CN104122544A - Towed array sonar fixed azimuth large interference source cancellation method and system - Google Patents

Towed array sonar fixed azimuth large interference source cancellation method and system Download PDF

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Publication number
CN104122544A
CN104122544A CN201310150050.3A CN201310150050A CN104122544A CN 104122544 A CN104122544 A CN 104122544A CN 201310150050 A CN201310150050 A CN 201310150050A CN 104122544 A CN104122544 A CN 104122544A
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signal
array element
orientation
interference
array
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CN104122544B (en
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田甜
孙长瑜
陈新华
余华兵
方华
李媛
钟茜
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Institute of Acoustics CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/537—Counter-measures or counter-counter-measures, e.g. jamming, anti-jamming
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/86—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves with means for eliminating undesired waves, e.g. disturbing noises

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention provides a towed array sonar fixed azimuth large interference source cancellation method and a system. The method comprises steps: 101) beam-forming processing is carried out on signals received by towed array elements to obtain corresponding beam space signals of a beam Bi in a theta<i> azimuth; 102) a reconstruction strategy is adopted to obtain interference time domain signals of interference in the theta<i> azimuth in each array element according to the beam space signals; 103) subtraction is carried out between signals actually received by each array element and interference time domain signals of interference in the theta<i> azimuth, and signals of each array element cancelling interference at the theta<i> azimuth is obtained; and 104) the above steps are repeated on interference at another theta<j> azimuth until influences of interference signals from each azimuth on actually-received signals of each array element of the towed array can be cancelled. The reconstruction strategy is that the zeroth array element in the towed array serves as reference and pre delay is carried out on beam space signals of the beam where interference is located according to the delay amount of each array element.

Description

A kind of counteracting method and system of dragging the large interference source of linear array sonar constant bearing
Technical field
The present invention relates to the interference mitigation technology in Array Signal Processing, particularly a kind of counteracting method and system of dragging the large interference source of linear array sonar constant bearing.
Background technology
Drag linear array sonar due to away from tow platform, the shipself noise being subject to is disturbed relatively little, thereby is often used to detect weak target in the water such as submarine.But, in actual working environment, usually there is the strong targets such as large-tonnage surface vessel, these target radiated noise levels are high, while being present in same marine site, can greatly reduce and drag the received signal to noise ratio of linear array sonar for weak target, finally cause very large difficulty to target detection.
At present, there is comparatively systematic research for this counteracting method that drags linear array sonar shipself noise, the methods such as adaptive noise cancellation that adopt in equipment more, its core is to offset the interference in each array element with interfering beam output as its reference input.But in the actual application of sonar system, it is found that, shipself noise is not far unique high sound source level interference source, and the radiated noise on large-scale water surface naval vessel produces a very large impact the detection of weak target equally.But the orientation of surface vessel target is random, and as a target, whether need to be cancelled, need sonar user to determine according to on-site actual situations.Therefore, great majority can not be applicable to offset the interference of fixing general objective completely for offsetting the adaptive algorithm of shipself noise, be difficult to meet actual application demand.
Summary of the invention
The object of the invention is the radiated noise of the constant bearing general objective occurring within the scope of sonar detection to offset, the received signal to noise ratio of the weak target of needs being surveyed with raising system, the invention provides a kind of counteracting method and system of dragging the large interference source of linear array sonar constant bearing.
For achieving the above object, the invention provides a kind of counteracting method that drags the large interference source of linear array sonar constant bearing, described method comprises:
Step 101) obtain θ to dragging the signal of linear array array element reception to carry out beam forming processing ithe wave beam B of correspondence in orientation ibeam Domain signal;
Wherein, B ifor mark wave beam numbering, and θ ifor the position angle of the known large interference source of existence;
Step 102) adopt reconstruction strategy to obtain θ according to Beam Domain signal iinterference in orientation produces the time-domain signal disturbing in each array element;
Step 103) by the signal of actual each array element reception respectively with described θ iit is poor that interference in orientation produces the time-domain signal disturbing in each array element, obtains having offset θ ithe signal of each array element that orientation is disturbed;
Step 104) to another orientation θ jon interference repeat above-mentioned steps, until offset from the undesired signal in each orientation dragging the actual impact that receives signal of each array element of linear array.
In the time dragging each array element of linear array to be equally spaced line array, step 101) described beam forming is treated to: be benchmark by dragging the zero array element in linear array, the array element territory signal that N array element is received adopts following formula to implement time delay summation processing:
y B i ( t ) = 1 N &Sigma; n = 0 N - 1 x n [ t - n&tau; ( &theta; i ) ] ,
Wherein, from θ ithe time delay of the signal of direction correspondence in n array element; N=0,1 ..., N-1; D is array element distance; C is the velocity of sound in water; for obtaining θ after beam forming processing ibeam Domain signal in orientation; B ifor waiting to offset wave beam number corresponding to interference orientation, place.
Above-mentioned reconstruction strategy is: to drag zero array element in linear array as benchmark, the Beam Domain signal that disturbs place wave beam to be carried out to Attack delay according to the amount of delay of each array element, concrete formula is as follows:
u n ( t ) = y B i [ t + n&tau; ( &theta; i ) ]
Wherein, the orientation θ that has interference source ithe time delay of the correspondence in n array element of the signal in direction; N=0,1 ..., N-1; D is array element distance; C is the velocity of sound in water; u n(t) be from orientation θ ithe undesired signal that interference in direction produces n array element.
Above-mentioned steps 103) adopt following formula to obtain offsetting the array element reception signal after disturbing:
x′ n(t)＝x n(t)-u n(t)，n＝0,1,…,N-1
Wherein, x n(t) be the signal that the each array element actual acquisition of current time arrives, u n(t) be the array element territory signal that utilizes the interference that reconstruct obtains through Attack delay of Beam Domain signal, x ' n(t) be the new array element territory signal obtaining after Interference Cancellation.
In order to realize said method, the present invention also provides a kind of bucking-out system of dragging the large interference source of linear array sonar constant bearing, it is characterized in that, described system comprises:
Large interference source orientation acquisition module, for extracting from receiving signal the azimuth information that has large interference source;
Interfering beam territory, orientation signal acquisition module, for the reception signal of each array element is carried out to beam forming processing, obtains the Beam Domain signal of the corresponding wave beam of large interference source in certain orientation;
Array element territory undesired signal acquisition module, for adopting reconstruction strategy to obtain the interference source in certain orientation to the undesired signal of each array element signals based on Beam Domain signal;
Interference cancellation module, for array element signals that reconstruct is obtained from each array element actual acquisition to signal deduct, obtain the array element territory signal of eliminating a certain interference;
Judge module, eliminate for judging whether that all position angles that large interference source orientation acquisition module is obtained have all carried out disturbing, if do not had, the signal of interference cancellation module output is re-entered to orientation interfering beam territory signal acquisition module and interference cancellation module and carry out eliminating for the interference in certain orientation, until all interference are all eliminated.
Interfering beam territory, above-mentioned orientation signal acquisition module further comprises:
Array element territory signal acquisition submodule, for extracting the signal of each array element reception or obtaining the signal that the each array element through disturbing after eliminating receives;
First processes submodule, exist the orientation angles of large interference source to carry out time delay processing for the array element territory signal that each array element territory signal acquisition submodule is obtained based on certain, wherein said time delay is the time delay from signal correspondence in each array element of certain large interference source direction;
Second processes submodule, sues for peace for processing submodule signal after treatment by first of each array element output, obtains the Beam Domain signal of the corresponding wave beam of large interference source in certain orientation.
Above-mentioned undesired signal acquisition module adopt the reconstruct of Attack delay strategy from the interference source signal in certain orientation the undesired signal to each array element, wherein, described Attack delay is the corresponding time delay in each array element of signal from certain large interference source direction.
Compared with prior art, technical advantage of the present invention is: method provided by the invention is applicable to drag the counteracting of the large interference source existing on any direction within the scope of linear array sonar detection, can cascade use the method, and offset the corresponding jamming bearing of computing by setting flexibly every one-level, reach the object of offsetting the large interference source of all constant bearings in investigative range.Compared with simple shipself noise counteracting method, the method has higher dirigibility, neutralization effect can be extended to more interference sources., it needs to be noted, the method is equally applicable to simple shipself noise counteracting work meanwhile, and cascade is used the method, can well the direct sound wave Ji Ge road reflected sound of shipself noise be balanced out.
Brief description of the drawings
Fig. 1 is a preferred embodiment of the invention, and cascade is used the present invention to offset the strongly disturbing flow process on both direction.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in detail to explanation.
The technical scheme that the present invention takes, utilizes general objective to disturb the signal of place wave beam, reconstructs the array element territory undesired signal that this target forms, and this undesired signal is directly deducted from array element territory, the final counteracting that realizes interference.When dragging in linear array that No. 0 array element is as benchmark, its step is as follows:
1) the time-domain signal x to N the array element obtaining n(t), n=0,1 ..., N-1, implements the conventional beam forming processing of time domain (CBF), obtains disturbing orientation, place θ icorresponding wave beam B itime-domain signal wherein, θ isignal incident direction and the angle that drags linear array normal; θ ithe time delay of the signal of direction correspondence in n array element; N=0,1 ..., N-1; D is array element distance; C is the velocity of sound in water.
2) the wave beam time-domain signal to step 1) output implement array element territory signal reconstruction, obtain wave beam B icorresponding θ ithe time-domain signal that interference in direction produces in each array element wherein, θ ithe time delay of the signal of direction correspondence in n array element; N=0,1 ..., N-1; D is array element distance; C is the velocity of sound in water;
3) by step 2) deduct the signal that receives from each array element of the signal that generates in each array element of the interference that obtains, do not comprised the array element territory signal x ' of undesired signal n(t)=x n(t)-u n(t), n=0,1 ..., N-1;
4) if also have other interference to need to offset, use x ' n(t) replace former array element territory signal x n(t), repeat above-mentioned steps 1) to 3), until the interference in all orientation is all offset completely; The array element territory signal obtaining after all interference are all cancelled is designated as xx n(t), n=0,1 ..., N-1, to xx n(t) carry out conventional beam forming processing, can obtain azimuth information, in this azimuth information, do not comprise the interference being cancelled, xx n(t) also can be used for other sonar system signal and process computing.
Above-mentioned steps 1) to drag in linear array the 0th array element as benchmark, to the time-domain signal x of N array element n(t) the conventional beam forming processing of the time domain of enforcement " time delay-summation ", calculates B ithe beam signal of individual wave beam y B i ( t ) = 1 N &Sigma; n = 0 N - 1 x n [ t - n&tau; ( &theta; i ) ] , n&tau; ( &theta; i ) = nd sin &theta; i c θ ithe time delay of the signal of direction correspondence in n array element, n=0,1 ..., N-1, d is array element distance, c is the velocity of sound in water, lower same;
Above-mentioned steps 2) the Beam Domain signal of step 1) output is implemented to " Attack delay ", " contribution " with the undesired signal on this wave beam of reconstruct in each array element, is designated as
Above-mentioned steps 3) by step 2) signal being produced in each array element through the interference of " Attack delay " reconstruct by Beam Domain signal of output deducts from the actual signal receiving of each array element, is designated as x ' n(t)=x n(t)-u n(t), n=0,1 ..., N-1, this has deducted this interference " contribution " to received signal in fact exactly from each array element, makes no longer to comprise the impact that this interference causes in the signal of array element territory, has reached the object of this Interference Cancellation;
Above-mentioned steps 4) by step 1) to 3) repetition, be actually cascade and use this interference cancellation method, reach the object of simultaneously offsetting the multiple interference in different azimuth.In the final array element territory signal obtaining, do not comprise the impact of all interference that balance out, therefore, sonar system is carried out the processing such as beam forming with this group array element territory signal, and the result obtaining also forecloses the impact of offset interference.
Spacing taking array element number as N, between each array element is offset respectively at θ as the line array of d 1and θ 2interference in direction is example, and the specific embodiment of the present invention is described in further detail.
Embodiment:
Step 201, establishing array element territory signal indication is x n(t) (wherein, n=0,1 ..., N-1, and N represents to receive a gust total number for the array element comprising), this signal should be the original array element signals that signal processing system receives.Taking No. 0 array element as benchmark, θ 1the wave beam B that direction is corresponding 1beam Domain signal should be expressed as y B 1 ( t ) = 1 N [ x 0 ( t ) + x 1 ( t - &tau; ( &theta; 1 ) ) + &CenterDot; &CenterDot; &CenterDot; + x N = 1 ( t - ( N - 1 ) &tau; ( &theta; 1 ) ) ] , Wherein, &tau; ( &theta; 1 ) = d sin &theta; 1 c , B 1number unit time delay corresponding to wave beam, represent B 1the corresponding time delay in n array element of number wave beam, n=0,1 ..., N-1.
Step 202, utilizes the wave beam B trying to achieve in step 201 1beam Domain signal carry out reconstruct θ 1the time-domain signal that interference in direction produces in each array element, can realize reconstruct by the method for Attack delay.By θ 1the time-domain signal that interference in direction produces in n array element is designated as u n(t), similarly, have represent B 1the corresponding time delay in n array element of number wave beam, n=0,1 ..., N-1;
Step 203, by the interference θ of reconstruct 1corresponding array element signals deducts from the signal of each array element actual acquisition, and the array element territory signal deducting after interference is designated as to x ' n(t), n=0,1 ..., N-1, x ' n(t)=x n(t)-u n(t), n=0,1 ..., N-1;
Now, if use x ' n(t) carry out signal as the input of sonar system and process computing, in the results such as the azimuth information of acquisition, will not comprise θ 1interference in direction.
Step 204, by the x in step 201 n(t) with x ' n(t) replace, n=0,1 ..., N-1, θ 1use θ 2replace B 1use B 2replace (B 2for θ 2the wave beam that direction is corresponding), and repeating step 101 to 103, carry out beam forming computing, obtain wave beam B 2beam Domain signal and reconstruct θ thus 2the array element territory signal of the interference correspondence in direction finally by the array element territory signal of this interference from x ' n(t) in, deduct, be designated as x " n(t)=x ' n(t)-u ' n(t).
Make xx n(t)=x " n(t), Here it is has offset the array element territory signal obtaining after whole two interference, sonar system utilizes this signal to complete the signal works for the treatment of such as beam forming, and the result obtaining just can not comprise the impact of these two interference, has increased the signal to noise ratio (S/N ratio) of other echo signal.
It should be noted last that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described.Although the present invention is had been described in detail with reference to embodiment, those of ordinary skill in the art is to be understood that, technical scheme of the present invention is modified or is equal to replacement, do not depart from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.

Claims (7)

1. drag a counteracting method for the large interference source of linear array sonar constant bearing, described method comprises:
Step 101) obtain θ to dragging the signal of linear array array element reception to carry out beam forming processing ithe wave beam B of correspondence in orientation ibeam Domain signal;
Wherein, B ifor mark wave beam numbering, and θ ifor the position angle of the known large interference source of existence;
Step 102) adopt reconstruction strategy to obtain θ according to Beam Domain signal iinterference in orientation produces the time-domain signal disturbing in each array element;
Step 103) by the signal of actual each array element reception respectively with described θ iit is poor that interference in orientation produces the time-domain signal disturbing in each array element, obtains having offset θ ithe signal of each array element that orientation is disturbed;
Step 104) to another orientation θ jon interference repeat above-mentioned steps, until offset from the undesired signal in each orientation dragging the actual impact that receives signal of each array element of linear array.
2. the counteracting method that drags the large interference source of linear array sonar constant bearing according to claim 1, it is characterized in that, in the time dragging linear array to be equally spaced line array, step 101) described beam forming is treated to: be benchmark by dragging the zero array element in linear array, the array element territory signal that N array element is received adopts following formula to implement time delay summation processing:
y B i ( t ) = 1 N &Sigma; n = 0 N - 1 x n [ t - n&tau; ( &theta; i ) ] ,
Wherein, from θ ithe time delay of the signal of direction correspondence in n array element; N=0,1 ..., N-1; D is array element distance; C is the velocity of sound in water; for obtaining θ after beam forming processing ibeam Domain signal in orientation; B ifor waiting to offset wave beam number corresponding to interference orientation, place.
3. the counteracting method that drags the large interference source of linear array sonar constant bearing according to claim 2, it is characterized in that, described reconstruction strategy is: to drag in linear array zero array element as benchmark, the Beam Domain signal that disturbs place wave beam is carried out to Attack delay according to the amount of delay of each array element, and concrete formula is as follows:
u n ( t ) = y B i [ t + n&tau; ( &theta; i ) ]
Wherein, the orientation θ that has interference source ithe time delay of the correspondence in n array element of the signal in direction; N=0,1 ..., N-1; D is array element distance; C is the velocity of sound in water; u n(t) be from orientation θ ithe undesired signal that interference in direction produces n array element.
4. the counteracting method that drags the large interference source of linear array sonar constant bearing according to claim 2, is characterized in that, described step 103) adopt following formula to obtain offsetting the array element reception signal after disturbing:
x′ n(t)＝x n(t)-u n(t)，n＝0,1,…,N-1
Wherein, x n(t) be the signal that the each array element actual acquisition of current time arrives, u n(t) be the array element territory signal that utilizes the interference that reconstruct obtains through Attack delay of Beam Domain signal, x ' n(t) be the new array element territory signal obtaining after Interference Cancellation.
5. a bucking-out system of dragging the large interference source of linear array sonar constant bearing, is characterized in that, described system comprises:
Large interference source orientation acquisition module, for extracting from receiving signal the azimuth information that has large interference source;
Interfering beam territory, orientation signal acquisition module, for the reception signal of each array element is carried out to beam forming processing, obtains the Beam Domain signal of the corresponding wave beam of large interference source in certain orientation;
Array element territory undesired signal acquisition module, for adopting reconstruction strategy to obtain the interference source in certain orientation to the undesired signal of each array element signals based on Beam Domain signal;
Interference cancellation module, for array element signals that reconstruct is obtained from each array element actual acquisition to signal deduct, obtain the array element territory signal of eliminating a certain interference;
Judge module, eliminate for judging whether that all position angles that large interference source orientation acquisition module is obtained have all carried out disturbing, if do not had, the signal of interference cancellation module output is re-entered to orientation interfering beam territory signal acquisition module and interference cancellation module and carry out eliminating for the interference in certain orientation, until all interference are all eliminated.
6. bucking-out system of dragging the large interference source of linear array sonar constant bearing according to claim 5, is characterized in that, interfering beam territory, described orientation signal acquisition module further comprises:
Array element territory signal acquisition submodule, for extracting the signal of each array element reception or obtaining the signal that the each array element through disturbing after eliminating receives;
First processes submodule, exist the orientation angles of large interference source to carry out time delay processing for the array element territory signal that each array element territory signal acquisition submodule is obtained based on certain, wherein said time delay is the time delay from signal correspondence in each array element of certain large interference source direction;
Second processes submodule, sues for peace for processing submodule signal after treatment by first of each array element output, obtains the Beam Domain signal of the corresponding wave beam of large interference source in certain orientation.
7. bucking-out system of dragging the large interference source of linear array sonar constant bearing according to claim 5, it is characterized in that, described undesired signal acquisition module adopt the reconstruct of Attack delay strategy from the interference source signal in certain orientation the undesired signal to each array element, wherein, described Attack delay is the time delay from signal correspondence in each array element of certain large interference source direction.
CN201310150050.3A 2013-04-26 2013-04-26 A kind of counteracting method dragging the linear array big interference source of sonar constant bearing and system Expired - Fee Related CN104122544B (en)

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CN104678378A (en) * 2015-01-30 2015-06-03 哈尔滨工程大学 Tugboat interference suppression method based on non half wave interval null-forming weight combinational matrix
CN110007296A (en) * 2018-01-04 2019-07-12 中国科学院声学研究所 A kind of time domain interference cancellation method based on guidance signal correction
CN110007294A (en) * 2018-01-04 2019-07-12 中国科学院声学研究所 A kind of time domain interference cancellation method based on energy compensating
CN113965248A (en) * 2021-10-09 2022-01-21 中国电子科技集团公司第三十八研究所 Array element-level multi-user interference elimination system

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104678378A (en) * 2015-01-30 2015-06-03 哈尔滨工程大学 Tugboat interference suppression method based on non half wave interval null-forming weight combinational matrix
CN110007296A (en) * 2018-01-04 2019-07-12 中国科学院声学研究所 A kind of time domain interference cancellation method based on guidance signal correction
CN110007294A (en) * 2018-01-04 2019-07-12 中国科学院声学研究所 A kind of time domain interference cancellation method based on energy compensating
CN110007296B (en) * 2018-01-04 2020-10-23 中国科学院声学研究所 Time domain interference cancellation method based on pilot signal correction
CN110007294B (en) * 2018-01-04 2020-10-23 中国科学院声学研究所 Time domain interference cancellation method based on energy compensation
CN113965248A (en) * 2021-10-09 2022-01-21 中国电子科技集团公司第三十八研究所 Array element-level multi-user interference elimination system

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