CN108226933A - A kind of deep-sea broadband target depth method of estimation based on speckle pattern interferometry structure - Google Patents

A kind of deep-sea broadband target depth method of estimation based on speckle pattern interferometry structure Download PDF

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CN108226933A
CN108226933A CN201711452031.0A CN201711452031A CN108226933A CN 108226933 A CN108226933 A CN 108226933A CN 201711452031 A CN201711452031 A CN 201711452031A CN 108226933 A CN108226933 A CN 108226933A
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CN108226933B (en
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杨坤德
徐丽亚
段睿
刘鸿
杨秋龙
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Northwestern Polytechnical University
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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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/66—Sonar tracking systems
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/006—Theoretical aspects

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Abstract

The present invention relates to a kind of deep-sea broadband target depth methods of estimation based on speckle pattern interferometry structure, are made of vertical linear array, are conducive to extract wide-band interference striated structure.Vertical linear array cloth is put into water by the present invention first, receive the broadband signal of moving target transmitting, carry out the emulation of the interference fringe structure of different sound source depth using sound-field model under experimental situation simultaneously, the tracking of interference fringe is tested and emulated respectively using Extended Kalman filter, obtained fringe position will be tracked and information of number brings cost function into, cost function is minimized, corresponding sound source depth is target state estimator depth at this time.There is following advantage：The sound-field model for not needing to be complicated calculates；It is exported using array beams, improves signal-to-noise ratio；Robustness is good, small with environmental change；Hydrophone is located at seabed, lays conveniently；Subsurface buoy can work steadily in the long term.

Description

A kind of deep-sea broadband target depth method of estimation based on speckle pattern interferometry structure
Technical field
The invention belongs to the fields such as Underwater Acoustics Engineering, ocean engineering and sonar technique, are related to a kind of based on speckle pattern interferometry structure Deep-sea broadband target depth method of estimation, depth is determined less than 1000 meters of broadband moving target suitable for abyssal environment Position.
Background technology
The Passive Positioning of target is one of hot issue of underwater sound research in recent years.Widely used positioning in sonar system Method is had Matched Field location technology, the method based on normal wave pattern, the positioning of structure is reached based on more ways and based on interference item The localization method of line.Their the characteristics of is：(1) Matched-field processing utilizes ocean environment parameter harmony propagation channel characteristics, needs Fully sampling sound field, it is desirable that use and extra large deep analogous large aperture synchronous array, in abyssal environment, the Project Realization of array It is extremely difficult.(2) method based on normal wave pattern includes mode vectors correlation positioning, mode anti-pass localization method and mode and reaches knot Structure positions, and the primary condition of these methods is can generally to require mode number less modal separation.And in abyssal environment, When acoustic frequency is hundreds of hertz, mode number can reach hundreds of even thousands of ranks, mode and be difficult to distinguish.In addition it is positioned with Matched Field Technology is identical, and modal separation also requires that array aperture with extra large deep comparable, this is difficult to meet in abyssal environment.(3) it receives More ways of signal reach structure shallow sea closely with all clearly, passed through under abyssal environment using small-bore array relevant More ways that signal processing technology can accurately extract signal reach structure, and then reaching structure using more ways carries out auditory localization It realizes fairly simple and highly effective.
Localization method based on interference fringe includes the positioning of waveguide invariant and the reliable acoustic path strength Interference striped in deep-sea Positioning.Waveguide invariant theory is widely used in neritic environment, but in abyssal environment waveguide invariant with signal center The relative position variation of frequency, mode and sound source-receiving point, so the application study about waveguide invariant under abyssal environment It is less.In abyssal environment, the hydrophone below critical depth receives the broadband moving acoustic sources that moderate distance sound source is sent out When, the frequency spectrum for receiving signal is drawn as pcolor with the variation of sound source distance, it is observed that light and dark striped, the striped It is very sensitive to sound source depth, when sound source apart from it is known when, using this phenomenon be used for sound source estimation of Depth.When sound source is not apart from When knowing, the pcolor that the sound intensity of wideband received signal is composed on direct wave angle of arrival-frequency two dimensional surface shows identical structure Light and dark interference fringe, herein based on this physical phenomenon, deep-sea apparent motion sound can be realized using vertical linear array The estimation of Depth in source.
Invention content
Technical problems to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of deep-sea broadband mesh based on speckle pattern interferometry structure Depth estimation method is marked, overcomes under abyssal environment sound field to the insensitivity of depth.
Technical solution
A kind of deep-sea broadband target depth method of estimation based on speckle pattern interferometry structure, it is characterised in that：By vertical alignment Battle array cloth is placed in deep water body, and deep-sea broadband target depth estimating step is as follows：
Step 1：It is practical marine environment in sound field simulated environment, with frequency f ranging from [fmin,fmax], in each frequency It is upper to carry out sound field calculating using Bellhop rays sound-field model, direct wave angle of arrival (D-DOA) and sound pressure level are obtained, to acoustic pressure Value does conventional beamformer, obtains the wave beam output intensity of D-DOA and frequency domain；
It is in different simulated sound sources depthThe D-DOA and frequency under different sound source depth are calculated using the above method The wave beam output intensity in domain；
Striped tracking, state equation are carried out to the wave beam output intensity of D-DOA and frequency domain using Extended Kalman filter For：
Wherein, (fmodel_k,Bmodel_k) be emulate striped k-th of D-DOA frequency and intensity value,For corresponding instantaneous tracking velocity, Δ dmodelFor the step value of D-DOA, wmodel_kFor noise vector, it is White Gaussian noise；
In tracing process ,+1 D-DOA of kth has identical tracking velocity with k-th of D-DOA, and change component includes In noise vector, thereforeWith
The measurement vector of k-th of D-DOA is：
Zmodel_k=h (Dmodel_k)+vmodel_k
Wherein, h () is nonlinear measurement functions, vmodel_kIt is white Gaussian noise for noise vector, comprising measuring Error in journey；The effect of function h () is according to Last frequency, and fringe intensity is searched in certain frequency band section Minimum is worth to parameter Zmodel_k, contain the frequency and minimal intensity value of k-th of D-DOA；
Based on Zmodel_k+1And Dmodel_kTo Dmodel_k+1Estimated, state equation is updated to：
Wherein,It is by Dmodel_kWhat prediction obtainedKmodel_k+1It is kalman gain, emodel_k+1 Newly to cease, byIt is calculated；
Given frequency initial value, the local minimum for searching for the D-DOA of emulation and the wave beam output intensity of frequency domain carry out item Line is tracked, the fringe position emulated, is denoted as the mark of emulation stripedAnd then the striped quantity emulatedWherein, θ is angle；
Step 2：Hydrophone receives the broadband signal of target emanation, and target initial distance, depth and speed are unknown；It is first First, wave beam time history is calculated to broadband signal using broad-band EDFA and carries out angle-of- arrival estimation, obtain sound wave uplink and The angle of arrival that downlink is propagated, the angle of arrival that downlink is propagated is the D-DOA changed over time；
Fourier transformation is done to broadband signal, obtains the spectrum component of each frequency；In [fmin,fmax] section each frequency On rate component, conventional beamformer is done according to the D-DOA that angle-of- arrival estimation obtains, the wave beam output for obtaining temporal frequency domain is strong Degree, wherein, time series is obtained by the snap time, related with D-DOA；
Striped tracking is carried out to the wave beam output intensity of temporal frequency domain using Extended Kalman filter, state equation is：
Wherein, (fexp_k,Bexp_k) be kth moment striped frequency and intensity value,It is corresponding instantaneous Tracking velocity, Δ dexpFor the step value of time, wexp_kIt is white Gaussian noise for noise vector；
In tracing process ,+1 moment of kth has identical tracking velocity with the kth moment, and change component is included in noise In vector；ThereforeWithThe measurement vector at kth moment is：
Zexp_k=h (Dexp_k)+vexp_k
Wherein, h () is nonlinear measurement functions, vexp_kFor noise vector, it is white Gaussian noise, includes measurement process In error；
The effect of function h () is the frequency according to previous moment, and the minimum value of fringe intensity is searched in frequency band section Obtain parameter Zexp_k, contain the frequency and minimal intensity value at kth moment；
Based on Zexp_k+1And Dexp_kTo Dexp_k+1Estimated, state equation is updated to：
Wherein,It is by Dexp_kWhat prediction obtainedKexp_k+1It is kalman gain, eexp_k+1Newly to cease, ByIt is calculated；Give suitable initial frequency, the time that search real data obtains The local minimum of the wave beam output intensity of frequency domain carries out striped tracking, will be converted into corresponding D-DOA the times, and obtain target Fringe position, be denoted as the mark T of target stripedexp(zs), wherein, zsFor the sound source depth of target, and then obtain the striped of target Quantity Nfexp(θ,f,zs)；
Step 3：The sound source depth of target is obtained using cost function
Wherein,It represents to correspond toThe mark of nth bar dark fringe；The first item of cost function is related with fringe position, the Binomial is related with striped number；
First, the acoustic energy plane of D-DOA and frequency is subjected to gridding, (θ, f) represents the central point of a grid, if One mark then claims by the gridAt this point, PexpIt is denoted as 1, otherwise, PexpIt is denoted as 0.Sign () table Show sign function, the number of striped, N when Nf is identical D-DOA1And NθThe respectively corresponding total item summed it up；The amplitude of each single item It needs to be normalized to balance, wherein 1 represents complete mismatch, 0 represents to coincide；
Therefore, the maximum value of cost function isMinimum value in the ideal case is 0；Cost function chooses interpolation Form avoids evaluated error, cost function first item is caused to fail when fringe position overall offset, at this point, Section 2 fringe number Mesh plays a major role to target depth estimation；Conversely, because tracking error leads to cost function when striped number inaccuracy Binomial fails；At this point, first item fringe position is estimated available for target depth；By search cost functional minimum value, at this time The sound source depth of corresponding hypothesis is sound source estimating depth.
Advantageous effect
A kind of deep-sea broadband target depth method of estimation based on speckle pattern interferometry structure proposed by the present invention, by vertical alignment Battle array composition is conducive to extract wide-band interference striated structure.Vertical linear array cloth is put into water by the present invention first, receives moving target The broadband signal of transmitting, while the imitative of the interference fringe structure of the different sound source depth of sound-field model progress is utilized under experimental situation Very, tested and emulated respectively the tracking of interference fringe using Extended Kalman filter, will track obtained fringe position and Information of number brings cost function into, minimizes cost function, corresponding sound source depth is target state estimator depth at this time.
Advantageous effect is：This method carries out the interference fringe of the different sound source depth under experimental situation first in step 1 Emulation, interference fringe is obtained in step 2 to Data Processing in Experiment, and emulation and experiment are realized using EKF algorithms in step 3 Finally by minimizing cost function in step 4, acoustic target is obtained to emulating and testing grating matching for the tracking of striped The depth value of estimation.This method realizes deep-sea acoustic target estimation of Depth in step 1 to step 4, so as to deep to obtain Extra large target depth provides effective technical method.The method has following advantage with system：
(1) sound-field model for not needing to be complicated calculates.
(2) it is exported using array beams, improves signal-to-noise ratio.
(3) robustness is good, small with environmental change.
(4) hydrophone is located at seabed, lays conveniently.
(5) subsurface buoy can work steadily in the long term.
Description of the drawings
Fig. 1 is the sound velocity profile in the method for the present invention experiment marine site.
Fig. 2 is the method for the present invention propagation loss figure.
Fig. 3 is the interference fringe emulation schematic diagram of the method for the present invention difference sound source depth (3m, 10m, 50m).
Fig. 4 is the tracking schematic diagram that the method for the present invention carries out the interference fringe that simulated sound sources are 10m using EKF methods.
Fig. 5 is the estimated result for the cost function that the method for the present invention simulated sound sources are 10m.
Fig. 6 is that the method for the present invention calculates wave beam time history diagram using broadband conventional beamformer.
Fig. 7 is the beam intensity output of the method for the present invention temporal frequency domain.
Fig. 8 is the estimated result of the cost function of the method for the present invention experimental data.
Fig. 9 is that the method for the present invention utilizes the emulation interference fringe of the target state estimator depth of cost function and experiment speckle pattern interferometry Comparison diagram.
Specific embodiment
In conjunction with embodiment, attached drawing, the invention will be further described：
The present embodiment Fig. 1 gives the Sound speed profile in experiment marine site, depth of water 3904m, layer depth 40m.Seabed Substantially flat.Reception battle array is 16 yuan of vertical linear arrays, and positioned at seabed, array element spacing is 4m, and array element central depths are 3700m.Sea The bottom velocity of sound, density and attenuation coefficient are respectively 1560m/s, 1.6g/cm3With 0.2dB/ λ.Fig. 2 is the propagation loss under the environment Figure, it can be seen that typical deep-sea underwater sound propagation path, propagation loss is relatively low near 20 kilometers and 70 kilometers of seabeds, receives Underwater sound signal have higher signal-to-noise ratio.Target depth estimation is completed by following four step：
Step 1 assumes the ranging from [f in frequency fmin,fmax], wherein, fminFor frequency minima, fmaxFor frequency maximum Value, carries out sound field calculating using Bellhop rays sound-field model on each frequency, and sound field simulated environment is practical ocean ring Border obtains direct wave angle of arrival (D-DOA) and sound pressure level, conventional beamformer is done to sound pressure level, obtains D-DOA and frequency domain Wave beam output intensity.Assuming that different simulated sound sources depth isThe D-DOA under different sound source depth is calculated using the above method With the wave beam output intensity of frequency domain.
Wave beam output intensity shows interference fringe structure, it is observed that continuous bright fringes (acoustic energy peak value) and the filaments of sun Line (acoustic energy valley), striped number increases with the increase of sound source depth.The result illustrates in deep sound field, the position of striped and Number and sound source depth are closely related.Since single bright fringes covers broader frequency range, and the acoustic energy with tracking bright fringes Peak value is compared, and uncertainty can be reduced by tracking the acoustic energy valley of dark fringe, therefore using dark fringe as the object tracked herein, hereinafter The striped of middle appearance refers in particular to dark fringe.
Striped tracking, state equation are carried out to the wave beam output intensity of D-DOA and frequency domain using Extended Kalman filter For：
Wherein, (fmodel_k,Bmodel_k) be emulate striped k-th of D-DOA frequency and intensity value,For corresponding instantaneous tracking velocity, Δ dmodelFor the step value of D-DOA, wmodel_kIt is false for noise vector It is set as white Gaussian noise.In tracing process, it is assumed that+1 D-DOA of kth has identical tracking velocity with k-th of D-DOA, becomes Change component to be included in noise vector.ThereforeWithd The measurement of k-th of D-DOA Vector is
Zmodel_k=h (Dmodel_k)+vmodel_k (2)
Wherein, h () is nonlinear measurement functions, vmodel_kFor noise vector, it is assumed that for white Gaussian noise, include survey Error during amount.The effect of function h () is according to Last frequency, and it is strong that striped is searched in certain frequency band section The minimum of degree is worth to parameter Zmodel_k, contain the frequency and minimal intensity value of k-th of D-DOA.Based on Zmodel_k+1With Dmodel_kTo Dmodel_k+1Estimated, state equation is updated to
Wherein,It is by Dmodel_kWhat prediction obtainedKmodel_k+1It is kalman gain, emodel_k+1 Newly to cease, byIt is calculated.Suitable initial frequency is given, searches for emulation The local minimum of the wave beam output intensity of D-DOA and frequency domain carries out striped tracking, and the fringe position emulated is denoted as imitative The mark of true stripedAnd then the striped quantity emulatedWherein, θ is angle.
Step 2 hydrophone receives the broadband signal of target emanation, and target initial distance, depth and speed are unknown.It is first First, wave beam time history is calculated to broadband signal using broad-band EDFA and carries out angle-of- arrival estimation, obtain sound wave uplink and The angle of arrival that downlink is propagated, the angle of arrival that downlink is propagated is the D-DOA changed over time.Fourier transformation is done to broadband signal, Obtain the spectrum component of each frequency.In [fmin,fmax] section each frequency component on, the D- that is obtained according to angle-of- arrival estimation DOA does conventional beamformer, obtains the wave beam output intensity of temporal frequency domain, wherein, time series is obtained by the snap time, with D-DOA is related.It is observed that light and dark striped from wave beam output intensity.
Striped tracking is carried out to the wave beam output intensity of temporal frequency domain using Extended Kalman filter, state equation is：
Wherein, (fexp_k,Bexp_k) be kth moment striped frequency and intensity value,It is corresponding instantaneous Tracking velocity, Δ dexpFor the step value of time, wexp_kFor noise vector, it is assumed that be white Gaussian noise.It is false in tracing process If+1 moment of kth has identical tracking velocity with the kth moment, change component is included in noise vector.ThereforeWithThe measurement vector at kth moment is
Zexp_k=h (Dexp_k)+vexp_k (5)
Wherein, h () is nonlinear measurement functions, vexp_kFor noise vector, it is assumed that for white Gaussian noise, include measurement Error in the process.The effect of function h () is the frequency according to previous moment, and it is strong that striped is searched in certain frequency band section The minimum of degree is worth to parameter Zexp_k, contain the frequency and minimal intensity value at kth moment.Based on Zexp_k+1And Dexp_kIt is right Dexp_k+1Estimated, state equation is updated to
Wherein,It is by Dexp_kWhat prediction obtainedKexp_k+1It is kalman gain, eexp_k+1Newly to cease, ByIt is calculated.Give suitable initial frequency, the time that search real data obtains The local minimum of the wave beam output intensity of frequency domain carries out striped tracking, will be converted into corresponding D-DOA the times, and obtain target Fringe position, be denoted as the mark T of target stripedexp(zs), wherein, zsFor the sound source depth of target, and then obtain the striped of target Quantity Nfexp(θ,f,zs)。
Step 3 obtains the sound source depth of target using cost function
Wherein,It represents to correspond toThe mark of nth bar dark fringe.The first item of cost function is related with fringe position, the Binomial is related with striped number.First, the acoustic energy plane of D-DOA and frequency is subjected to gridding, (θ, f) represents a grid Central point, if mark claims by the gridAt this point, PexpIt is denoted as 1, otherwise, PexpIt is denoted as 0. Sign () represents sign function, the number of striped, N when Nf is identical D-DOA1And NθThe respectively corresponding total item summed it up.Often The amplitude needs of one are normalized to balance, wherein 1 represents complete mismatch, 0 represents to coincide.Therefore, the maximum value of cost function ForMinimum value in the ideal case is 0.Cost function chooses Interpolation and avoids evaluated error, when fringe position is whole Cost function first item is caused to fail during solid offsetting, at this point, Section 2 striped number plays a major role to target depth estimation.Phase Instead, since tracking error causes when striped number inaccuracy cost function Section 2 to fail.At this point, first item fringe position can Estimate for target depth.By search cost functional minimum value, the sound source depth of corresponding hypothesis is sound source estimation at this time Depth.

Claims (1)

1. a kind of deep-sea broadband target depth method of estimation based on speckle pattern interferometry structure, it is characterised in that：By vertical linear array Cloth is placed in deep water body, and deep-sea broadband target depth estimating step is as follows：
Step 1：It is practical marine environment in sound field simulated environment, with frequency f ranging from [fmin,fmax], it is sharp on each frequency Sound field calculating is carried out with Bellhop rays sound-field model, direct wave angle of arrival (D-DOA) and sound pressure level is obtained, sound pressure level is done Conventional beamformer obtains the wave beam output intensity of D-DOA and frequency domain；
It is in different simulated sound sources depthThe wave of the D-DOA and frequency domain under different sound source depth are calculated using the above method Beam output intensity；
Striped tracking is carried out to the wave beam output intensity of D-DOA and frequency domain using Extended Kalman filter, state equation is：
Wherein, (fmodel_k,Bmodel_k) be emulate striped k-th of D-DOA frequency and intensity value,For Corresponding instantaneous tracking velocity, Δ dmodelFor the step value of D-DOA, wmodel_kIt is white Gaussian noise for noise vector；
In tracing process ,+1 D-DOA of kth has identical tracking velocity with k-th of D-DOA, and change component is included in and makes an uproar In sound vector, thereforeWith
The measurement vector of k-th of D-DOA is：
Zmodel_k=h (Dmodel_k)+vmodel_k
Wherein, h () is nonlinear measurement functions, vmodel_kIt is white Gaussian noise, comprising in measurement process for noise vector Error；The effect of function h () is to search for the minimum of fringe intensity in certain frequency band section according to Last frequency It is worth to parameter Zmodel_k, contain the frequency and minimal intensity value of k-th of D-DOA；
Based on Zmodel_k+1And Dmodel_kTo Dmodel_k+1Estimated, state equation is updated to：
Wherein,It is by Dmodel_kWhat prediction obtainedKmodel_k+1It is kalman gain, emodel_k+1It is new Breath, byIt is calculated；
Given frequency initial value, the local minimum progress striped for searching for the D-DOA of emulation and the wave beam output intensity of frequency domain chase after Track, the fringe position emulated are denoted as the mark for emulating stripedAnd then the striped quantity emulatedWherein, θ is angle；
Step 2：Hydrophone receives the broadband signal of target emanation, and target initial distance, depth and speed are unknown；First, Wave beam time history is calculated to broadband signal using broad-band EDFA and carries out angle-of- arrival estimation, obtains the uplink and downlink of sound wave The angle of arrival of propagation, the angle of arrival that downlink is propagated is the D-DOA changed over time；
Fourier transformation is done to broadband signal, obtains the spectrum component of each frequency；In [fmin,fmax] section each frequency point In amount, conventional beamformer is done according to the D-DOA that angle-of- arrival estimation obtains, obtains the wave beam output intensity of temporal frequency domain, In, time series is obtained by the snap time, related with D-DOA；
Striped tracking is carried out to the wave beam output intensity of temporal frequency domain using Extended Kalman filter, state equation is：
Wherein, (fexp_k,Bexp_k) be kth moment striped frequency and intensity value,For corresponding instantaneous tracking Speed, Δ dexpFor the step value of time, wexp_kIt is white Gaussian noise for noise vector；
In tracing process ,+1 moment of kth has identical tracking velocity with the kth moment, and change component is included in noise vector In；ThereforeWithThe measurement vector at kth moment is：
Zexp_k=h (Dexp_k)+vexp_k
Wherein, h () is nonlinear measurement functions, vexp_kIt is white Gaussian noise, comprising in measurement process for noise vector Error；
The effect of function h () is the frequency according to previous moment, and the minimum that fringe intensity is searched in frequency band section is worth to Parameter Zexp_k, contain the frequency and minimal intensity value at kth moment；
Based on Zexp_k+1And Dexp_kTo Dexp_k+1Estimated, state equation is updated to：
Wherein,It is by Dexp_kWhat prediction obtainedKexp_k+1It is kalman gain, eexp_k+1Newly to cease, byIt is calculated；Give suitable initial frequency, the time frequency that search real data obtains The local minimum of the wave beam output intensity in rate domain carries out striped tracking, will be converted into corresponding D-DOA the times, and obtain target Fringe position is denoted as the mark T of target stripedexp(zs), wherein, zsFor the sound source depth of target, and then obtain the fringe number of target Measure Nfexp(θ,f,zs)；
Step 3：The sound source depth of target is obtained using cost function
Wherein,It represents to correspond toThe mark of nth bar dark fringe；The first item of cost function is related with fringe position, Section 2 with Striped number is related；
First, the acoustic energy plane of D-DOA and frequency is subjected to gridding, (θ, f) represents the central point of a grid, if one Mark passes through the grid, then claimsAt this point, PexpIt is denoted as 1, otherwise, PexpIt is denoted as 0.Sign () represents symbol Function, the number of striped, N when Nf is identical D-DOA1And NθThe respectively corresponding total item summed it up；The amplitude needs of each single item are returned One changes to balance, wherein 1 represents complete mismatch, 0 represents to coincide；
Therefore, the maximum value of cost function isMinimum value in the ideal case is 0；Cost function chooses Interpolation Evaluated error is avoided, cost function first item is caused to fail when fringe position overall offset, at this point, Section 2 striped number pair Target depth estimation plays a major role；Conversely, because tracking error leads to cost function Section 2 when striped number inaccuracy Failure；At this point, first item fringe position is estimated available for target depth；By search cost functional minimum value, correspond at this time Hypothesis sound source depth be sound source estimating depth.
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