CN101581785B - Three-dimensional looking forward sound imaging sonar system for underwater vehicle and using method thereof - Google Patents
Three-dimensional looking forward sound imaging sonar system for underwater vehicle and using method thereof Download PDFInfo
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Abstract
The invention discloses a three-dimensional looking forward sound imaging sonar system for an underwater vehicle, which comprises a sonar transmitting array 1, a sonar transmitting array 2 and a sonarreceiving array, wherein the sonar transmitting array 1 is used for short-distance detection and consists of a plurality of rows of primitives at half-wavelength intervals; the sonar transmitting arr ay 2 is used for long-range detection and consists of a plurality of rows of sonar arrays which are arranged in a circular-arc shape horizontally and at half-wavelength intervals vertically; and the sonar receiving array is a planar array consisting of receiving transducer units at half-wavelength intervals, a central primitive is used for receiving sonar, and edge primitives are dummy primitives.The system forms a plurality of horizontal wave beams by using normal wave beam forming technology; in the wave beams, a phase method is used to work out a horizontal incidence angle; on a vertical p lane, information source number estimation and direction-of-arrival estimation technology is used to work out a vertical incidence angle; and the three-dimension spatial position of a scattering pointis worked out by using the time of arrival of back waves and a sound image is obtained. The system can realize small-front area, high-resolution, long-distance and wide-coverage detection of forward objects.
Description
Technical field
The present invention relates to the three-dimensional looking forward sound sonar technique, more specifically, the present invention relates to a kind of three-dimensional looking forward sound sonar system and method for estimating, be used for small-sized carrier under water based on direction of arrival.
Background technology
Carrier (for example autonomous underwater robot, cable control underwater robot etc.) needs to use the three-dimensional looking forward sound sonar to come barrier and target in the three dimensions of carrier detection the place ahead under water, obtain three-dimensional sound image, because the restriction of requirement, space and the power consumption of bearer rate under water needs the three-dimensional looking forward sound sonar to have volume characteristics little, in light weight and low in energy consumption.
Existing forward sight imaging sonar, mainly adopt following two kinds of schemes to obtain the place ahead three-dimensional sound image: a kind of is to receive the sonar battle array to adopt the wall scroll linear array, using conventional beam-forming technology, to form a plurality of width in surface level be 1 to spend the wave beam of spending to 2; Emission sonar battle array adopts transmit phased array, forms the narrow beam of a plurality of sensing different directions, obtains target direction and distance by emission for several times, obtains three-dimensional sound image, and the vertical direction cover width is generally about 20 degree.In this scheme, the emission battle array of sonar battle array and reception battle array adopt a T shape to install, and volume is bigger, be unsuitable for small-sized carrier under water, and the overlay area is narrower, and the vertical plane intrinsic resolution is lower, and it is longer to form the three-dimensional sound image required time.
The second way is to receive the sonar battle array to adopt planar array, realizes lens function by signal processing algorithm, forms two-dimentional wave beam in sonar battle array the place ahead, can directly obtain target direction and distance, obtains three-dimensional sound image, the overlay area broad.But owing to adopt the planar array form, array number is many, and system complex is restricted when being installed under water carrier, especially is unsuitable for small-sized carrier under water, and its vertical direction resolution limits by Fourier transform, and resolution is lower.
At present the three-dimensional looking forward sonar develops seriation, and technological level is very high, but the resolution of the sonar of developing is subjected to the restriction of conventional wave beam formation, i.e. wave beam angular width Δ θ～λ/L, and λ is the wavelength of centre frequency, L is a sonar battle array length.The size of general three-dimensional looking forward sonar is bigger, be not suitable for being installed in small-sized autonomous submarine navigation device (autonomous underwater vehicle, AUV) etc. on the small-sized carrier under water, present small-sized AUV goes up the main above-mentioned first kind of multi-beam forward sight imaging sonar of installing, and can not directly provide the target three-dimensional information.
Summary of the invention
For overcome the existing three-dimensional looking forward sound sonar system size that is used for small-sized carrier under water big, differentiate rate variance, operating distance is short and coverage is narrow defective, the present invention proposes a kind of three-dimensional looking forward sound sonar system and method for estimating, be used for small-sized carrier under water based on direction of arrival.
According to an aspect of the present invention, proposed a kind of three-dimensional looking forward sound sonar system that is used for small-sized carrier under water, having comprised:
Launch sonar battle array 1, be used for the proximity detection of wide coverage, described emission sonar battle array 1 is the plane of departure battle array that a plurality of primitives are formed, and the primitive spacing is a half-wavelength;
Emission sonar battle array 2 is used for long-range detection, and described emission sonar battle array 2 is made up of many rows sonar battle array, and horizontal direction is circular arc arranges, and vertical direction is spaced with half-wavelength;
Receiving the sonar battle array, be used to receive echoed signal, is that planar array is formed in the receiving transducer unit of half wavelength by spacing, and the primitive of central authorities is used for reception, and the edge primitive is a dummy argument, is used to reduce the influence that the primitive mutual coupling is closed;
Wherein, described emission sonar battle array 1, described emission sonar battle array 2 and described reception sonar battle array are positioned at the place ahead of described small-sized carrier under water.
Described system can also comprise:
Processing module, be used in the wave beam of a plurality of horizontal directions that the conventional beam-forming technology of employing forms in horizontal plane, adopt phase method to obtain the incident angle of horizontal direction, in vertical plane, adopt information source number estimation and direction of arrival estimation technique to obtain the incident angle of vertical direction.
Wherein, described processing module can also be used to utilize incident angle and echo time of arrival of described horizontal direction and vertical direction, calculates the position of scattering point in three dimensions, obtains acoustic image.
Wherein, described emission sonar battle array 1 is made up of 3*3 primitive, and the primitive spacing is a half-wavelength.
Wherein, in 9 primitives of described emission sonar battle array 1, the emission of center primitive, 8 primitives are dummy argument on every side, for described center emission primitive provides necessary boundary condition, assurance center primitive can be realized wide covering emission.
Wherein, the level of the center primitive of described emission sonar battle array 1, vertical direction wave beam angle of release are 90 degree *, 90 degree.
Wherein, described emission sonar battle array 2 is made up of 3 row's sonar battle arrays.
Wherein, the circular array covering of the fan angle of the horizontal direction of described emission sonar battle array 2 is 150 degree.
Wherein, the vertical direction of described emission sonar battle array 2 is about 40 degree launching beams with the wave beam angle of release.
Wherein, each primitive of described reception sonar battle array goes between separately, is used for wave beam formation and direction of arrival and estimates; Described reception sonar battle array adopts digital beam to form, and the wave beam angle of release of horizontal direction is 7.2 degree.
Wherein, the receiving transducer unit that described planar array is a half wavelength by 18*8 spacing is formed, and 16*6 unit of central authorities is used for receiving.
According to a further aspect in the invention, proposed a kind of method of using the described sonar system of claim 1 to obtain three-dimensional looking forward sound, having comprised:
Step 10), the described emission sonar battle array 1 of use or emission sonar battle array 2 and described reception sonar battle array adopt conventional beam-forming technology to form the wave beam of a plurality of horizontal directions in horizontal plane;
Step 20), the employing phase method is obtained the incident angle of horizontal direction in wave beam, adopts information source number estimation and direction of arrival estimation technique to obtain the incident angle of vertical direction in vertical plane;
Step 30), utilize incident angle and echo time of arrival of described horizontal direction and vertical direction, calculate the position of scattering point in three dimensions, obtain acoustic image.
Wherein, step 10) further comprises: by the wave beam of delaying time to received signal, a plurality of horizontal directions that obtain pointing to special angle are handled in weighting, summation;
Wherein, time-domain wave beam forms:
Wherein, the frequency domain wave beam forms:
a
iBe weighting coefficient, x
i(t) be the received signal of i primitive, τ at moment t
iBe the time-delay of beam position angle correspondence, M is the primitive number, and m is the wave beam sequence number that different beams points to the angle correspondence.
Wherein, in the step 10), described beam angle is about 7 degree.
Wherein, step 20) incident angle that adopts phase method to obtain horizontal direction in further comprises: be divided into two identical submatrixs receiving the sonar battle array, after wave beam forms, be equivalent to the reception front is turned to the beam position angle, the echo on the beam center just in time is positioned on the perpendicular bisector of the equivalent line of centres of two submatrixs.
Wherein, the incident angle that adopts phase method to obtain horizontal direction step 20) further comprises:
Step 210), be divided into two identical submatrixs, homophase, the quadrature component of two beamlet are respectively I receiving the sonar battle array
1I
2Q
1Q
2, phase differential is
Step 220),
D is two submatrixs intervals, and Δ α (t) is Δ α ' match (t), and k is a wave number, and θ is the beam position angle, and δ (t) is the deviation at actual angle and beam position angle;
Step 230), the actual incident angle of horizontal direction is
Wherein, step 20) in, the incident angle that adopts information source number estimation and direction of arrival estimation technique to obtain vertical direction in vertical plane further comprises:
Step 210 '), come estimated signal source number with Gai Shi circle method, estimate the position of eigenwert by the Gai Shi circles theorem, thus estimated signal source number;
Step 220 '), adopt direction of arrival estimation technique or Estimation of Spatial Spectrum technology, utilize the incident angle of the invariable rotary characteristic estimating vertical direction of data covariance matrix signal subspace.
Wherein, step 220 ') in, adopt invariable rotary subspace algorithm, utilize the incident angle of the invariable rotary characteristic estimating vertical direction of data covariance matrix signal subspace.
The three-dimensional looking forward sound sonar system of the present invention by estimating based on direction of arrival can realize little front area, high resolving power, long distance, wide coverage detection of forward objects.
Description of drawings
Fig. 1 illustrates sonar system structural drawing according to an embodiment of the invention;
Fig. 2 illustrates and receives the sonar battle array cloth system of battle formations according to an embodiment of the invention;
Fig. 3 illustrates three-dimensional looking forward sound sonar signal processing flow chart;
Fig. 4 is target and planar sonar battle array relative position synoptic diagram;
Fig. 5 illustrates the incident angle synoptic diagram of the method simulation calculation that combines based on conventional wave beam formation, phase method and direction of arrival estimation;
Fig. 6 illustrates the incident angle synoptic diagram that calculates based on the two-dimentional beam-forming technology of routine;
Fig. 7 is simulation result and the contrast synoptic diagram of just establishing the scattering point position;
Fig. 8 is simulation result and the contrast synoptic diagram of just establishing the scattering point position.
Embodiment
Below in conjunction with the drawings and specific embodiments a kind of three-dimensional looking forward sound sonar system and method for estimating based on direction of arrival provided by the invention is described in detail.
Fig. 1 is a sonar system structural drawing according to an embodiment of the invention, and as shown in Figure 1, sonar system comprises 2 emission sonar battle arrays and 1 reception sonar battle array, is positioned at the place ahead of casing under water.
The mode that sonar system adopts emission battle array 1 and 2 pairs of emission battle arrays of emission battle array to switch, proximity detection adopts emission battle array 1, guarantees the coverage width; Emission battle array 2 is adopted in long-range detection, improves the operating distance of coverage.
Emission battle array 1 is made up of 3*3=9 primitive, and the primitive spacing is a half-wavelength.Center primitive emission, 8 primitives are dummy argument on every side, and for center emission primitive provides necessary boundary condition, assurance center primitive can be realized the emission of wide coverage, and level, vertical direction wave beam angle of release are 90 degree *, 90 degree.Single primitive emission can realize wide covering, but transmitting sensitivity is low, influences the operating distance of system.
Emission battle array 2 is made up of 3 row's sonar battle arrays, and horizontal direction is circular arc arranges, and circular array covering of the fan angle is 150 degree, can realize that the level of 150 degree covers; Vertical direction is spaced with half-wavelength, can realize that vertical direction wave beam angle of release is about the launching beam of 40 degree.Because emission adopts the circular array wave beam to form, transmitting sensitivity is higher, can realize remote target detection.The frequency of operation of native system is 150kHz, adopts chirp to transmit, and can reach the emission source electrode of about 190dB.Calculate through sonar equation, operating distance can reach 150 meters.
Receive the sonar battle array and be used to receive echoed signal, form planar array by the receiving transducer unit of 18*8 spacing half wavelength, 16*6 primitive of central authorities receives, and the edge primitive is a dummy argument, reduces the influence of primitive mutual coupling.Receive the sonar battle array cloth system of battle formations as shown in Figure 2, each primitive goes between separately, to realize that wave beam forms and direction of arrival is estimated; The employing digital beam forms, and the wave beam angle of release of horizontal direction is 7.2 degree.
The three-dimensional looking forward sound sonar disposal route of estimating based on direction of arrival that proposes according to embodiments of the invention is applicable to the three-dimensional looking forward sound sonar system that is installed on the small-sized carrier under water, in its signal processing flow in conjunction with the signal processing method of conventional beam-forming technology, phase method and direction of arrival estimation technique, the signal Processing overall procedure as shown in Figure 3, adopt conventional beam-forming technology to form the wave beam of a plurality of horizontal directions in horizontal plane, beam angle is about 7 degree; In wave beam, adopt phase method to obtain the incident angle of horizontal direction, thereby improve the horizontal direction resolution that this device is surveyed successive objective; In vertical plane, adopt information source number estimation and direction of arrival estimation technique to obtain the incident angle of vertical direction simultaneously, utilize information calculations such as the incident angle of this both direction and echo time of arrival to go out the position of scattering point in three dimensions at last, obtain preliminary acoustic imaging.
Owing in wave beam, adopt phase method, the directional resolution of improving the standard that can be in the broad beam area, therefore horizontal primitive number is few, has reduced the front size greatly.
Respectively employed various signal processing methods in the signal processing are further specified below.
The horizontal direction wave beam forms
Conventional time-domain wave beam formation technology is by the wave beam of delaying time to received signal, processing such as weighting, summation obtain pointing to special angle, the gain that can improve main lobe direction, and the echo of suppressed sidelobes direction, its fundamental formular is:
A wherein
iBe weighting coefficient, generally adopt the Dolph-Chebyschev weighting coefficient, x
i(t) be the received signal of i primitive, τ at moment t
iBe the time-delay of beam position angle correspondence, M is the primitive number.For the narrow band signal of bandpass sampling, adopt the orthogonal time-domain beam-forming technology usually, improve time-delay τ by interpolation
iPrecision.
The wave beam of time domain forms and also can transfer on the frequency domain, and the summation that wave beam forms on the time domain corresponding to multiplying each other on the frequency domain, to the compensation of delay of different directions, sees it then is weighting on the time domain on frequency domain, and it is possible therefore forming multi-beam on frequency field.The frequency domain wave beam forms the wave beam that adopts fast Fourier transform (FFT) to form a plurality of sensing different angles simultaneously, and the computing formula that the frequency domain wave beam forms is:
In the formula: m is the wave beam sequence number that different beams points to the angle correspondence.
Adopt FFT wave beam formation method can accelerate computing velocity, improve counting yield, but wave beam sequence number m is an integer among the FFT, so FFT can only form the wave beam of limited special angle.For successive objective, can utilize phase method to improve the interior horizontal direction resolution of wave beam, the FFT wave beam forms the influence of three-dimensional looking forward sonar resolution little.
Phase method
The ultimate principle of phase method is: be divided into two identical submatrixs receiving battle array, after wave beam forms, be equivalent to the reception front is turned to the beam position angle, echo on the beam center just in time is positioned on the perpendicular bisector of the equivalent line of centres of two submatrixs, that is to say that the phase differential that beam center point arrives two submatrixs is zero.
And the glancing incidence angle of departing from beam center also can utilize and two submatrix phase differential between relation calculate.Make homophase, the quadrature component of two beamlet be respectively I
1I
2Q
1Q
2, can utilize the method for conjugate multiplication to extract phase differential, computing formula is:
α ' (t) carries out curve fitting with least square method to phase difference, obtains level and smooth relatively phase differential curve Δ α (t).The zero crossing of phase differential curve be constantly this beam center due in (Time ofArrival, TOA).For successive objective, the phase difference value of the near zero-crossing point of phase differential curve also can characterize the arrival bearing of target, and its beam position angle and phase differential have following relation:
In the formula: d is the interval of two submatrixs, k is a wave number, θ is the beam position angle, δ (t) is the deviation at actual angle and beam position angle, under far field condition, direction when phase difference α (t) is zero has δ (t)=0 this moment corresponding to the beam position angle, so the actual angle that calculates horizontal direction by phase method is:
Information source number is estimated
The direction of arrival algorithm for estimating adopts the algorithm based on proper subspace, utilizes the orthogonality of signal subspace and noise subspace to estimate arrival bearing, need know information source number in advance.When signal number is estimated when incorrect, just estimate inaccurate to signal subspace and noise subspace, be both incomplete quadratures, false-alarm in the time of can causing the estimated signal source or false dismissal, also will cause the deviation when the estimated signal direction, so the matter of utmost importance in the direction of arrival estimation technique is the information source number estimation problem.
The theoretical foundation that information source number is estimated is to receive the big eigenwert number of data covariance matrix under certain condition corresponding to signal number, and equal little eigenwert equals noise power.But owing to be subjected to the restriction of factors such as signal to noise ratio (S/N ratio), only the data covariance matrix is carried out feature decomposition can not obtain tangible size characteristic value in actual applications.Native system adopts Gai Shi circle method (GDE) to come estimated signal source number, is characterized in not needing to predict the concrete numerical value of eigenwert, thereby but estimates estimated signal source, the position number of eigenwert by the Gai Shi circles theorem.
Direction of arrival is estimated
After finishing wave beam in the horizontal direction and forming, can significantly reduce the information source number that arrives simultaneously, in vertical plane, adopt direction of arrival estimation (DOA) technology to ask the vertical direction incident angle then, here adopt invariable rotary subspace (ESPRIT) algorithm, utilize the invariable rotary characteristic estimating signal parameter of data covariance matrix signal subspace, calculated amount is smaller.
The principle of ESPRIT algorithm is: think to have a constant spacing between adjacent submatrix, this constant spacing can reflect the invariable rotary characteristic between each adjacent submatrix.Suppose to have two identical submatrixs, and the separation delta between submatrix is known, and the output of two submatrixs of same signal is had only a phase difference
i, then the received signal of two submatrixs is expressed as:
In the formula: S transmits, and A is the flow pattern matrix of space array, and invariable rotary concerns Φ=diag[e
J φ 1E
J φ N], the array flow pattern A of submatrix 1 then
1=A, the array flow pattern A of submatrix 2
2=A Φ, A are the merging forms of two a burst of row flow patterns of son, and noise N generally is the zero-mean white Gaussian noise, and is uncorrelated with signal.
Covariance matrix R to received signal carries out feature decomposition and can get:
In the formula: E[] expectation of expression computational mathematics, { }
HThe computing of expression conjugate transpose, ∑
SBe the diagonal matrix that big eigenwert constitutes, U
SBe the signal subspace that big eigenwert characteristic of correspondence vector is opened, ∑
NBe the diagonal matrix that little eigenwert constitutes, U
NThe noise subspace of opening for little eigenwert characteristic of correspondence vector.There is a unique nonsingular matrix T, makes U
S=AT is by the A that concerns of array flow pattern
2=A
1Φ, can derive:
U
S2＝U
S1T
-1ΦT＝U
S1ψ
As long as so obtain invariable rotary relational matrix Φ=T ψ T
-1, just can calculate the incident angle θ of signal vertical direction
k, computing formula is:
This device adopts improved total least square ESPRIT algorithm (Unitary TLS-ESPRIT), with the complex matrix real numberization, can reduce calculated amount, improves counting yield.
In order to verify the handling property of native system and method thereof, signal processing method is carried out emulation.In the emulation experiment, the planar sonar battle array is selected 16*6 array element for use, adjacent array element is spaced apart half-wavelength, effectively the front size is 80mm*30mm, transmit and be the chirp signal of 10kHz bandwidth, object of experiment is set at a bar in the three dimensions of sonar battle array the place ahead, the bar center is 75 meters to the distance of reference point, the horizontal direction incident angle at bar center is 45 degree, the vertical direction incident angle at bar center is 30 degree, signal to noise ratio (S/N ratio) is 20dB, and transmitting is the chirp signal of bandwidth 10kHz, and the synoptic diagram of target and planar sonar battle array relative position as shown in Figure 4.
The simulation result of signal processing algorithm such as Fig. 5 compare with the incident angle of actual scattering point, and the root-mean-square error of horizontal direction incident angle is 0.8408 degree, and the root-mean-square error of vertical direction incident angle is 0.7657 degree.The acoustic image position deviation that estimates is 0.8184 meter.
Under the identical condition of effective front size of planar sonar battle array, adopt conventional two-dimentional beam-forming technology to estimate incident angle, the angle that recovers such as Fig. 6, compare with the angle of actual scattering point, the root-mean-square error of horizontal direction incident angle is 2.9334 degree, and the root-mean-square error of vertical direction incident angle is 1.6676 degree.The acoustic image position deviation that estimates is 4.5637 meters.
For the identical planar sonar battle array of effective front size, adopt new method to see the following form respectively with the error ratio that adopts conventional two-dimentional wave beam formation method on incident angle is estimated in conjunction with beam-forming technology, phase method and direction of arrival estimation technique:
The error ratio that two kinds of methods of table 1 calculate angle
| Horizontal direction angular error (degree) | Vertical direction angular error (degree) | Position deviation (rice) | |
| New method in conjunction with wave beam formation, phase method and direction of arrival estimation technique | 0.8408 | 0.7657 | 0.8184 |
| Conventional two-dimentional wave beam formation method | 2.9334 | 1.6676 | 4.5637 |
As seen the method that conventional beam-forming technology, phase method and direction of arrival estimation technique are combined of the present invention's proposition can obtain higher horizontal resolution and vertical resolution, is better than conventional two-dimentional beam-forming technology.
Adopt method of the present invention the scattering point position that finally recovers and relativity such as Fig. 7 of just establishing scattering point, the scattering point that as can be seen from Figure 7 above-mentioned signal processing algorithm recovers can access the place ahead Three-dimension Target image with just to establish the scattering point position identical substantially.
In three dimensions, the scattering point position that conventional two-dimentional beam-forming technology recovers and relativity such as Fig. 8 of raw scattered point, this as seen from Figure 8 method can only recover the scattering point that is positioned at beam center, can not obtain the shape of successive objective.
It should be noted that at last, above embodiment is only in order to describe technical scheme of the present invention rather than the present technique method is limited, the present invention can extend to other modification, variation, application and embodiment on using, and therefore thinks that all such modifications, variation, application, embodiment are in spirit of the present invention and teachings.
Claims (14)
1. three-dimensional looking forward sound sonar system that is used for small-sized carrier under water comprises:
Emission sonar battle array 1, the proximity detection that is used for wide coverage, described emission sonar battle array 1 is the plane of departure battle array that 9 primitives are formed, center primitive emission, 8 primitives are dummy argument on every side, for described center emission primitive provides necessary boundary condition, assurance center primitive can be realized wide covering emission, and the primitive spacing is a half-wavelength;
Emission sonar battle array 2 is used for long-range detection, and described emission sonar battle array 2 is made up of many rows sonar battle array, and horizontal direction is circular arc arranges, and vertical direction is spaced with half-wavelength;
Receive the sonar battle array, by spacing is that planar array is formed in the receiving transducer unit of half wavelength, is used to receive echoed signal, and wherein said planar array comprises 16*6 unit of the central authorities that are used to receive, as the edge primitive of dummy argument, be used to reduce the influence that the primitive mutual coupling is closed;
Wherein, described emission sonar battle array 1, described emission sonar battle array 2 and described reception sonar battle array are positioned at the place ahead of described small-sized carrier under water.
2. the system of claim 1 can also comprise:
Processing module, be used in the wave beam of a plurality of horizontal directions that the conventional beam-forming technology of employing forms in horizontal plane, adopt phase method to obtain the incident angle of horizontal direction, in vertical plane, adopt information source number estimation and direction of arrival estimation technique to obtain the incident angle of vertical direction.
3. the system of claim 2, wherein, described processing module can also be used to utilize incident angle and echo time of arrival of described horizontal direction and vertical direction, calculates the position of scattering point in three dimensions, obtains acoustic image.
4. the system of claim 1, wherein, the level of the center primitive of described emission sonar battle array 1, vertical direction wave beam angle of release are 90 degree *, 90 degree.
5. the system of claim 1, wherein, described emission sonar battle array 2 is made up of 3 row's sonar battle arrays.
6. the system of claim 1, wherein, the circular array covering of the fan angle of the horizontal direction of described emission sonar battle array 2 is 150 degree.
7. the system of claim 1, wherein, the vertical direction of described emission sonar battle array 2 is about 40 degree launching beams with the wave beam angle of release.
8. the system of claim 1, wherein, each primitive of described reception sonar battle array goes between separately, is used for that wave beam forms and the direction of arrival estimation; Described reception sonar battle array adopts digital beam to form, and the wave beam angle of release of horizontal direction is 7.2 degree.
9. the system of claim 1, wherein, the receiving transducer unit that described planar array is a half wavelength by 18*8 spacing is formed.
10. method of using the described sonar system of claim 1 to obtain three-dimensional looking forward sound comprises:
Step 10), the described emission sonar battle array 1 of use or emission sonar battle array 2 and described reception sonar battle array adopt conventional beam-forming technology to form the wave beam of a plurality of horizontal directions in horizontal plane;
Step 20), the employing phase method is obtained the incident angle of horizontal direction in wave beam, adopts information source number estimation and direction of arrival estimation technique to obtain the incident angle of vertical direction in vertical plane;
The incident angle that wherein adopts phase method to obtain horizontal direction further comprises:
Step 210), be divided into two identical submatrixs, homophase, the quadrature component of two beamlet are respectively I receiving the sonar battle array
1I
2Q
1Q
2, phase differential is
Step 220),
D is two submatrixs intervals, and Δ α (t) is Δ α ' match (t), and k is a wave number, and θ is the beam position angle, and δ (t) is the deviation at actual angle and beam position angle;
Step 230), the actual incident angle of horizontal direction is
Wherein the incident angle that adopts information source number estimation and direction of arrival estimation technique to obtain vertical direction in vertical plane further comprises:
Step 210 '), come estimated signal source number with Gai Shi circle method, estimate the position of eigenwert by the Gai Shi circles theorem, thus estimated signal source number;
Step 220 '), adopt direction of arrival estimation technique or Estimation of Spatial Spectrum technology, utilize the incident angle of the invariable rotary characteristic estimating vertical direction of data covariance matrix signal subspace;
Step 30), utilize incident angle and echo time of arrival of described horizontal direction and vertical direction, calculate the position of scattering point in three dimensions, obtain acoustic image.
11. the method for claim 10, wherein, step 10) further comprises: by the wave beam of delaying time to received signal, a plurality of horizontal directions that obtain pointing to special angle are handled in weighting, summation;
Wherein, time-domain wave beam forms:
Wherein, the frequency domain wave beam forms:
a
iBe weighting coefficient, x
i(t) be the received signal of i primitive, τ at moment t
iBe the time-delay of beam position angle correspondence, M is the primitive number, and m is the wave beam sequence number that different beams points to the angle correspondence.
12. the method for claim 10, wherein, in the step 10), described beam angle is about 7 degree.
13. the method for claim 10, wherein, step 20) adopt phase method to obtain level side in
To incident angle further comprise: be divided into two identical submatrixs receiving the sonar battle array, after wave beam forms, be equivalent to the reception front is turned to the beam position angle, the echo on the beam center just in time is positioned on the perpendicular bisector of the equivalent line of centres of two submatrixs.
14. the method for claim 10, wherein, step 220 ') in, adopt invariable rotary subspace algorithm, utilize the incident angle of the invariable rotary characteristic estimating vertical direction of data covariance matrix signal subspace.
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| CN102393520B (en) * | 2011-09-26 | 2013-07-31 | 哈尔滨工程大学 | Sonar moving target imaging method based on target echo Doppler characteristics |
| CN102809744B (en) * | 2012-05-15 | 2015-02-25 | 哈尔滨工程大学 | Near-field strong interference source inhibition method in underwater far-field target passive positioning process |
| CN104656073B (en) * | 2013-11-21 | 2017-05-17 | 中国科学院声学研究所 | Three-dimensional imaging sonar wave beam forming method and implementation method on multi-core processor |
| CN109765562B (en) * | 2018-12-10 | 2020-10-23 | 中国科学院声学研究所 | Three-dimensional forward-looking acoustic image sonar system and method |
| CN109856605B (en) * | 2019-01-11 | 2023-03-21 | 中国船舶重工集团公司第七二四研究所 | Quadratic fitting curve pointing correction method for simultaneous digital multi-beam forming |
| CN110196428B (en) * | 2019-06-10 | 2022-08-23 | 西北工业大学 | MIMO sonar high-resolution three-dimensional foresight imaging method |
| CN110412588B (en) * | 2019-07-25 | 2021-04-09 | 中国科学院声学研究所 | Cross array based target three-dimensional information measuring method and system |
| CN113030983B (en) * | 2021-03-17 | 2021-12-28 | 中国科学院声学研究所 | Near-field point-by-point focusing DOA method based on depth sounding side-scan sonar |
| CN113359196B (en) * | 2021-05-26 | 2023-01-20 | 上海交通大学 | Multi-target vital sign detection method based on subspace method and DBF |
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