CN112924933B - Omnibearing split beam measurement method of cylindrical surface array transducer array - Google Patents
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Abstract
The invention belongs to the technical field of ocean information measurement, and particularly relates to an omnibearing split beam measurement method of a cylindrical surface array transducer array, which comprises the following steps: dividing a certain part of array elements in a P multiplied by Q array element in a cylindrical surface array transducer array into 4 continuous areas which are connected end to form a logic quadrant I, a logic quadrant II, a logic quadrant III and a logic quadrant IV, sequentially and circularly rotating the four logic quadrants, and obtaining four independent equivalent wave beams by adopting a wave beam forming method for all the array elements in each logic quadrant to obtain virtual split wave beams; the array elements receive the sound wave signals, determine a vertical offset angle phi of the target to be detected through the phase difference between the upper half wave beam of the virtual split wave beam and the lower half wave beam of the virtual split wave beam, determine a horizontal offset angle theta of the target to be detected through the phase difference between the left half wave beam of the virtual split wave beam and the right half wave beam of the virtual split wave beam, and determine the position of the target to be detected in the virtual split wave beam.
Description
Technical Field
The invention belongs to the technical field of ocean information measurement and acoustic measurement, and particularly relates to an omnibearing split beam measurement method of a cylindrical array transducer array.
Background
The acoustic measurement technology is widely applied to marine organism resource assessment, the split beam mode can realize marine organism target monomer detection and target intensity measurement, and accurate positions of the marine organism target monomers in the beam are commonly used for the survey and assessment of the sailing marine organism/fishery resources.
The existing split-beam device is commonly used for the aerial survey to obtain the biological resource amount of the survey area space. Because the beam coverage angle is small, the sampling volume is limited, the omnidirectional monitoring capability is not provided, the application in the fixed monitoring of marine organism resources is severely limited, the information data of marine organisms in the whole water body of a monitored water area can not be obtained, and the long-term real-time online monitoring requirement of the offshore organisms/fishery resources in China can not be met. With the increasing strong demand of monitoring the biological resources of oceans, rivers and lakes, the online monitoring and evaluation of the biological resources of oceans becomes a necessary means, and the change of the long-term resource quantity and density of a monitored area needs to be obtained to research the space-time evolution of important organisms, so that a single-split beam system is difficult to be competent.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an omnibearing split beam measuring device of a cylindrical array transducer array, which comprises:
dividing a certain part of array elements in a P multiplied by Q array element in a cylindrical surface array transducer array into 4 continuous areas which are connected end to form a logic quadrant I, a logic quadrant II, a logic quadrant III and a logic quadrant IV, sequentially and circularly rotating the four logic quadrants, and obtaining independent beams by adopting a beam forming method for all array elements in each logic quadrant so as to form four independent equivalent beams and obtain virtual split beams;
the I logic quadrant and the II logic quadrant form an upper half beam of the virtual split beam, the II logic quadrant and the III logic quadrant form a left half beam of the virtual split beam, the III logic quadrant and the IV logic quadrant form a lower half beam of the virtual split beam, and the 1V logic quadrant and the I logic quadrant form a right half beam of the virtual split beam;
the array elements receive the sound wave signals, determine a vertical offset angle phi of the target to be detected through the phase difference between the upper half wave beam of the virtual split wave beam and the lower half wave beam of the virtual split wave beam, determine a horizontal offset angle theta of the target to be detected through the phase difference between the left half wave beam of the virtual split wave beam and the right half wave beam of the virtual split wave beam, and further determine the position of the target to be detected in the virtual split wave beam.
Through the measurement of the rotation of the logic quadrants I, II, III and IV along the circumference, a 360-degree omnibearing virtual beam splitting beam is formed, and the omnibearing measurement of a target is realized.
As one improvement of the technical scheme, the cylindrical array transducer array comprises P circular ring arrays; the circular array includes: q array elements; p circle array along the cylinder axis direction evenly distributed of cylinder area array on the array face of cylinder area array, whole cylinder area array total P Q array element to be connected with P Q take a percentage.
As one improvement of the above technical solution, the array element receiving signal determines a vertical offset angle of the target to be measured through a phase difference between an upper half beam of the virtual split beam and a lower half beam of the virtual split beam; the method specifically comprises the following steps:
determining the phase of the array element receiving signals through the upper half wave beam of the virtual split wave beam:
wherein, K u Receiving the phase of the upper half wave beam of the signal passing through the virtual split wave beam for the array element; m is a unit of 1 Virtually splitting the last row element index of the upper half beam of the beam;
determining the phase of the array element receiving signals through the lower half wave beam of the virtual split wave beam:
wherein, K l Receiving the phase of the signal passing through the lower half wave beam of the virtual split wave beam for the array element; m is 2 Is the first row of array element indices for the right half of the virtual split beam;
wherein, M and N respectively represent array element numbers of columns and rows of the logic area; b nm And (3) weighted output of array elements:
wherein,
weight values representing beamforming or phasing; p is a radical of nm Representing the original output signal collected by the array element;
solving for the first half beam K u And the lower halfWave beam K l Detecting a correlation peak R (tau) of the cross-correlation function R (tau) 0 ) So as to obtain the phase difference between the upper half wave beam of the array element receiving signal passing through the virtual split wave beam and the lower half wave beam of the virtual split wave beam, and the phase difference is used as the azimuth angle of the target to be measured, namely the vertical offset angle
As one improvement of the above technical solution, the horizontal offset angle of the target to be measured is determined by the phase difference between the left half beam of the virtual split beam and the right half beam of the virtual split beam; the method specifically comprises the following steps:
determining the phase of the array element receiving signal through the left half beam of the virtual split beam:
wherein, K L Receiving the phase of the signal passing through the left half beam of the virtual split beam for the array element; n is a radical of an alkyl radical 1 Indexing the last line element of the left half beam of the virtual split beam;
determining the phase of the array element receiving signals through the right half wave beam of the virtual split wave beam:
wherein, K R Receiving the phase of the signal passing through the right half wave beam of the virtual split wave beam for the array element; n is a radical of an alkyl radical 2 Is the first row of array elements index of the right half beam of the virtual split beam;
wherein, M and N respectively represent array element numbers of columns and rows of the logic area; b is a mixture of nm And (3) weighted output of array elements:
wherein,
weight values representing beamforming or phasing; p is a radical of nm Representing the original output signals collected by the array elements;
left half beam K L And a right half beam K R Detecting a correlation peak R1 (tau) of the cross correlation function R1 (tau) 01 ) Thus, the phase difference between the left half beam passing through the virtual split beam and the right half beam passing through the virtual split beam is obtained, and the phase difference is used as the azimuth angle of the target to be measured, namely the horizontal offset angle theta.
As one improvement of the above technical solution, the determining the position of the target to be measured in the virtual split beam specifically includes:
determining the distance r of the target to be measured:
wherein c is the speed of sound; t is the time for detecting the echo of the target to be detected;
establishing a spherical coordinate system with the center of the virtual split beam as the origin of coordinates, and taking the position of the target to be measured in the virtual split beam as the coordinates
And combine the coordinates
Performing coordinate conversion to obtain the position of the target to be measured in the rectangular coordinate system as a coordinate (x, y, z);
wherein,
and the position of the target to be measured in the rectangular coordinate system is used as the position of the target to be measured in the virtual split beam.
Compared with the prior art, the invention has the beneficial effects that:
1. the omnibearing split beam array utilizes the signal processing of a cylindrical surface array transducer array to form a plurality of virtual split beams, can realize the monomer detection, the target measurement and the target tracking and the quick evaluation of the biological resource quantity in a biological target in the omnibearing 360-degree water body;
2. the omnibearing split beam array can realize the high-efficiency assessment of the quantity of biological resources while realizing the fixed monitoring and the biological target tracking of marine organisms, and is particularly suitable for the application of realizing the omnibearing real-time monitoring of water bodies in fixed installation of water areas such as oceans, rivers, lakes and the like, so that the acoustic high-efficiency monitoring and the resource assessment of fishery resources are integrated and speeded.
Drawings
Fig. 1 (a) is a schematic diagram of logic division of a cylindrical array transducer array to obtain a logic quadrant I, a logic quadrant II, a logic quadrant III, and a logic quadrant IV of a virtual split beam by using the cylindrical array transducer array according to the omnidirectional split beam measurement method of the cylindrical array transducer array of the present invention;
FIG. 1 (b) is a schematic diagram of virtual split beam target location and single body detection of FIG. 1 (a);
FIG. 2 (a) is a schematic diagram of the left half beam and the companion beam of a virtual split beam;
FIG. 2 (b) is a schematic diagram of the upper and lower half beams of a virtual split beam;
FIG. 3 is a schematic diagram of a virtual split beam directivity and rotation process;
FIG. 4 is a schematic diagram of a circular arc physical array converted into a virtual linear array;
fig. 5 is a schematic diagram of each array element in the active area with a tap connected to each element and a transceiver circuit connected to each stub.
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
The invention provides an omnibearing split beam measurement method of a cylindrical surface array transducer array, wherein four logic quadrants of the cylindrical surface array are sequentially subjected to circumferential rotation for a circle to obtain omnibearing virtual split beams, so that omnibearing split beam measurement is realized, the omnibearing measurement of the strength of a biological target in 360 degrees of a water body can be completed, and the position of the biological target is further obtained.
The method comprises the following steps: a cylindrical array transducer array composed of P × Q array elements;
dividing a certain part of array elements (such as array elements on a half cylindrical surface) in a P multiplied by Q array elements in a cylindrical surface array transducer array into 4 continuous areas which are connected end to form a logic quadrant I, a logic quadrant II, a logic quadrant III and a logic quadrant IV, sequentially performing circumferential rotation on the four logic quadrants, and obtaining independent beams by adopting a beam forming method for all the array elements in each logic quadrant to further form four independent equivalent beams to obtain virtual split beams;
the I logic quadrant and the II logic quadrant form an upper half beam of the virtual split beam, the II logic quadrant and the III logic quadrant form a left half beam of the virtual split beam, the III logic quadrant and the IV logic quadrant form a lower half beam of the virtual split beam, and the 1V logic quadrant and the I logic quadrant form a right half beam of the virtual split beam;
and the received signal determines the vertical offset angle (phi) of the target to be detected through the phase difference between the upper half wave beam of the virtual split wave beam and the lower half wave beam of the virtual split wave beam, and determines the horizontal offset angle (theta) of the target to be detected through the phase difference between the left half wave beam of the virtual split wave beam and the right half wave beam of the virtual split wave beam, so as to determine the position of the target to be detected in the virtual split wave beam.
Through the measurement of the rotation of the logic quadrants I, II, III and IV along the circumference, a 360-degree omnibearing virtual beam splitting beam is formed, and the omnibearing measurement of a target is realized.
Specifically, the phase of the upper half beam of the array element receiving signal passing through the virtual split beam is determined:
wherein, K u For receiving signals from array elements by virtually splitting the phase of the upper half of the beam, i.e. in cylindrical arraysAll array elements in the I logic quadrant and the II logic quadrant receive signal beam forming (echo energy integration) output; m is 1 Virtually splitting the last row element index of the upper half beam of the beam;
determining the phase of the array element receiving signal through the lower half beam of the virtual split beam:
wherein, K l Forming (echo energy integration) output for the array element receiving signals through the phases of the lower half wave beams of the virtual split wave beams, namely all the array element receiving signal wave beams in the third and fourth quadrants of the cylindrical surface array; m is a unit of 2 Is the first row of array element indices for the right half of the virtual split beam;
wherein, M and N respectively represent array element numbers of columns and rows of the logic area; b nm The weighted output of the array elements is the weighted (phased) data of the transducer elements:
wherein,
weight values representing beamforming or phasing; p is a radical of nm Representing the original output signals collected by the array elements;
solving the first half-wave beam K u And the lower half-wave beam K l Detecting a correlation peak R (tau) of the cross-correlation function R (tau) 0 ) So as to obtain the phase difference between the upper half wave beam of the array element receiving signal passing through the virtual split wave beam and the lower half wave beam of the virtual split wave beam, and the phase difference is used as the azimuth angle of the target to be measured, namely the vertical offset angle
Determining the phase of the array element receiving signals through the left half beam of the virtual split beam:
wherein, K L Forming and outputting the wave beam (echo energy integration) of all array element receiving signals in quadrants II and III on the left side of the cylinder by the phase of the left half wave beam of the virtual split wave beam of the array element receiving signals; n is 1 Indexing the last line element of the left half beam of the virtual split beam;
determining the phase of the array element receiving signals through the right half wave beam of the virtual split wave beam:
wherein, K R Forming and outputting the phases of the array element receiving signals through the right half wave beam of the virtual split wave beam, namely the wave beams of all the array element receiving signals in the I & ltth & gt and IV & ltth & gt quadrants on the right side of the cylinder (the integral of echo energy); n is 2 Is the first row of array elements index of the right half beam of the virtual split beam;
wherein, M and N respectively represent array element numbers of columns and rows of the logic area; b nm The weighted output of the array elements is the weighted (phased) data of the transducer elements:
wherein,
weight values representing beamforming or phasing; p is a radical of nm Representing the original output signal collected by the array element;
left half beam K L And a right half beam K R Detecting a correlation peak R1 (tau) of the cross correlation function R1 (tau) 01 ) So as to obtain the phase difference of the left half wave beam passing through the virtual split wave beam and the right half wave beam passing through the virtual split wave beam, and taking the phase difference as the target to be measuredAzimuth, i.e., horizontal offset angle θ.
Determining the distance r of the target to be measured:
wherein c is the speed of sound; t is the time for detecting the echo of the target to be detected;
establishing a spherical coordinate system with the center of the virtual split beam as the origin of coordinates, and taking the position of the target to be measured in the virtual split beam as the coordinates
And coordinate the same
Performing coordinate conversion to obtain the position of the target to be measured in the rectangular coordinate system as a coordinate (x, y, z);
wherein,
and the position of the target to be measured in the rectangular coordinate system is used as the position of the target to be measured in the virtual split beam.
The cylindrical surface array transducer array comprises P circular ring arrays; this circular array includes: q array elements; the P circular arrays are uniformly distributed on the array surface of the cylindrical array along the cylindrical axis direction of the cylindrical array, and the whole cylindrical array has P multiplied by Q array elements and is connected with a P multiplied by Q tap; wherein each array element is connected with a tap;
the array elements on the array surface of the cylindrical surface array are used for obtaining the virtual split wave beams by a virtual split wave beam forming method, the array elements are mainly used for detecting the horizontal direction of the water body, and the array elements and the virtual split wave beams form the omnidirectional virtual split wave beams, so that the whole water body measurement can be realized.
The array elements are used for transmitting and receiving sound wave signals.
For all array elements in each logic quadrant, independent beams, namely a left half beam, a right half beam, an upper half beam and a lower half beam of the virtual split beam are obtained by using a beam forming method, so that four independent equivalent beams are formed, and further the virtual split beam is obtained, the four logic quadrants of the cylindrical surface array sequentially rotate for a circle along the circumference, so that the omnibearing virtual split beam can be formed, and the omnibearing split beam measurement is further realized.
The four independent wave beams of the omnibearing virtual split array wave beam are realized by an array element distributed on a cylindrical area array by using a wave beam forming method, a plurality of array elements of four logic quadrants form four independent receiving signals, and a vertical offset angle (phi) and a horizontal offset angle (theta) of a target to be measured are determined by a measuring phase difference between quadrant pairs consisting of any two logic quadrants in the four logic quadrants, namely two halves of the array. The position of the object to be measured is determined by comparing the left/right half (lateral angle) and the up/down half (vertical angle), and the orientation of the object to be measured is obtained, as shown in fig. 2 (a) and 2 (b).
L (L) of a circular array, with a virtually split beam formed by a cylindrical area array<Q) array elements are activated for transmission and reception of signals, enabling formation of a narrow beam (K) in the horizontal direction L And K R ). In the vertical direction, P array elements are activated and divided into upper and lower halves for transmitting and receiving signals to form narrow beams (K) u And K l ). In the circumferential direction, 360-degree omnibearing scanning and measurement are completed along with the rotation of the active array elements along the circumference.
Example 1.
Combine the schematic diagrams of fig. 1 (a), 1 (b) and fig. 2 (a), 2 (b) of the circumferential array.
The cylindrical area array is composed of a plurality of layers of circular array, piezoelectric ceramic substrates with the center frequency of f =120kHz and the bandwidth of B =40kHz are selected as array elements, the array elements are uniformly arranged along the circumferential direction, and the array elements of the circular array are uniformly and symmetrically distributed according to the circumferential direction of a half wavelength. The cylindrical area array is composed of P =8 circular arrays in the axial direction, the array element number Q =64 of each circular array, and the circular arrays are arranged in the same wayArranged at equal intervals, and the array element of each circle is marked as m i =1 \ 823064 (i =1 \ 82308; 8 is a ring label), and the array elements with the same number between the rings are arranged in a linear array. The device adopts a receiving and transmitting combined mode, each array element is connected with 1 tap, and each array element tap is respectively connected with one receiving and transmitting channel of the receiving module and the transmitting module (the connection relation is shown in figure 4).
Dividing local 200 (25 multiplied by 8) array elements (array element numbers on a circular array) on a circular ring on a cylindrical surface array into four areas of I, II, III and IV as logic quadrants, when the array elements m =5 to m =29 are activated, the direction-adjusting angle is theta =0, and the direction of 0 ° is divided into four logic quadrants; when array elements of numbers m =13 to m =37 are activated, the steering angle theta = pi/4 divides the pi/4 direction into four logic quadrants, and so on, and with the counterclockwise rotation of the steering angle theta, beams under different steering angles theta are obtained, and then the omnibearing split beam measurement is realized. As shown in fig. 3.
As shown in fig. 5, each array element in the active region is connected to a tap (i.e. reference numerals 1, 2, 3, 4 \823061, 62, 63, 64 in fig. 5), each tap is connected to a signal transmitting and receiving conditioning circuit (i.e. a transceiver circuit in fig. 5), a large-scale high-speed programmable array gate (FPGA) and a high-performance control chip are used to control the transmitting signal through a programming logic, so as to achieve flexible control of the transmitting beam, and achieve processing such as splitting beam synthesis, segment beam formation, etc. on the receiving signal. All array elements in each area utilize a beam forming technology to obtain independent beams, four independent equivalent beams are further formed, virtual split beams are obtained, the cylindrical array logic area rotates for a circle along the circumference in sequence, an omnidirectional split beam array can be formed, and omnidirectional split beam measurement is further achieved.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention may be modified or substituted with equivalents without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered by the scope of the claims of the present invention.
Claims (5)
1. An omnidirectional split beam measurement method of a cylindrical array transducer array is characterized by comprising the following steps:
dividing a certain part of array elements in a P multiplied by Q array element in a cylindrical surface array transducer array into 4 continuous areas which are connected end to form a logic quadrant I, a logic quadrant II, a logic quadrant III and a logic quadrant IV, sequentially and circularly rotating the four logic quadrants, and obtaining independent beams by adopting a beam forming method for all array elements in each logic quadrant so as to form four independent equivalent beams and obtain virtual split beams;
the I logic quadrant and the II logic quadrant form an upper half beam of the virtual split beam, the II logic quadrant and the III logic quadrant form a left half beam of the virtual split beam, the III logic quadrant and the IV logic quadrant form a lower half beam of the virtual split beam, and the 1V logic quadrant and the I logic quadrant form a right half beam of the virtual split beam;
the array elements receive the sound wave signals, determine a vertical offset angle phi of the target to be detected through the phase difference between the upper half wave beam of the virtual split wave beam and the lower half wave beam of the virtual split wave beam, determine a horizontal offset angle theta of the target to be detected through the phase difference between the left half wave beam of the virtual split wave beam and the right half wave beam of the virtual split wave beam, and further determine the position of the target to be detected in the virtual split wave beam.
2. The omnidirectional split beam measurement method of a cylindrical array transducer array according to claim 1, wherein the cylindrical array transducer array includes P circular arrays; the circular array includes: q array elements; the P circular arrays are uniformly distributed on the array surface of the cylindrical area array along the cylindrical axis direction of the cylindrical area array, and the whole cylindrical area array has P multiplied by Q array elements in total and is connected with a P multiplied by Q tap.
3. The method for measuring the omnibearing split wave beams of the cylindrical array transducer array according to claim 1, wherein the array element receiving signals determine the vertical offset angle of a target to be measured through the phase difference of the upper half wave beam of the virtual split wave beam and the lower half wave beam of the virtual split wave beam; the method specifically comprises the following steps:
determining the phase of the array element receiving signals through the upper half wave beam of the virtual split wave beam:
wherein, K u Receiving the phase of the upper half wave beam of the signal passing through the virtual split wave beam for the array element; m is a unit of 1 Virtually splitting the last row element index of the upper half beam of the beam;
determining the phase of the array element receiving signals through the lower half wave beam of the virtual split wave beam:
wherein, K l Receiving the phase of the lower half wave beam of the signal passing through the virtual split wave beam for the array element; m is 2 A first row of array element indices of a right half beam of the virtual split beam;
wherein, M and N respectively represent array element numbers of columns and rows of the logic area; b nm And (3) weighted output of array elements:
wherein,
weight values representing beamforming or phasing; p is a radical of nm Representing the original output signal collected by the array element;
solving the first half-wave beam K u And the lower half wave beam K l Detecting a correlation peak R (tau) of the cross-correlation function R (tau) 0 ) Thereby obtaining the upper half wave beam of the array element receiving signals passing through the virtual split wave beam and the lower half wave beam of the virtual split wave beamThe phase difference of the wave beams is used as the vertical deviation angle of the object to be measured
4. The method for measuring the omnibearing split wave beams of the cylindrical array transducer array according to the claim 1, is characterized in that the horizontal deviation angle of the target to be measured is determined by the phase difference of the left half wave beam of the virtual split wave beam and the right half wave beam of the virtual split wave beam; the method specifically comprises the following steps:
determining the phase of the array element receiving signal through the left half beam of the virtual split beam:
wherein, K L Receiving the phase of the signal passing through the left half beam of the virtual split beam for the array element; n is a radical of an alkyl radical 1 Indexing the last row element of the left half beam of the virtual split beam;
determining the phase of the array element receiving signals through the right half wave beam of the virtual split wave beam:
wherein, K R Receiving the phase of the signal passing through the right half wave beam of the virtual split wave beam for the array element; n is a radical of an alkyl radical 2 Is the first row of array elements index of the right half beam of the virtual split beam;
wherein, M and N respectively represent array element numbers of columns and rows of the logic area; b nm And (3) weighted output of array elements:
wherein,
weight values representing beamforming or phasing; p is a radical of nm Representing the original output signals collected by the array elements;
left half beam K L And a right half beam K R Detecting a correlation peak R1 (tau) of the cross correlation function R1 (tau) 01 ) And obtaining the phase difference of the left half beam passing through the virtual split beam and the right half beam passing through the virtual split beam, and taking the phase difference as the horizontal deviation angle theta of the target to be measured.
5. The omnidirectional split-beam measurement method of a cylindrical array transducer array according to claim 3 or 4, wherein the determining the position of the target to be measured in the virtual split beam specifically includes:
determining the distance r of the target to be measured:
wherein c is the speed of sound; t is the time for detecting the echo of the target to be detected;
establishing a spherical coordinate system taking the center of the virtual split beam as the origin of coordinates, and taking the position of the target to be measured in the virtual split beam as the coordinates
And coordinate the same
Performing coordinate conversion to obtain the position of the target to be measured in the rectangular coordinate system as a coordinate (x, y, z);
wherein,
and the position of the target to be measured in the rectangular coordinate system is used as the position of the target to be measured in the virtual split beam.
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