CN110703198B - Quaternary cross array envelope spectrum estimation method based on frequency selection - Google Patents

Quaternary cross array envelope spectrum estimation method based on frequency selection Download PDF

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CN110703198B
CN110703198B CN201911005242.9A CN201911005242A CN110703198B CN 110703198 B CN110703198 B CN 110703198B CN 201911005242 A CN201911005242 A CN 201911005242A CN 110703198 B CN110703198 B CN 110703198B
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兰华林
靳建嘉
吕云飞
梅继丹
滕婷婷
师俊杰
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Harbin Engineering University
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Abstract

The invention provides a quaternary cross array envelope spectrum estimation method based on frequency selection, solves the problem of inaccurate envelope spectrum extraction of ship radiation noise under an interference condition, and belongs to the field of ship target signal parameter estimation. The method is realized based on a quaternary cross array and a compass, the quaternary cross array is distributed at an underwater position, the compass is arranged right below the quaternary cross array, the north direction of the compass points to a first array element of the quaternary cross array from the center, the compass is rigidly connected with the quaternary cross array, the course of the quaternary cross array is monitored in real time, and two cross-power spectrums are respectively corrected according to the horizontal steering angle of the quaternary cross array measured by the compass, so that the high-precision azimuth estimation of long-time observation signals is realized. And carrying out azimuth estimation on the signal by using the quaternary cross array, and estimating the frequency component of the signal by using the histogram statistical result of the azimuth, so that the frequency component of the signal is separated from the frequency components of other interference, and the frequency component of the target signal for envelope spectrum estimation can be accurately obtained.

Description

Quaternary cross array envelope spectrum estimation method based on frequency selection
Technical Field
The invention mainly relates to a quaternary cross-shaped array envelope spectrum estimation method based on frequency selection, and belongs to the field of ship target signal parameter estimation.
Background
The envelope spectrum characteristics are the main basis for ship target identification. The method for extracting the ship envelope spectrum features mainly comprises an absolute value method, a flat method and the like. The performance of the extraction of the envelope spectrum features mainly depends on the signal-to-noise ratio of the radiation noise of the ship target in the analysis frequency band. Therefore, how to optimize the frequency band of the ship radiation noise signal, and designing a corresponding filter to obtain a target signal with high signal-to-noise ratio for envelope spectrum analysis becomes a key for obtaining a clear envelope spectrum. In addition, when the ship radiation noise exists in other directions and is interfered, the envelope spectrum feature extraction performance is sharply reduced or is difficult to correspond to the target.
Disclosure of Invention
The invention provides a quaternary cross array envelope spectrum estimation method based on frequency selection, aiming at solving the problem of inaccurate envelope spectrum extraction of ship radiation noise under the interference condition.
The invention relates to a frequency selection-based quaternary cross array envelope spectrum estimation method, which is realized based on a quaternary cross array and a compass, wherein the quaternary cross array is arranged at an underwater position, the compass is arranged right below the quaternary cross array, the north direction of the compass points to a first array element of the quaternary cross array from the center, the compass is in rigid connection with the quaternary cross array, and four hydrophones of the quaternary cross array are used for synchronously acquiring acoustic signals of a target, and the method comprises the following steps:
s1, the four hydrophones receive acoustic signals, signals output by four channels of the quaternary cross matrix are converted into digital signals, the digital signals of the four channels are divided into M sections, and the length of each section is N;
s2, windowing the digital signals of the four channels, and performing discrete Fourier transform to obtain frequency spectrum values of the four channels;
s3, performing cross-spectrum on the frequency spectrum values of two channels on the same coordinate axis in the quaternary cross matrix in the frequency spectrum values of the four channels to obtain two cross-power spectrums;
s4, respectively correcting the two cross-power spectrums according to the horizontal steering angle of the quaternary cross matrix measured by the compass to obtain corrected cross-power spectrums in the north direction and the east direction;
s5, respectively carrying out integral summation on the north-oriented mutual power spectrum and the east-oriented mutual power spectrum of the M sections to respectively obtain a north-oriented mutual power spectrum and a east-oriented mutual power spectrum after integral summation;
s6, obtaining a north-oriented cross-power spectrum and an east-oriented cross-power spectrum according to the integral summation of S5, calculating the orientation under each frequency value, adding the powers corresponding to the same orientation to obtain the power spectrum of each orientation, selecting the orientation corresponding to the maximum value in the power spectrum of each orientation as a target orientation, and extracting the frequency spectrum of the target orientation;
s7, designing a finite impulse response filter according to the frequency spectrum of the target azimuth;
s8, the signal received by a hydrophone of the four-element cross array is x1(n) filtering the signal x by using the filter designed by S7fir(n) taking the absolute value, the result | x of the absolute value will be takenfir(n) passing through a low-pass filter to obtain a low-frequency component xLPF(n) converting the low frequency component xLPF(n) Fourier transform to obtain a power spectrum Xθ(f)；
S9 according to the power spectrum Xθ(f) Obtaining the envelope spectrum S of the target signal in the theta directionθ(f)。
Preferably, the corrected true north direction cross power spectrum P 'in S4'N(k) And a cross-power spectrum P 'in the east direction'E(k)：
Figure BDA0002242552590000021
Figure BDA0002242552590000022
Wherein, P11(k) Representing the self-power spectrum of any channel signal in the quaternary cross matrix, j representing the imaginary part,
Figure BDA0002242552590000023
is P13(k) Phase of (P)13(k) Cross-power spectra of the quaternary cross-matrix channel 1 and channel 3 signals are shown,
Figure BDA0002242552590000024
is P24(k) Phase of (P)24(k) Cross power spectra of the quaternary cross-matrix 2 nd and 4 th channel signals are shown, and k represents a frequency value.
Preferably, in S2, the digital signals of the four channels are windowed to obtain:
x1(n)＝s1(n)w(n)，
x2(n)＝s2(n)w(n)，
x3(n)＝s3(n)w(n)，
x4(n)＝s4(n)w(n)，
s1(n)、s2(n)、s3(n) and s4(n) represent the digital signals of four channels, respectively, wherein w (n) is a window function, and the window function is a rectangular window, a hanning window or a hamming window.
Preferably, in S3, two cross-power spectra are obtained, respectively:
Figure BDA0002242552590000025
Figure BDA0002242552590000026
in the formula, X1(k) Fourier transformed spectral values, X, of channel 1 signals representing a quaternary cross2(k) Representing the spectral values, X, of the quaternary cross-matrix 2 nd channel signal after Fourier transformation3(k) Representing the spectral values, X, of the quaternary cross-matrix 3 rd channel signal after Fourier transformation4(k) And the frequency spectrum value of the quaternary cross 4 th channel signal after Fourier transformation is represented, k represents a frequency value, and H represents complex conjugate.
As a preference, the first and second liquid crystal compositions are,
Figure BDA0002242552590000031
wherein the content of the first and second substances,
Figure BDA0002242552590000032
n denotes the signal length and f denotes the frequency variation.
The method has the advantages that the relative orientation of the target under the matrix coordinate system is estimated by using the quaternary cross array, the compass is rigidly connected with the quaternary cross array, and the course of the quaternary cross array can be monitored in real time, so that the high-precision orientation estimation of long-time observation signals is realized. In order to achieve the purpose of the invention, a quaternary cross matrix is required to carry out azimuth estimation on the signal, and the frequency component of the signal is estimated by utilizing the histogram statistical result of the azimuth, so that the frequency component of the target signal for envelope spectrum estimation can be accurately obtained by separating the frequency component from the frequency components of other interference.
Drawings
Fig. 1 is a diagram of a four-element cross matrix.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The quaternary cross array of the present embodiment is placed at a depth of about 20 meters under water. As shown in fig. 1, the quaternary cross array is composed of 4 hydrophones in the same plane, a left-hand rectangular coordinate system is defined in the plane by using the center of the quaternary cross array as an origin, and the positions of four array elements are respectively: array element 1(α,0), array element 2(0, α), array element 3(- α,0), array element 4(0, - α), 2a is the distance of the diagonal array elements. A compass is arranged right below the quaternary cross array, the north direction of the compass points to the array element 1 from the center, and the compass is rigidly connected with the quaternary cross array. Four hydrophones of the quaternary cross array are used for synchronously acquiring acoustic signals of a target,
the frequency selection-based quaternary cross-shaped envelope spectrum estimation method of the embodiment comprises the following steps:
s1, the four hydrophones receive acoustic signals of a target, and the signals output by the four channels of the quaternary cross array are converted into digital signals; dividing the digital signal of each channel into M sections, wherein the length of each section is N, and M and N are positive integers;
s2, windowing the digital signals of the four channels, and performing discrete Fourier transform, wherein the number of Fourier transform points is determined by the analysis bandwidth, so as to obtain the frequency spectrum values of the four channels;
s3, compensating the cross spectrum on the two axes to the north and east directions by combining compass information:
performing cross-spectrum on the frequency spectrum values of two channels on the same coordinate axis in the quaternary cross matrix in the frequency spectrum values of the four channels to obtain two cross-power spectrums;
s4, respectively correcting the two cross-power spectrums according to the horizontal steering angle of the quaternary cross matrix measured by the compass to obtain corrected cross-power spectrums in the north direction and the east direction;
s5, accumulating the compensated cross spectra of the M sections at different time:
respectively carrying out integral summation on the north-oriented mutual power spectrum and the east-oriented mutual power spectrum of the M sections to respectively obtain a north-oriented mutual power spectrum and a east-oriented mutual power spectrum after integral summation;
s6, obtaining a north-oriented cross power spectrum and a east-oriented cross power spectrum according to the integral summation of S5, calculating the orientation of each frequency value, adding the powers corresponding to the same orientation to target signals on different frequency points, performing histogram statistics to obtain the power spectrum of each orientation, selecting the orientation corresponding to the maximum value in the power spectrum of each orientation as the target orientation, extracting the frequency spectrum of the target orientation, and obtaining a signal passband formed by a plurality of sub-bands;
s7, designing a finite impulse response filter by using a window function method according to a signal passband;
s8, the signal received by a hydrophone of the four-element cross array is x1(n) filtering the signal x by using the filter designed by S7fir(n) taking the absolute value, the result | x of the absolute value will be takenfir(n) passing through a low-pass filter to obtain a low-frequency component xLPF(n) converting the low frequency component xLPF(n) Fourier transform to obtain a power spectrum Xθ(f)；
S9 according to the power spectrum Xθ(f) Obtaining the envelope spectrum S of the target signal in the theta directionθ(f)。
In the embodiment, the power spectrum of the signal after the absolute value is calculated by adopting a Welch method, and the line spectrum of the low-frequency band lower than 50Hz is taken to be judged as the envelope spectrum of the target signal.
The specific calculation process of the embodiment is as follows:
the received signals of the four hydrophones are sampled by an analog-to-digital converter to obtain s1(n)，s2(n)，s3(n)，s4And (n) four paths of signals, wherein n is the serial number of the sample point. The signal is windowed to obtain
x1(n)＝s1(n)w(n) (1)
x2(n)＝s2(n)w(n) (2)
x3(n)＝s3(n)w(n) (3)
x4(n)＝s4(n)w(n) (4)
w (n) is a window function, which may be selected from a rectangular window, a hanning window, a hamming window, and the like. The rectangular window is defined as:
rectangular window:
Figure BDA0002242552590000051
hanning Window:
Figure BDA0002242552590000052
hamming window:
Figure BDA0002242552590000053
n is the length of the window function. The signal length after windowing is also N.
Taking discrete Fourier transform:
Figure BDA0002242552590000054
Figure BDA0002242552590000055
Figure BDA0002242552590000056
Figure BDA0002242552590000057
X1(k) fourier transformed spectral values, X, of channel 1 signals representing a quaternary cross2(k) Fourier transformed spectral values, X, of a channel 2 signal representing a quaternary cross3(k) Fourier transformed spectral values, X, of a channel 3 signal representing a quaternary cross4(k) And the 4 th channel signal of the quaternary cross matrix is represented as a frequency spectrum value after Fourier transformation, and k represents a frequency value.
Cross-spectra were found in the analysis band:
Figure BDA0002242552590000058
Figure BDA0002242552590000059
wherein H represents a complex conjugate. P13(k) Representing cross-power spectra, P, of channel 1 and channel 3 signals24(k) Representing the cross-power spectra of the channel 2 and channel 4 signals.
Combining the horizontal steering angle theta of the matrix obtained by compass measurementcAnd correcting the cross spectrum.
Figure BDA0002242552590000061
Figure BDA0002242552590000062
P 'here'N(k) Represents the rotated true north cross-spectrum, where P11(k) Representing the self-power spectrum of the channel 1 signal, j is an imaginary symbol,
Figure BDA0002242552590000063
is P13(k) The phase of (a) is determined,
Figure BDA0002242552590000064
is P24(k) Phase of (1), P'E(k) Is the cross-spectrum of the rotated righteast direction.
The signal observation time comprises M segments of signals with length of N, and the compass corrected cross-spectrum obtained from each segment of time signal
Figure BDA0002242552590000065
And
Figure BDA0002242552590000066
integral summation is carried out to obtain the north-oriented cross spectrum
Figure BDA0002242552590000067
Cross spectrum of the east
Figure BDA0002242552590000068
Figure BDA0002242552590000069
Figure BDA00022425525900000610
Figure BDA00022425525900000611
Showing the corrected north-oriented cross spectrum of the compass obtained from the mth segment of signal,
Figure BDA00022425525900000612
the corrected righteast cross-spectrum of the compass obtained from the mth signal is shown.
Using cross spectra after integration
Figure BDA00022425525900000613
And
Figure BDA00022425525900000614
finding the bearing at each frequency value k:
Figure BDA00022425525900000615
here, Arg (-) denotes the argument of the complex number.
Figure BDA00022425525900000616
Representing a complex number.
Figure BDA00022425525900000617
And
Figure BDA00022425525900000618
are respectively
Figure BDA00022425525900000619
And
Figure BDA00022425525900000620
the argument of (2).
Figure BDA00022425525900000621
And performing histogram statistics, and adding the powers in the same direction.
S(θ)＝∑P11(k) (16)
S (theta) represents a power spectrum in theta direction, the power spectrums in all directions form a target signal space spectrum characteristic, and the azimuth theta corresponding to the maximum value of S (theta) is taken as a target azimuth thetaT
Figure BDA00022425525900000622
Extracting target azimuth theta from histogramTSpectrum of
Figure BDA0002242552590000071
According to frequency response
Figure BDA0002242552590000072
And designing the FIR filter with the order of N by adopting a window function method to obtain a filter response of h (N).
As an example, it is not assumed that one hydrophone of a four-element cross array receives a signal of x1(n) is represented by
x1(n)＝C(1+sin 2πf2n)cos 2πf1n(19)
Where C is the signal amplitude, f2Is the frequency of the target signal in the theta direction, f1The frequencies of the signals in the other directions.
Will signal x1(n) filtering through the constructed FIR filter to obtain a filtered result xfir(n)
Figure BDA0002242552590000073
Filtered result xfirAnd (n) is a target signal in the theta direction. Wherein the content of the first and second substances,
Figure BDA0002242552590000074
representing a convolution, the filtering process can be viewed as a signal x1(n) and a filterConvolution in response to h (n), particularly
Figure BDA0002242552590000075
xfir(n) is the target signal in the theta direction and the noise in that direction, which can be expressed as
xfir(n)＝C(1+sin2πf2n)cos 2πf1n(22)
Where C is the signal amplitude, f2Is the frequency of the target signal in the theta direction, f1Is the frequency of the multiplicative noise in that direction.
Filtering the filtered signal xfir(n) taking the absolute value to obtain | xfir(n)|，
Figure BDA0002242552590000076
Calculating absolute value of the result | xfir(n) passing through a low-pass filter to obtain a low-frequency component xLPF(n)，
Figure BDA0002242552590000077
To the filtering result xLPF(n) Fourier transform
Figure BDA0002242552590000078
Calculating Xθ(f) And power spectrum, obtaining a target signal envelope spectrum in the theta direction:
Figure BDA0002242552590000079
although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.

Claims (5)

1. The quaternary cross array envelope spectrum estimation method based on frequency selection is characterized by being realized based on a quaternary cross array and a compass, the quaternary cross array is arranged at an underwater position, the compass is arranged right below the quaternary cross array, the north of the compass points to a first array element of the quaternary cross array from the center, the compass is in rigid connection with the quaternary cross array, and four hydrophones of the quaternary cross array are used for synchronously acquiring acoustic signals of a target, and the method comprises the following steps:
s1, the four hydrophones receive acoustic signals, signals output by four channels of the quaternary cross array are converted into digital signals, the digital signals of the four channels are windowed, the digital signals of the four channels are divided into M sections, and each section is N;
s2, performing discrete Fourier transform on the windowed digital signal to obtain frequency spectrum values of four channels;
s3, performing cross-spectrum on the frequency spectrum values of two channels on the same coordinate axis in the quaternary cross matrix in the frequency spectrum values of the four channels to obtain two cross-power spectrums;
s4, measuring the horizontal steering angle theta of the quaternary cross matrix according to the compasscRespectively correcting the two cross power spectrums to obtain a corrected cross power spectrum in the north direction and a corrected cross power spectrum in the east direction;
s5, respectively carrying out integral summation on the north-oriented mutual power spectrum and the east-oriented mutual power spectrum of the M sections to respectively obtain a north-oriented mutual power spectrum and a east-oriented mutual power spectrum after integral summation;
s6, obtaining a north-oriented cross-power spectrum and an east-oriented cross-power spectrum according to the integral summation of S5, calculating the orientation under each frequency value, adding the powers corresponding to the same orientation to obtain the power spectrum of each orientation, selecting the orientation corresponding to the maximum value in the power spectrum of each orientation as a target orientation, and extracting the frequency spectrum of the target orientation;
s7, designing a finite impulse response filter according to the frequency spectrum of the target azimuth;
s8, filtering the digital signal with the length of N after windowing in S2 by using a filter designed in S7, and filtering the filtered signal xfir(n) taking the absolute value, the result | x of the absolute value will be takenfir(n) passing through a low-pass filter to obtain a low-frequency component xLPF(n) converting the low frequency component xLPF(n) Fourier transform to obtain a power spectrum Xθ(f)；n＝0,1,…N-1；
S9 according to the power spectrum Xθ(f) Obtaining the envelope spectrum S of the target signal in the theta directionθ(f)。
2. The frequency-selection-based quaternary cross-matrix envelope spectrum estimation method of claim 1, wherein the corrected true north direction cross-power spectrum P 'in S4'N(k) And a cross-power spectrum P 'in the east direction'E(k)：
Figure FDA0003274350400000011
Figure FDA0003274350400000012
Wherein, P11(k) Representing the self-power spectrum of any channel signal in the quaternary cross matrix, j representing the imaginary part,
Figure FDA0003274350400000013
is P13(k) Phase of (P)13(k) Cross-power spectra of the quaternary cross-matrix channel 1 and channel 3 signals are shown,
Figure FDA0003274350400000014
is P24(k) Phase of (P)24(k) Cross power spectra of the quaternary cross-matrix 2 nd and 4 th channel signals are shown, and k represents a frequency value.
3. The method for estimating the quaternary cross-matrix envelope spectrum based on frequency selection according to claim 1 or 2, wherein in S2, the digital signals of four channels are windowed to obtain:
x1(n)＝s1(n)w(n)，
x2(n)＝s2(n)w(n)，
x3(n)＝s3(n)w(n)，
x4(n)＝s4(n)w(n)，
s1(n)、s2(n)、s3(n) and s4(n) represent the digital signals of four channels, respectively, wherein w (n) is a window function, and the window function is a rectangular window, a hanning window or a hamming window.
4. The method for estimating the quaternary cross-matrix envelope spectrum based on frequency selection according to claim 3, wherein in step S3, two cross-power spectrums are obtained as follows:
Figure FDA0003274350400000021
Figure FDA0003274350400000022
in the formula, X1(k) Fourier transformed spectral values, X, of channel 1 signals representing a quaternary cross2(k) Representing the spectral values, X, of the quaternary cross-matrix 2 nd channel signal after Fourier transformation3(k) Representing the spectral values, X, of the quaternary cross-matrix 3 rd channel signal after Fourier transformation4(k) Representing the frequency spectrum of the quaternary cross 4 th channel signal after Fourier transformThe value, k represents the frequency value and H represents the complex conjugate.
5. The method of estimating quaternary cross-shaped envelope spectrum based on frequency selection according to claim 4,
Figure FDA0003274350400000023
wherein the content of the first and second substances,
Figure FDA0003274350400000024
f represents a frequency variation.
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