CN110824429B - Broadband sound source passive positioning method using asynchronous vertical array in deep sea environment - Google Patents
Broadband sound source passive positioning method using asynchronous vertical array in deep sea environment Download PDFInfo
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Abstract
The invention relates to a broadband sound source passive positioning method by using an asynchronous vertical array in a deep sea environment, which utilizes fast Fourier transform to process broadband signals received by a vertical array formed by N receiving hydrophones to obtain the intensity distribution of signals with different frequencies radiated by a sound source on different depths and form a matrix M K×N (ii) a Matrix M of intensity distribution K×N And carrying out standardization processing, dividing areas where the target possibly exists into grids, and calculating an output value of a cost function at the sound source depth d corresponding to the sound source distance r at each grid point by using the cost function. A certain sound source distance and depth at which the maximum value is taken on the distance-depth two-dimensional grid is the target position. The deep sea broadband target positioning method does not need a synchronous array, array hydrophone signals do not need strict synchronization, deep sea broadband target positioning is achieved in a passive mode, and target depth estimation is accurate.
Description
Technical Field
The invention belongs to the fields of underwater acoustic detection, sonar technology and the like, discloses a passive positioning method for a sound source, relates to a passive positioning method for a broadband sound source by using an asynchronous vertical array in a deep sea environment, and particularly relates to a passive distance and depth estimation method for the broadband sound source by using the asynchronous vertical array in the deep sea environment.
Background
The underwater sound source positioning method in deep sea environment usually utilizes hydrophone array to extract useful information, such as: multi-path information, spatial interference information, etc., and performs target position calculation based on these information. The traditional sound source positioning method is a matching field processing method, which needs a long enough array to collect enough modal information and has large calculation amount, thus being not suitable for deep sea application. The sound propagation condition under the deep sea environment is complex, the modes are various, different positioning methods are needed under different conditions, and the existing deep sea target positioning method is less in research because of late deep sea research starting.
The existing deep sea sound source positioning method mostly needs synchronously acquired arrays or needs to work in an active mode. The patent publication No. CN 104793212A relates to a method for detecting a target by actively sounding, wherein the active sounding detection is easy to detect by the other party to expose the information; the patent with publication number CN 108226933 a relates to a method for estimating target depth by extracting stripe information through a synchronous vertical array, which can only estimate target depth and needs array synchronization, and the difficulty of laying large-scale synchronous arrays in deep sea environment is large.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a broadband sound source passive positioning method using an asynchronous vertical array in a deep sea environment, and solves the problems that the existing sound source positioning method in the deep sea environment needs a synchronous sensor array, needs active sound production, can only estimate depth and cannot estimate distance in part of methods and the like.
Technical scheme
A broadband sound source passive positioning method using asynchronous vertical arrays in a deep sea environment is characterized by comprising the following steps:
step 1: n receiving hydrophones are arranged on the near seabed of deep sea below a critical depth at equal intervals to form a vertical array, and signals sent by a broadband sound source on the near seabed are collected; obtaining sensor deployment depth Z using depth sensor n Wherein N is 1,2,3.. N;
step 2, processing the broadband signals acquired by the vertical array by using fast Fourier transform:
the fast Fourier transform output of the single hydrophone received signal contains the acoustic intensity P (f) at different frequencies over the current hydrophone depth k ,z n ) Wherein f is k Is the frequency, f k ＝f L +δk,k＝1,2...K，f L Is the lower limit frequency of the broadband signal, δ is the frequency interval, z n Is the depth at which the hydrophone is received; calculating the signals received by all the hydrophones to obtain the intensity distribution of the signals with different frequencies radiated by the sound source at different depths to form an intensity distribution matrix M K×N The matrix is composed of P (f) k ,z n ) Forming;
step 3, distributing the intensity matrix M K×N And (3) carrying out standardization processing to weaken the influence of hydrophone receiving response deviation:
define coefficient vector a ═ η 1 ,η 2 ,...,η N And energy vector S ═ S 1 ,s 2 ,...,s N }；
Wherein
Calculating a vector A that minimizes the variance of the energy vector S using an iterative or other optimization algorithm;
after vector A is obtained by calculation, matrix M is divided into K×N The elements of each column are respectively equal to the element eta in the vector A n Multiplying to obtain new intensity distribution matrix M K×N ；
Step 4, the new intensity distribution matrix M K×N And (3) carrying out normalization treatment: will matrix M K×N Each row vector is linearly programmed to the range [ -1,1 [ ]]The normalized intensity distribution matrix is a measured intensity distribution matrix;
and 5: dividing the possible existing region of the target into grids, each grid point corresponding to the sound source distance r and the sound source depth d, and calculating a predicted intensity distribution matrix P when the sound source is positioned at each grid point by using a ray model K×N (r,d)；
The possible areas of the targets are distributed on a two-dimensional plane with a distance of 0-30km generally and a depth of 0-500 m generally;
step 6: calculating the output value of the cost function at each grid point, corresponding to the sound source distance r and the sound source depth d by using the cost function; a certain sound source distance and depth at which the maximum value is obtained on the distance-depth two-dimensional grid are target positions;
the cost function is:
the grid interval of the step 5 is 0.02km, and the grid interval in depth is 1 m.
Advantageous effects
The invention provides a passive broadband sound source positioning method by using an asynchronous vertical array in a deep sea environment, which utilizes fast Fourier transform to process broadband signals received by a vertical array formed by N receiving hydrophones so as to obtain the intensity distribution of signals with different frequencies radiated by a sound source on different depthsForm a matrix M K×N (ii) a Matrix M of intensity distribution K×N And carrying out standardization processing, dividing areas where the target possibly exists into grids, and calculating an output value of a cost function at the sound source depth d corresponding to the sound source distance r at each grid point by using the cost function. A certain sound source distance and depth at which the maximum value is taken on the distance-depth two-dimensional grid is the target position.
The deep sea broadband target positioning method does not need a synchronous array, array hydrophone signals do not need strict synchronization, deep sea broadband target positioning is achieved in a passive mode, and target depth estimation is accurate. The method is used for a deep sea area 5200 meters in the western Pacific ocean in winter, a sound source is a linear frequency modulation signal with the bandwidth of 550Hz-1050kHz, the distance of the sound source is 24.9 kilometers, the depth is 43.5 meters, the sound source is positioned, the distance is estimated to be 23.8 kilometers, and the depth is estimated to be 43.5 meters.
Drawings
FIG. 1 is a schematic diagram of an acoustic propagation path in a deep sea environment;
FIG. 2 is a plot of the speed of sound and the seafloor topography of an experimental area;
FIG. 3 is a graph of experimental data extraction intensity distribution;
fig. 4 is a diagram of the target positioning result.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
1) n receiving hydrophones are arranged near the near sea bottom of the deep sea at equal intervals to form a vertical array, and a depth sensor is utilized to obtain the arrangement depth z of the sensor n Wherein N is 1,2,3.
The depth at which the near-seafloor acoustic velocity is equal to the sea surface acoustic velocity is called the critical depth. The distribution depth of the hydrophone is required to be below the critical depth. And collecting signals emitted by a broadband sound source in the offshore surface.
2) The received wideband signal is processed using fast fourier transform. The fast Fourier transform output of the single hydrophone received signal contains the sound intensity P (f) at different frequencies at the current hydrophone depth k ,z n ) Wherein f is k Is the frequency, f k ＝f L +δk,k＝1,2...K，f L Is the lower limit frequency of the broadband signal, δ is the frequency interval, z n Is the depth at which the hydrophone is received. Calculating the signals received by all the hydrophones to obtain the intensity distribution of the signals with different frequencies radiated by the sound source at different depths to form a matrix M K×N The matrix is composed of P (f) k ,z n ) And (4) forming.
3) Will the intensity distribution matrix M K×N And carrying out standardization processing to reduce the influence of response deviation received by the hydrophone. Define coefficient vector a ═ η 1 ,η 2 ,...,η N And energy vector S ═ S 1 ,s 2 ,...,s N Therein of
The vector a that minimizes the variance of the energy vector S is calculated using an iterative or other optimization algorithm.
After vector A is obtained by calculation, matrix M is divided into K×N The elements of each column are respectively equal to the element eta in the vector A n Multiplying to obtain new intensity distribution matrix M K×N 。
4) The new intensity distribution matrix M K×N And (6) carrying out normalization processing. Will matrix M K×N Each row vector is linearly programmed to the range [ -1,1 [ ]]The normalized intensity distribution matrix is a measured intensity distribution matrix.
5) According to the marine environment information of the sea area, such as sound velocity, terrain, geological characteristics and the like, a predicted intensity distribution matrix obtained by receiving the array when the target is assumed to be at the grid virtual point is calculated by using a ray model.
The areas where the target may exist are divided into grids, and the areas are distributed on a two-dimensional plane with the distance of 0-30km generally and the depth of 0-500 meters generally. The grid spacing is typically 0.02km from the distance and 1 meter in depth. The distance r of the sound source corresponds to the depth d of the sound source at each grid point, and a predicted intensity distribution matrix P of the sound source at each grid point is calculated by utilizing a ray model K×N (r,d)。
6) And designing a cost function, and calculating the sound source position by using the cost function.
The cost function is as follows:
and calculating the output value of the cost function at each grid point, corresponding to the sound source distance r and the sound source depth d by using the cost function. A certain sound source distance and depth at which the maximum is taken on the two-dimensional grid is the target position.
Claims (2)
1. A broadband sound source passive positioning method using asynchronous vertical arrays in deep sea environment is characterized by comprising the following steps:
step 1: n receiving hydrophones are arranged on the near seabed of deep sea below a critical depth at equal intervals to form a vertical array, and signals sent by a broadband sound source on the near seabed are collected; obtaining depth z of a receiving hydrophone using a depth sensor n Wherein N is 1,2,3.. N;
step 2, processing the broadband signals acquired by the vertical array by using fast Fourier transform:
the fast Fourier transform output of the single hydrophone received signal contains the sound intensity P (f) at different frequencies at the current hydrophone depth k ,z n ) Wherein f is k Is the frequency, f k ＝f L +δk,k＝1,2...K，f L Is the lower limit frequency of the broadband signal, δ is the frequency interval, z n Is the depth at which the hydrophone is received; calculating the signals received by all the hydrophones to obtain the intensity distribution of the signals with different frequencies radiated by the sound source on different depths to form an intensity distribution matrix M K×N The matrix is composed of P (f) k ,z n ) Forming;
step 3, distributing the intensity matrix M K×N And (3) carrying out standardization processing to reduce the influence of the receiving response deviation of the hydrophone:
define coefficient vector a ═ η 1 ,η 2 ,...,η N H and an energy vector S ═ S 1 ,s 2 ,...,s N }；
Wherein
Calculating a vector A which minimizes the variance of the energy vector S by using an iterative or other optimization algorithm;
after vector A is obtained by calculation, matrix M is divided into K×N The elements of each column are respectively equal to the element eta in the vector A n Multiplying to obtain new intensity distribution matrix M K×N ；
Step 4, the new intensity distribution matrix M K×N And (3) carrying out normalization treatment: will matrix M K×N Each row vector is linearly programmed to the range [ -1,1 [ ]]The normalized intensity distribution matrix is a measured intensity distribution matrix;
and 5: dividing the possible existing region of the target into grids, each grid point corresponding to the sound source distance r and the sound source depth d, and calculating a predicted intensity distribution matrix P when the sound source is positioned at each grid point by using a ray model K×N (r,d)；
The possible areas of the targets are distributed on a two-dimensional plane with a distance of 0-30km generally and a depth of 0-500 m generally;
step 6: calculating the output value of the cost function at each grid point, corresponding to the sound source distance r and the sound source depth d by using the cost function; a certain sound source distance and depth at which the maximum value is obtained on the distance-depth two-dimensional grid are target positions; the cost function is:
2. the method for passively positioning a broadband sound source by using an asynchronous vertical array in the deep sea environment according to claim 1, wherein: the grid interval of the step 5 is 0.02km, and the grid interval in depth is 1 m.
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| CN113657416B (en) * | 2020-05-12 | 2023-07-18 | 中国科学院声学研究所 | Deep sea sound source ranging method and system based on improved deep neural network |
| CN112269163B (en) * | 2020-09-30 | 2023-04-25 | 黑龙江工程学院 | Underwater sound source azimuth and depth cooperative tracking method based on sitting-bottom single three-dimensional vector hydrophone |
| CN113009419B (en) * | 2021-02-25 | 2021-11-09 | 中国科学院声学研究所 | Target depth estimation method based on frequency domain cross-correlation matching |
| CN113126029B (en) * | 2021-04-14 | 2022-07-26 | 西北工业大学 | Multi-sensor pulse sound source positioning method suitable for deep sea reliable acoustic path environment |
| CN113495275A (en) * | 2021-05-24 | 2021-10-12 | 中国海洋大学 | Passive positioning method, system and application for vertical synthetic aperture of single hydrophone |
| CN114280541B (en) * | 2021-12-15 | 2022-11-22 | 中国科学院声学研究所 | Target passive positioning method based on deep-sea distributed vertical linear array |
| CN117169816B (en) * | 2023-11-03 | 2024-02-02 | 西北工业大学青岛研究院 | Passive positioning method, medium and system for broadband sound source in deep sea sound shadow area |
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