target level are obtained by the calculation by the interpolation process from the two target directions and the corresponding two target levels. By unifying the target direction to be corrected and the target level to be corrected into one by interpolation processing, the error between the true value and the true value is small even if the true value of the target direction is not near the center of the two split target directions. You can get the correction target direction and the correction target level.

Embodiment 3.
FIG. 8 is a diagram illustrating a configuration centered on a signal processing device 100 that realizes signal processing according to the third embodiment of the present invention. In FIG. 8, with respect to the devices and the like having the same reference numerals as those in FIGS. 1 and 6, basically, the same operations and processes as described in the first and second embodiments are performed.

As shown in FIG. 8, the arithmetic processing unit 110 of the signal processing unit 100 of the third embodiment has a directional crack determination processing unit 118. The orientation crack determination processing unit 118 determines whether or not the cracked target orientation is one target and needs to be corrected based on the correction target target orientation data calculated by the target orientation crack detection processing unit 114. To do.

Next, the processing performed by the arithmetic processing unit 110 of the signal processing unit 100 of the third embodiment will be described. The processing of each part until the target direction crack detection processing unit 114 generates the correction target target direction data is the same as that described in the first embodiment and the like.

The processing of the orientation crack determination processing unit 118 will be described. Azimuth crack determination processing unit 118, based on the modified target target heading data, examines the correction object target direction t _h for each frequency bin j the correction target target direction t _{h + 1,} cracking of the target direction is continuously temporally Judge whether or not. Specifically, the azimuth range of the correction target target direction t _h at the processing time s-1 used in the previous processing and the correction target target heading t _{h + 1} and lower orientation and the upper orientation _{[t h, t h + 1} ] s- Set to _1. Also, modifications in the processing time s for processing the current target target direction t _h a correction object target direction t _{h + 1} and the azimuth range with lower orientation and the upper orientation of _{[t h, t h + 1} ] to set the _s. Then, the directional range [th _h , th _{+ 1} ] _s-1 is compared with the directional range [th _h , th _{+ 1} ] _s. Comparing the two azimuth ranges [th _h , th _{+ 1} ] _s-1 and the azimuth range [th _h , th _{+ 1} ] _s , if there is an overlapping range, the cracking of the target azimuth continues in time. Is determined. On the other hand, if there is no overlapping range, it is determined that the cracking of the target direction does not continue in time.

Regarding the determination result, when the orientation cracking determination processing unit 118 determines that the cracking of the target orientation does not continue in time, there is only one target signal, and the target orientation is cracked with respect to the target object. Is determined. And it was determined target correction object target direction t _h without deleting the correction target target direction t _{h + 1,} to generate a modified target target direction data.

On the other hand, when the directional crack determination processing unit 118 determines that the crack in the target azimuth continues in time, it is determined that there are two target signals and that the crack in the target azimuth has not occurred. To generate a modified target target direction data deleting the correction target target direction t _{h + 1} and the correction object target direction t _h that determination target from the modified target target heading.

The display of the interpolation processing and the compression phase adjustment processing result in the target interpolation processing unit 117 is the same as that described in the first embodiment and the second embodiment.

As described above, the third embodiment pays attention to the fact that the cracking of the target direction does not occur continuously in time. The signal processing device 100 of the third embodiment is provided with the target directional cracking determination processing unit 118 after the target directional cracking detection processing unit 114. Then, check the correction object target direction t _h a correction target target direction t _{h + 1,} the portion seems to be cracking of the target direction is determined whether or not continuously generated in time, cracking two target heading It was decided whether or not it was due to. Therefore, it is possible to control the correction of the target direction according to the determination result. If the cracking of the target direction continues in time, the target direction and the target level are not corrected because the two target directions are obtained from the two target signals. Therefore, it is possible to prevent the target signals from the two target directions from being modified to one target direction and the target level.

Embodiment 4.
FIG. 9 is a diagram illustrating a configuration centered on a signal processing device 100 that realizes signal processing according to the fourth embodiment of the present invention. In FIG. 9, the devices and the like having the same reference numerals as those in FIGS. 1, 6 and 8 are basically the same operations and processes as those described in the first to third embodiments. And so on. The signal processing apparatus 100 of the first to third embodiments performs grid-free compression phase adjustment processing and outputs a target direction and a target level. In the signal processing apparatus 100 of the fourth embodiment, grid-free compression frequency analysis processing is performed, and the target frequency and the target level are output as the compression frequency analysis processing result. At this time, the signal processing device 100 detects a crack in the target frequency and performs a process of correcting the target frequency based on the crack.

The arithmetic processing unit 110 does not have the frequency division processing unit 111, the target direction calculation processing unit 113, the target direction crack detection processing unit 114, and the target direction correction processing unit 115 described in the first embodiment. Instead, as shown in FIG. 9, the arithmetic processing unit 110 of the signal processing unit 100 of the fourth embodiment has a target frequency calculation processing unit 121, a target frequency crack detection processing unit 122, and a target frequency correction processing unit 123. ing. Further, the processing of calculating the solution of the optimization problem in the optimization processing unit 112 of the fourth embodiment is slightly different from the processing of the first embodiment.

The target frequency calculation processing unit 121 calculates the target frequency in the received signal of the receiver array 10 including the target signal based on the solution calculated by the optimization processing unit 112. The target frequency crack detection processing unit 122 detects cracks in the target frequency based on the target frequency data calculated by the target frequency calculation processing unit 121. Then, based on the detected crack, the correction target frequency data indicating the correction target frequency to be corrected is generated. The target frequency correction processing unit 123 generates correction target frequency data in which cracks in the target direction are corrected based on the correction target target frequency data generated by the target frequency crack detection processing unit 122.

Next, the operation related to the grid-free compression frequency analysis processing performed by the arithmetic processing unit 110 of the signal processing unit 100 of the fourth embodiment will be described in detail. Here, the arithmetic processing apparatus 110 performs the compression frequency analysis processing, and outputs the target frequency and the target level as the compression frequency analysis processing result.

Similar to the first embodiment, the array reception signal from the receiver array 10 is input to the arithmetic processing unit 110 of the signal processing unit 100. Here, the frequency analysis process for the received signal received by one receiver (receiver number m) among the array received signals will be described below. The received signal received by the receiver having the receiver number m is represented by the following equation (16). Here, u is a time sample number, u = 1, ..., U. U is the number of time samples of the received signal. As a result, the arithmetic processing unit 110 obtains time sample data of the received signal. And T represents the transpose of the vector. Further, m is a receiver number, and m = 1, ..., M. M is the total number of receivers of the receivers constituting the receiver array 10.

_{The optimization processing unit 112 calculates the solution c ^ m} of the optimization problem based on the following equation (17) from the received signal. Here, the solution c ^ _m of the equation (17) is c ^ _m = [ _cm (0), _cm (1), ..., _cm (U-1)] ^T. H represents the complex conjugate transpose of the vector or matrix, and T represents the transpose of the vector or matrix.

Further, in the equation (17), F _m is a U × N matrix representing the received signals of each time sample u, which is created on the assumption that signals of N frequencies t _{n arrive from the target object.} F _m is expressed by the following equation (18). Here, t _n represents a hypothesized target frequency. Further, n is a target number, and n = 1, ..., N (N> U). N is the assumed target number.

Then, the _F ^m H _{c m} in the inequality constraint in equation (17), defines a trigonometric polynomial _H m (z) of the following formula expressed using U number of coefficients (19). Then, the inequality constraint of the equation (17) is converted into a linear matrix inequality constraint of a finite degree. _{Then, the solution c ^ m} of the optimization problem based on the following equation (20) converted into the optimization problem of the linear matrix inequality constraint is calculated. Here, Q = _cm ^H _cm . Then, as described above, _{the solution c ^ m} of the equation (20) _{is c ^ m} = [ _cm (0), _cm (1), ..., _cm (u), ..., _cm (U-). 1)] ^T. H represents the complex conjugate transpose of the vector or matrix, and T represents the transpose of the vector or matrix.

The target frequency calculation processing unit 121 has U-1 _{polynomials P +} (z _m ) based on the following equation (21) for each receiver number m from _{the solution c ^ m calculated by the optimization processing unit 112.} Calculate the root z _m. Here, the root z _m is z _m = [z _m (1), z _m (2), ..., z _m (u), ... z _m (U-1)] ^T. T represents the transpose of the vector. Also, u> 0. rm _{and u} are represented by the following equation (22). Then, rm _{, −u} = r ^* _{m, u} .

The target frequency calculation processing unit 121 further performs a process of extracting the _{root w m} on the unit circle of the complex plane from _{the root z m by using the following equation (23).} Then, the target frequency v ^ _m is calculated _{from the root w m} based on the following equation (24). Here, w _m is w _m = [w _m (1), ..., w _m (k), ..., w _m (K)] ^T. Further, v ^ _m = [v ^ _m (1), ..., v ^ _m (k), ..., v ^ _m (K)] ^T. And T represents the transpose of a vector or matrix. Further, select () represents a process of selecting a complex value on the unit circle of the complex plane from the complex values in (). arg () represents the calculated value of the phase angle of the complex value in (). Further, K is the number of roots on the unit circle of the complex plane. Then, [Delta] T is the time sampling interval of the received signal y _m.

The target frequency crack detection processing unit 122 performs threshold processing for cracking of the target frequency within the target frequency _{v ^ m for} each receiver number m based on _{the target frequency v ^ m} calculated by the target frequency calculation processing unit 121. To detect. The target frequency crack detection processing unit 122 calculates the frequency interval Δt _{k between the target frequency t k} before and after the _{target frequency v ^ m} and the target frequency t _{k + 1} using the following equation (25). Here, k = 1, 2, ..., K-1, K are the number of solutions on the unit circle of the complex plane.

Next, the target frequency cracking detection processing unit 122 detects _{the frequency interval Δt k} equal to or less than the threshold value t _{TH from each frequency interval Δt k} calculated by the equation (25). Then, the detected frequency interval number k is stored in the storage device 120 as the correction target direction number h. Further, the two target frequency t _k which is used to calculate the detected frequency interval Delta] t _k and the target frequency t _{k + 1,} is stored in the storage device 120 targeted for correction target frequency t _h a correction object target frequency t _{h + 1.} Here, h = 1, 2, ..., H, H are the detected frequency intervals.

Target frequency adjustment process unit 123 performs a target frequency crack detection processing unit 122 detects the processing, based on the correction object target frequency t _h stored in the storage unit 120 and the correction target target frequency t _{h + 1,} receivers number per m Correct the crack of the target frequency within the target frequency v ^ _m.

When the target frequency v ^ _m is split into two target frequencies t _k and a target frequency t _{k + 1} , the true value of the target frequency v ^ _m is between the two split target frequencies t _k and the target frequency t _{k + 1.} .. Therefore, based on the following equation (26), calculates the average value of the correction object target frequency t _h a correction object target frequency t _{h + 1,} and post-correction target frequency t _h1. Here, h1 = 1, 2, ..., H is the number of detected frequency intervals.

Target frequency adjustment process unit 123, the targeted for correction target frequency _{t h} a correction target target frequency _{t h + 1,} is removed from the target frequency v _{^ m.} Then, instead of the correction target target frequency t _h and the correction target target frequency t _{h + 1} has been deleted, make modifications to add the revised target frequency t _h1 to the target frequency v ^ _m, modification of the target frequency v ^ _m after correction Generate target frequency data.

_{The target level calculation processing unit 116 calculates the target level x ^ m} represented by the following equation (27) for each receiver number m based on the correction target frequency data generated by the target frequency correction processing unit 123. A display signal indicating the compression frequency analysis processing result including the target frequency v ^ _m and the target level x ^ _{m is sent to the display device 130.} Here, the matrix _A ^{m +} is a pseudo inverse matrix of the matrix _{A m.} Also, x ^ _m = [x ^ _m (1), ..., x ^ _m (g), ..., x ^ _m (G)] ^T , v ^ _m = [v ^ _m (1), ..., v ^ _m (g), ..., v ^ _m (G)] ^T and G are the corrected target frequency data numbers. Then, abs () in the equation (28) is a calculation of the absolute value in ().

As described above, according to the signal processing unit 100 of the fourth embodiment, the arithmetic processing unit 110 includes a target frequency cracking detection processing unit 122 and a target frequency correction processing unit 123. Then, with respect to the target frequency v ^ _m calculated by the target frequency calculation processing unit 121, the target frequency crack detection processing unit 122 detected a crack in the target frequency within the target frequency _{v ^ m.} Further, the target frequency correction processing unit 123 calculates the added average of the cracked target frequencies to generate the corrected target frequency data in which the cracks are corrected. Therefore, the error between the target frequency in the compression frequency analysis processing result and the true value of the target frequency can be reduced. Further, in the target level calculation processing unit 116, the target level is calculated from the target frequency at which the frequency error from the true value of the target frequency is small, so that the error from the true value of the target level is also reduced. be able to.

Embodiment 5.
FIG. 10 is a diagram illustrating a configuration centered on a signal processing device 100 that realizes signal processing according to the fifth embodiment of the present invention. In FIG. 10, for devices and the like having the same reference numerals as those in FIGS. 1 and 9, basically, the same operations, processes, and the like as described in the first to fourth embodiments are performed. Do.

In FIG. 10, in the arithmetic processing apparatus 110 of the signal processing apparatus 100 of the fifth embodiment, the target level calculation processing unit 116 calculates the target level based on the target frequency data from the target frequency calculation processing unit 121. Further, the arithmetic processing unit 110 does not have the target frequency correction processing unit 123 described in the fourth embodiment. Instead, the arithmetic processing unit 110 further includes the target interpolation processing unit 117 described in the second embodiment and the like. The target interpolation processing unit 117 corrects the target frequency based on the target frequency data to be corrected from the target frequency crack detection processing unit 122. Further, the target level calculated by the target level calculation processing unit 116 is interpolated based on the target frequency data to be corrected. Then, a display signal indicating the compression frequency analysis processing result including the interpolated correction target frequency and the correction target level is sent to the display device 130.

Next, the processing performed by the arithmetic processing unit 110 of the signal processing unit 100 of the fifth embodiment will be described. The processing of each unit until the target frequency crack detection processing unit 122 generates the target frequency data to be corrected is the same as that described in the fourth embodiment.

_{Further, the target level calculation processing unit 116 calculates the target level x ^ m} based on the target frequency data from the target frequency calculation processing unit 121 instead of the modified target frequency data. The content of the process is the same as that described in the fourth embodiment.

Target interpolation processing unit 117, a target frequency v ^ _m and the target level x ^ _m from corrected object target frequency data and target level calculation processing unit 116 from the target frequency crack detection processing unit 122, a target frequency v ^ _m crack And the interpolation process for correcting the crack of the target level x ^ _{m is performed.}

For instructions on processing target interpolation processing unit 117 performs, first, reads the stored correction target target frequency t _h in the storage unit 120 as the corrected target target frequency data and the correction target target frequency t _{h + 1.} Also, to extract a correction target target frequency t _h a correction object target frequency t _{h + 1} and the correction object target level l _h corresponding respectively corrected target target level l _{h + 1.} Then, based on the following equation (29) and equation (30), a frequency interval Delta] t _h between the correction object target frequency _{t h} a correction object target frequency _{t h + 1,} correction target target level _{l h} a correction object target level _{l h + 1} From, the target frequency th _h1 after interpolation and the target level l _{h 1} after interpolation are calculated. Here, a frequency interval _{Δt h (= t h + 1} -t h).

Then, the target interpolation processing unit 117, a targeted for correction target frequency _{t h} a correction target target frequency _{t h + 1,} is removed from the target frequency v _{^ m.} Then, instead of the correction target target frequency t _h and the correction target target frequency t _{h + 1} has been deleted, make the corrections to add a post-interpolation target frequency t _h1 to the target frequency v ^ _m, modification of the target frequency v ^ _m after correction Generate target frequency data.

Further, the correction target target level l _h and the correction target target level l _{h + 1} are deleted from the target level x ^ _m. Then, instead of the correction object target level l _h and the correction object target level l _{h + 1} has been deleted, make modifications to add interpolated target level l _h1 to the target level x ^ _m, correction of the target level x ^ _m after interpolation Generate target level data. Then, the target interpolation processing unit 117 sends a display signal indicating the compression frequency analysis processing result including the correction target frequency and the correction target level after the interpolation processing to the display device 130.

As described above, the signal processing device 100 of the fifth embodiment includes the target frequency cracking detection processing unit 122 and the target interpolation processing unit 117. Then, the target frequency cracking detection processing unit 122 detects the cracked target frequency as the target frequency to be corrected. Further, the target interpolation processing unit 117 performs interpolation processing on the target frequency split in two and the two target levels corresponding to the target frequency, and outputs the correction target frequency and the correction target level as the compression frequency analysis result. I did. In this way, the correction target direction and the correction target level are obtained by the calculation by the interpolation processing from the target frequency divided into two and the two target levels corresponding to the target frequency. By unifying the target frequency to be corrected and the target level to be corrected into one by interpolation processing, the error between the true value and the true value is small even if the true value of the target frequency is not near the center of the two split target frequencies. A correction target frequency and a correction target level can be obtained.

Embodiment 6.
FIG. 11 is a diagram illustrating a configuration centered on a signal processing device 100 that realizes signal processing according to the sixth embodiment of the present invention. In FIG. 11, the devices and the like having the same reference numerals as those in FIGS. 1, 9, 10, 10 and the like are basically the same operations as those described in the first to fifth embodiments. Perform processing and so on.

In FIG. 11, the arithmetic processing unit 110 of the signal processing device 100 of the sixth embodiment has a frequency cracking determination processing unit 124. The frequency cracking determination processing unit 124 determines whether or not the cracked target frequency is one target and needs to be corrected based on the correction target frequency data calculated by the target frequency cracking detection processing unit 122. To do.

Next, the processing performed by the arithmetic processing unit 110 of the signal processing unit 100 of the sixth embodiment will be described. The processing of each unit until the target frequency crack detection processing unit 122 generates the target frequency data to be corrected is the same as that described in the fourth embodiment.

The processing of the frequency cracking determination processing unit 124 will be described. Frequency crack determination processing unit 124, based on the modified target target frequency data, examines the correction object target frequency t _h every receivers number m the correction target target frequency t _{h + 1,} cracking of the target frequency temporally continued Judge whether or not it is done. Specifically, the correction target target frequency t _h a correction object target frequency t _{h + 1} and the frequency range with the lower limit frequency and an upper frequency limit of the processing time s-1 used in the previous processing _{[t h, t h + 1} ] s- Set to _1. Also, modifications in the processing time s for processing the current target target frequency t _h a correction object target frequency t _{h + 1} and the frequency range with the lower limit frequency and an upper frequency limit of the _{[t h, t h + 1} ] to set the _s. Then, the frequency range [th _h , th _{+ 1} ] _s-1 is compared with the frequency range [th _h , th _{+ 1} ] _s. Comparing the two frequency ranges [th _h , th _{+ 1} ] _s-1 and the frequency range [th _h , th _{+ 1} ] _s , if there is an overlapping range, the target frequency is continuously broken in time. Is determined. On the other hand, if there is no overlapping range, it is determined that the breakage of the target frequency does not continue in time.

Regarding the determination result, when the frequency cracking determination processing unit 124 determines that the cracking of the target frequency does not continue in time, there is only one target signal, and the target frequency is cracked with respect to the target object. Is determined. And it was determined target correction object target frequency t _h without deleting the correction target target frequency t _{h + 1,} to generate a modified target target frequency data.

On the other hand, when the frequency cracking determination processing unit 124 determines that the cracking of the target frequency continues in time, it is determined that there are two target signals and that the cracking of the target frequency has not occurred. To generate a modified target target frequency deleted data targeted for correction target frequency t _h which was determined target correction target target frequency t _{h + 1.}

The display of the interpolation processing and the compression frequency analysis processing result in the target interpolation processing unit 117 is the same as that described in the fourth and fifth embodiments.

As described above, the sixth embodiment pays attention to the fact that the cracking of the target frequency does not occur continuously in time. The signal processing device 100 of the sixth embodiment is provided with a target frequency cracking determination processing unit 124 after the target frequency cracking detection processing unit 122. Then, check the correction object target frequency t _h a correction target target frequency t _{h + 1,} the portion seems to be cracking of the target frequency is determined whether or not continuously generated in time, cracking two target frequency It was decided whether or not it was due to. Therefore, it is possible to control the correction of the target frequency according to the determination result. If the cracking of the target frequency continues in time, the target frequency and the target level are not corrected because they are the two target frequencies obtained from the two target signals. Therefore, it is possible to prevent the target signals from the two target frequencies from being modified to one target frequency and target level.

Embodiment 7.
In the signal processing device 100 of the third embodiment described above, the device having the same configuration as the signal processing device 100 of the second embodiment includes the orientation crack determination processing unit 118. However, the device having the same configuration as the signal processing device 100 of the first embodiment may be configured to include the directional crack determination processing unit 118.

Further, in the signal processing device 100 of the sixth embodiment described above, the device having the same configuration as the signal processing device 100 of the fifth embodiment includes the frequency cracking determination processing unit 124. However, the device having the same configuration as the signal processing device 100 of the fourth embodiment may have the frequency cracking determination processing unit 124.

Further, the signal processing device 100 of the above-described first to sixth embodiments is an array reception signal of a receiver array 10 having a plurality of receivers arranged at equal intervals on a straight line used for a sonar or the like. An example of processing (acoustic signal) has been described, but the present invention is not limited to this. For example, processing can be performed on an array reception signal of a receiver array 10 composed of an ultrasonic sensor other than a sonar, a vibration sensor, or the like. Further, the array reception signal of the receiver array 10 composed of a plurality of receivers arranged at unequal intervals of the receivers, the array reception of a planar array composed of a plurality of receivers, a three-dimensional array, etc. Processing can also be applied to signals.

Also, it is not necessary to process the array received signal of the receiver array 10 in real time. For example, the array reception signal may be stored in the storage device 120 as data, and the arithmetic processing unit 110 may read the data from the storage device 120 and perform processing.

10 Receiver array 100 Signal processing device 110 Arithmetic processing device 111 Frequency division processing unit 112 Optimization processing unit 113 Target orientation calculation processing unit 114 Target orientation crack detection processing unit 115 Target orientation correction processing unit 116 Target level calculation processing unit 117 Target Interpolation processing unit 118 Target orientation crack determination processing unit 120 Storage device 121 Target frequency cracking processing unit 122 Target frequency cracking detection processing unit 123 Target frequency correction processing unit 124 Target frequency cracking determination processing unit 130 Display device

Claims (15)

A signal processing device that outputs data related to a target signal emitted from a target based on a signal received from a receiver.
Based on the plurality of received signals from the receiver array having the plurality of receivers, the conversion related to the frequency of the received signal is performed, and the array frequency bin data related to the amplitude and phase of the received signal is obtained. Frequency division processing unit and
Based on the array frequency bin data, an optimization processing unit that calculates the solution of the optimization problem using the linear matrix inequality as a constraint, and
Based on the solution, a target direction calculation processing unit that calculates target direction data indicating the target direction of the target object, and a target direction calculation processing unit.
From the calculated target orientation data, a target orientation crack detection processing unit that detects cracks in the target orientation with respect to the target object, and a target orientation crack detection processing unit.
A target orientation correction processing unit that calculates correction target orientation data that corrects the broken target orientation into one target orientation, and a target orientation correction processing unit.
A signal processing device including a target level calculation processing unit that calculates a target level indicating the magnitude of the target signal based on the modified target orientation data and the array frequency bin data. The target direction correction processing unit
The signal processing device according to claim 1, wherein an addition average value is calculated for the data of the target directions detected as two cracks and used as the corrected target direction data. A signal processing device that outputs data related to a target signal emitted from a target based on a signal received from a receiver.
Based on the plurality of received signals from the receiver array having the plurality of receivers, the conversion related to the frequency of the received signal is performed, and the array frequency bin data related to the amplitude and phase of the received signal is obtained. Frequency division processing unit and
Based on the array frequency bin data, an optimization processing unit that calculates the solution of the optimization problem using the linear matrix inequality as a constraint, and
Based on the solution, a target direction calculation processing unit that calculates target direction data indicating the target direction of the target object, and a target direction calculation processing unit.
From the calculated target orientation data, a target orientation crack detection processing unit that detects cracks in the target orientation with respect to the target object, and a target orientation crack detection processing unit.
A target level calculation processing unit that calculates a target level indicating the magnitude of the target signal based on the target direction data and the array frequency bin data.
A plurality of the target directions detected as cracks by the target direction crack detection processing unit are interpolated into one target direction, and a plurality of the target levels corresponding to the plurality of target directions are interpolated into one target level. A signal processing device including an interpolation processing unit for processing. With respect to the target direction data detected by the target direction crack detection processing unit as a crack in the target direction, whether the target direction is cracked based on whether or not the detected crack in the target direction continues in time. The signal processing device according to any one of claims 1 to 3, further comprising a target directional cracking determination unit for determining whether or not. The range between the two target directions detected by the target direction crack detection processing unit as a crack in the target direction is defined as the direction range.
When there is an overlapping range between the directional range in the previous process and the directional range in the current process, the target directional crack determination unit determines that the target directional crack does not continue in time. The signal processing apparatus according to claim 4, wherein the processing is performed. A signal processing device that outputs data related to a target signal emitted from a target based on a signal received from a receiver.
An optimization processing unit that calculates the solution of an optimization problem using a linear matrix inequality as a constraint based on the time sample data of the received signal.
Based on the solution, a target frequency calculation processing unit that calculates target frequency data indicating the target frequency of the target signal, and a target frequency calculation processing unit.
From the calculated target frequency data, a target frequency crack detection processing unit that detects cracks in the target frequency with respect to the target signal, and a target frequency crack detection processing unit.
A target frequency correction processing unit that calculates correction target frequency data that corrects the broken target frequency into one target frequency, and a target frequency correction processing unit.
A signal processing device including a target level calculation processing unit that calculates a target level indicating the magnitude of the target signal based on the modified target frequency data and the time sample data. The target frequency correction processing unit
The signal processing device according to claim 6, wherein an addition average value is calculated for the data of the target frequencies detected as two cracks and used as the modified target frequency data. A signal processing device that outputs data related to a target signal emitted from a target based on a signal received from a receiver.
An optimization processing unit that calculates the solution of an optimization problem using a linear matrix inequality as a constraint based on the time sample data of the received signal.
Based on the solution, a target frequency calculation processing unit that calculates target frequency data indicating the target frequency of the target signal, and a target frequency calculation processing unit.
From the calculated target frequency data, a target frequency crack detection processing unit that detects cracks in the target frequency with respect to the target signal, and a target frequency crack detection processing unit.
A target level calculation processing unit that calculates a target level indicating the magnitude of the target signal based on the target frequency data and the time sample data.
The plurality of target frequencies detected as cracks by the target frequency crack detection processing unit are interpolated into one target frequency, and a plurality of target levels corresponding to the plurality of target frequencies are interpolated into one target level. A signal processing device including an interpolation processing unit. Regarding the target frequency data detected as a crack of the target frequency by the target frequency crack detection processing unit, whether the target frequency is cracked based on whether or not the detected crack of the target frequency continues in time. The signal processing apparatus according to any one of claims 6 to 8, further comprising a target frequency cracking determination unit for determining whether or not the frequency is broken. The frequency range is defined as the range between the two target frequencies detected by the target frequency crack detection processing unit as cracks in the target frequency.
When the target frequency cracking determination unit has an overlapping range between the frequency range in the previous process and the frequency range in the current process, the target frequency cracking determination unit determines that the cracking of the target frequency does not continue in time. The signal processing apparatus according to claim 9, wherein the processing is performed. The signal processing device according to any one of claims 1 to 10, further comprising a display device for displaying data related to the target signal. It is a signal processing method program that outputs data related to the target signal emitted from the target based on the received signal from the receiver.
Based on the plurality of received signals from the receiver array having the plurality of receivers, the conversion related to the frequency of the received signal is performed, and the array frequency bin data related to the amplitude and phase of the received signal is obtained. Frequency division processing process to be performed and
An optimization processing step for calculating a solution of an optimization problem using a linear matrix inequality as a constraint based on the array frequency bin data.
Based on the solution, a target direction calculation processing step for calculating target direction data indicating the target direction of the target object, and
From the calculated target orientation data, a target orientation crack detection processing step for detecting a crack in the target orientation with respect to the target object, and a target orientation crack detection processing step.
A target orientation correction processing step for calculating and processing correction target orientation data for correcting the broken target orientation to one target orientation, and
A signal processing method characterized by having a computer perform a target level calculation processing step of calculating a target level indicating the magnitude of the target signal based on the modified target orientation data and the array frequency bin data. program. It is a signal processing method program that outputs data related to the target signal emitted from the target based on the received signal from the receiver.
Based on the time sample data of the received signal, the optimization processing step of calculating the solution of the optimization problem using the linear matrix inequality as a constraint, and the optimization processing step.
Based on the solution, a target frequency calculation process for calculating target frequency data indicating the target frequency of the target signal, and a target frequency calculation process.
From the calculated target frequency data, a target frequency crack detection processing step for detecting cracks in the target frequency with respect to the target signal, and a target frequency crack detection processing step.
A target direction correction processing step for calculating correction target frequency data for correcting the broken target frequency to one target frequency, and
A program of a signal processing method, characterized in that a computer performs a target level calculation processing step of calculating a target level indicating the magnitude of the target signal based on the modified target frequency data and the time sample data. A signal processing method that outputs data related to a target signal emitted from a target based on a signal received from a receiver.
Based on the plurality of received signals from the receiver array having the plurality of receivers, the conversion related to the frequency of the received signal is performed, and the array frequency bin data related to the amplitude and phase of the received signal is obtained. Frequency division processing process to be performed and
An optimization processing step for calculating a solution of an optimization problem using a linear matrix inequality as a constraint based on the array frequency bin data.
Based on the solution, a target direction calculation process for calculating target direction data indicating the target direction of the target object, and a target direction calculation processing step.
From the calculated target direction data, a target direction crack detection processing step for detecting and processing a crack in the target direction with respect to the target object,
A target orientation correction processing step for calculating and processing correction target orientation data for correcting the broken target orientation to one target orientation, and
A signal processing method including a target level calculation processing step of calculating a target level indicating the magnitude of the target signal based on the modified target orientation data and the array frequency bin data. A signal processing method that outputs data related to a target signal emitted from a target based on a signal received from a receiver.
Based on the time sample data of the received signal, the optimization processing step of calculating the solution of the optimization problem using the linear matrix inequality as a constraint, and the optimization processing step.
Based on the solution, a target frequency calculation process for calculating target frequency data indicating the target frequency of the target signal, and a target frequency calculation process.
From the calculated target frequency data, a target frequency crack detection processing step for detecting cracks in the target frequency with respect to the target signal, and a target frequency crack detection processing step.
A target direction correction processing step for calculating correction target frequency data for correcting the broken target frequency to one target frequency, and
A signal processing method including a target level calculation processing step of calculating a target level indicating the magnitude of the target signal based on the modified target frequency data and the time sample data.

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