CN113253284A - Active sonar interference fringe generation method based on target scattering characteristics - Google Patents
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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
- G01S15/88—Sonar systems specially adapted for specific applications
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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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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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
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention discloses an active sonar interference fringe generation method based on target scattering characteristics. The method comprises the steps of placing a detection model, and establishing a sound pressure field model of a receiver position; considering a scattering sound field of the target position, establishing a sound field model of the target position, and solving the scattering sound field to obtain a scattering matrix; and substituting the scattering matrix into the sound pressure field model to obtain the interference fringes of the active sonar. The method combines the calculation of a scattering sound field, provides a new active sonar interference fringe generation method, and breaks through the limitation of scattering matrix approximation in shallow sea waveguide; the scattering sound field of the target position is analyzed, the active sonar interference fringe granularity can be further refined, and the method can be used in the fields of fringe feature extraction, target positioning, tracking, seabed parameter inversion and the like.
Description
Technical Field
The invention belongs to the field of underwater acoustics and underwater acoustic signal processing, and relates to a method for generating active sonar interference fringes, in particular to a method for generating active sonar interference fringes based on target scattering characteristics.
Background
The propagation of sound waves in shallow water is a complex phenomenon, and is influenced by noise in water and properties of the bottom of the sea, the propagation modes thereof interfere with each other, the interaction between the sound waves and the channel boundary causes signal attenuation and multipath propagation, and a time-frequency structure generated by the propagation can generate interference fringes with constant intensity. In a passive sonar, a signal travels in a single path between a sound source and a receiver, and a generated interference fringe is a straight line with a constant slope, and is related to the propagation intensity of the sound wave, the distance from the sound source to the receiver, and the frequency range of the sound source. However, in the active sonar research, due to the multipath effect of the target scattering echo, different normal waves are superimposed on each other, which makes it difficult to process interference fringes because not only the width between the fringes is related to the frequency, the sound source distance, etc., but also because the interference fringe spectrum is obtained from the sound field intensity at the receiver, the sound source frequency band is required to be uniform, and the fringe generation and feature extraction under experimental conditions are more difficult.
At present, the active sonar interference fringe generation theory is based on Joge E.Quijano experimental analysis, but when simulation is carried out, a scattering matrix adopts an approximate expression instead of explicitly calculating the value of the scattering matrix and then processing, so that how a target scattering kernel and a sonar structure specifically influence the generation of interference fringes cannot be determined. More elaborate research needs to be carried out to perfect the generation theory of the active sonar interference fringes, and the research of the active sonar interference fringes can be used as an important research direction of underwater sound detection and is a key technology in the field of underwater sound.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an active sonar interference fringe generation method based on the scattering characteristics of a target, a scattering matrix of a rigid sphere under a waveguide condition is obtained by calculating a scattering field at the target, a normal wave sound field is calculated based on the scattering matrix, and then the active sonar interference fringe is generated according to a sound field expression, so that the problems of difficult fringe generation and feature extraction of the active sonar in the prior art are solved.
The active sonar interference fringe generation method based on the target scattering characteristics specifically comprises the following steps:
step one, establishing a sound pressure field model of a receiver position
At a depth zsThe position of the active sonar places a sound source and a receiver, and a broadband pulse signal emitted by the sound source is transmitted through a shallow sea waveguide and then is positioned at a depth ztIs scattered and is located at a depth ZrReceiving by the receiver; establishing a sound pressure field model of the receiver position:
wherein, C is a constant,
r1、r2respectively the distance from the sound source to the target and the distance from the target to the receiver; omega is the frequency of the sound wave,
denotes a scattering matrix, am、anRespectively representing the incident angle of an incident wave and the reflection angle of a reflected wave,
respectively representing the azimuth angle of an incident sound wave and the azimuth angle of a reflected sound wave; m is the number of channels of the incident signal, n is the number of channels after reflection of the target, m>n；kmIs the horizontal beam, k, propagated by the mth channelnIs the horizontal beam propagated by the nth channel; psimIs a target dependent depth dependent mode function, wherem(zs) Is a target depth-dependent mode function, psim(zt) Is a function of the depth-related mode of the emitted sound source; psinIs a mode function associated with the reflection mode, wheren(zt) Is a function of the target depth-dependent mode in the reflection mode,. psin(zr) Is a function of the receiver depth dependent mode in the reflective mode. When the sea surface is absolutely soft and the seabed is absolutely hard and rigid,
h is the distance from the sea surface to the seabed, and z represents the target placement depth.
The target is a rigid sphere or cylinder.
Step two, establishing a scattering matrix of the target position
According to the formula (1), the sound field at the receiver position comprises dual-path propagation, which is the result of interaction of normal wave modes of all orders, and under the simple wave mode, a sound field model at the target position is established by applying the Green theorem, wherein the sound field model comprises an incident sound field and a scattering sound field, the integration is carried out by utilizing the orthogonality of a trigonometric function, and the scattering sound field at the target position is solved to obtain a scattering matrix.
When the target is a rigid sphere, the sound field model of the target position is:
wherein
Representing the incident sound field and,
representing a diffuse sound field; s represents the target rigid sphere surface area, G (r | r ') is the Green function, and Φ (r') is the velocity potential function:
wherein
Is a function of the spherical hankel function,
is a spherical harmonic function; r is0Is the radius of the target rigid sphere; r' is a spherical coordinate system parameter; σ' is the pulse function related to the target radius,Theta 'and phi' respectively represent a spherical coordinate system parameter and an azimuth angle; m 'and n' are the number of channels; k represents a wave number; j is a function ofmIs a boundary function.
And (3) carrying out integral solution by utilizing trigonometric function orthogonality to obtain a scattering sound field of the target position:
ρ、ρ0respectively representing an incident radius and a scattering radius, D is the diameter of a target rigid sphere, and D is a Hankel function; u. ofm(z) and un(z0) Is a target depth dependent coupling function; n is a radical ofm、NnFar fields representing incident sound waves and scattered sound waves, respectively; gamma raymAnd gammanRepresenting the incident sound wave and the traveling wave of the scattered sound wave.
The scattering matrix is:
Step three, generating interference fringes
The sound pressure field expression is related to the distance and the frequency omega, and due to mutual superposition of different modes, sound signals present interference structures with certain geometric distribution in time domains, space domains and the like. Broadband pulses are reflected to moving targets with different shapes, corresponding spectrogram presents a fringe interference structure similar to that in a passive sonar, and the sound wave propagation distance r is r1+r2. And substituting the scattering matrix obtained by solving in the second step into the sound pressure field model of the receiver position established in the first step to obtain the interference fringes generated by the active sonar.
The invention has the following beneficial effects:
the method combines a scattering sound field, breaks through the limitation of scattering matrix approximation in the shallow sea waveguide, considers the bidirectional propagation of broadband pulses, target-related scattering and a fringe spectrogram, provides a resolving result of an active sonar interference structure, does not need accurate environmental parameter knowledge, calculates to obtain the sound field interference fringes, further refines the granularity of the active sonar interference fringes by analyzing a target scattering kernel, can observe a more real scattering kernel target, and thus obtains more information of the sound field interference fringes.
Drawings
FIG. 1 is a pattern placement apparatus used in an embodiment;
FIG. 2 is a scattering model of a rigid spherical target under a waveguide in an embodiment;
FIG. 3 is a time domain waveform of the first 6 normal waves used in the example;
FIG. 4 shows the variation of the scattered field at the target in the example;
FIG. 5 is a diagram showing a distance variation of a propagation path of an acoustic wave when the object moves in the embodiment;
fig. 6 is an active sonar bar spectrogram calculated in the example.
Detailed Description
The invention is further explained below with reference to the drawings.
In order to fully research the influence of the scattering characteristics of a target on an active sonar interference fringe, the change condition of a scattering matrix at a rigid spherical target under a waveguide condition is calculated, and a sound pressure field at a receiver is further calculated.
This example is in ideal waveguide stripThe simulation experiment is carried out under the condition, the target and the arrangement position of the hydrophone are shown in figure 1, wherein the water depth H is 15m, the propagation sound velocity and the density in water are respectively c 1500m/s, and rho 1.0g/cm3The depth of the sound source and the hydrophone is 9m, the depth of the target from the water surface is 12m, the target moves on a plane with a horizontal distance of 3m from the sound source, and the change condition of the sound pressure field at the receiver is recorded in the moving process of the target, wherein the sound source and the receiver are considered to be positioned at the same depth, the calculation of the formula (1) can be simplified, a better scattering mode can be excited by an incident sound field at the target, and the value of a scattering matrix is calculated through the change of the scattering field.
The underwater target active sonar echo mainly comprises two scattering components, one is geometric sound scattering information related to the target shape, the other is elastic sound scattering component related to the target material, the common analysis selects the target to be a regular geometric shape, a rigid sphere numerical calculation method is utilized, an analytical solution to the scattering equation of the target can be obtained, and fig. 2 simulates the geometrical legend information of a rigid sphere in an ideal waveguide, showing the arrival of the acoustic wave at the target, the scattering mode can be excited under the action of the incident mode, the solution is carried out by adopting an eigen function expansion method, the method is to express the incident function and the Green function in the form of normal waves, and the hankel function is expressed by superposition of spherical harmonics, it should be noted that the method is applied on the premise that the influence of multiple scattering is small, and the medium where the target is located is uniform, and the velocity potential function of the sound field in the waveguide meets the Helmholtz equation:
considering sound pressure continuity and normal speed continuity at each interface, through approximate derivation, the total sound field in the water body obtained by applying the Green theorem in the space enclosed by the spherical surface and the water body boundary can be obtained, and in the process of horizontal movement of the target, the distance r between the sound source and the target is obtained1Distance r between target and receiver2All will change, the incident field at the target will change with the angle, thus different scattering modes are excited to emitWhen signals are scattered on a target, different modes interact with each other, and energy factors weighted by a spherical scattering matrix are doped in scattering echoes of the target, so that the sound pressure at a receiver has a weighting effect.
The order of a normal wave can be observed in a received signal, in an echo signal, no matter a target is detected, the waveform of the echo signal is more complex than that of a target echo in a free field, and the normal wave component excited when the target exists is more complex, fig. 3 shows the time domain waveform of the first 6 normal waves, as the normal waves are increased along with the order, the span of the normal waves on a time axis is increased under the condition that the frequency bandwidth is the same, and the coupling effect of the target is added, the waveform of the echo signal is more complex, so that only the first 6 normal wave component is considered in the embodiment.
Fig. 4 shows the variation of the scattered field at the target with the incident angle, which shows the distribution of the scattered sound field calculated by formula (9), in the process of sound wave propagation, the propagation of different-order normal waves will be different, and at this time, the sound field interference at the target will be affected, and it can be known from fig. 4 that the distribution of the scattered field at the target in the waveguide will be different with the distance between the target and the sound source, and when the distance between the sound source and the target becomes larger, the scattered field will show a reverse variation because the directivity of each simple-order normal wave is independent of the distance, but because the sound wave will cause the phase variation in the distance direction, the distribution of the scattered field at different distances will also change due to the interference of different normal waves, and the distribution of the scattered field in the waveguide at different distances will show a scattered field superimposed by several orders of normal waves.
Since the interference fringe structure is affected by the propagation path of the sound wave, fig. 5 shows the variation of the distance from the sound source to the target, from the target to the receiver, and from the sound source to the receiver during the moving process of the target, the result of equation (1) can be regarded as the sum of the products of the incident pressure and the scattering pressure, and the factor can be regarded as the sum of the products of the incident pressure and the scattering pressure due to the weighting effect of the scattering matrix
Wherein the incident mode can excite the corresponding scattering mode to reflect on the spectrogram to appear between stripesAliasing, and the distance r from the source to the receiver is r1+r2The spacing between the stripes and the degree of bending can be affected.
Obtaining the intensity of a scattering sound field at a target according to a formula (9), calculating the size of a scattering matrix, and generating a fringe spectrogram by a normal wave expression, wherein a clear fringe spectrogram can be observed in fig. 6, wherein the mode number of fig. 6(a) is 20, the mode number of fig. 6(b) is 26, an interference fringe image is observed near a 2-4Khz frequency band, and a clearer interference fringe structure can be obtained by comparison when the mode number is 26, because the mode order is increased, more scattering modes can be excited, and the fringes are in a bending state due to the effect of mutual coupling among the modes in the image, and the observation corresponding to fig. 4 shows that the thickness of the fringes reflected on the fringe spectrogram can be different due to the change of the intensity of the scattering sound field at the target.
Claims (5)
1. An active sonar interference fringe generation method based on target scattering characteristics is characterized in that: the method mainly comprises the following steps:
step one, establishing a sound pressure field model of a receiver position
At a depth zsThe position of the active sonar places a sound source and a receiver, and a broadband pulse signal emitted by the sound source is transmitted through a shallow sea waveguide and then is positioned at a depth ztIs scattered and is located at a depth ZrReceiving by the receiver; establishing a sound pressure field model of the receiver position:
wherein, C is a constant,
r1、r2respectively the distance from the sound source to the target and the distance from the target to the receiver; omega is the frequency of the sound wave,
denotes a scattering matrix, am、anRespectively representing the incident angle of an incident wave and the reflection angle of a reflected wave,
respectively representing the azimuth angle of an incident sound wave and the azimuth angle of a reflected sound wave; m is the number of channels of the incident signal, n is the number of channels after reflection of the target, m>n；kmIs the horizontal beam, k, propagated by the mth channelnIs the horizontal beam propagated by the nth channel; psimIs a target dependent depth dependent mode function, wherem(zs) Is a target depth-dependent mode function, psim(zt) Is a function of the depth-related mode of the emitted sound source; psinIs a mode function associated with the reflection mode, wheren(zt) Is a function of the target depth-dependent mode in the reflection mode,. psin(zr) Is a function of the receiver depth-dependent mode in the reflection mode;
step two, establishing a scattering matrix of the target position
Under a simple wave mode, establishing a sound field model of a target position by using the Green theorem, wherein the sound field model comprises an incident sound field and a scattering sound field, performing integration by using the orthogonality of a trigonometric function, and solving the scattering sound field of the target position to obtain a scattering matrix;
step three, generating interference fringes
And substituting the scattering matrix obtained by solving in the second step into the sound pressure field model of the receiver position established in the first step to obtain the interference fringes generated by the active sonar.
2. The active sonar interference fringe generation method based on the scattering characteristics of the target according to claim 1, comprising: when the sea surface is absolutely soft and the sea bottom is absolutely hard and rigid, the depth correlation mode function related to the target
H is the distance from the sea surface to the seabed, and z represents the target placement depth.
3. The method for generating active sonar interference fringe based on object scattering characteristics according to claim 1 or 3, wherein: object dependent depth dependent mode function psimThe frequencies of each order are approximately independent.
4. The active sonar interference fringe generation method based on the scattering characteristics of the target according to claim 1, comprising: the target is a rigid sphere or cylinder.
5. The method for generating active sonar interference fringe based on object scattering characteristics according to claim 1 or 4, wherein: when the target is a rigid sphere, the sound field model established in the second step is:
wherein
Representing the incident sound field and,
representing a diffuse sound field; s represents the target surface area, G (r | r ') is the Green function, Φ (r') is the velocity potential function:
wherein
Is a function of the spherical hankel function,
is a spherical harmonic function; r is0Is targeted rigidityThe radius of the sphere; r' is a spherical coordinate system parameter; sigma ' is a pulse function related to the target radius, and theta ' and phi ' respectively represent a spherical coordinate system parameter and an azimuth angle; m 'and n' are the number of channels; k represents a wave number; j is a function ofmIs a boundary function;
and (3) carrying out integral solution by utilizing trigonometric function orthogonality to obtain a scattering sound field of the target position:
ρ、ρ0respectively representing an incident radius and a scattering radius, D is the diameter of a target rigid sphere, and D is a Hankel function; u. ofm(z) and un(z0) Is a target depth dependent coupling function; n is a radical ofm、NnFar fields representing incident sound waves and scattered sound waves, respectively; gamma raymAnd gammanA traveling wave representing the incident acoustic wave and the scattered acoustic wave;
the scattering matrix is:
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| CN114791992A (en) * | 2022-06-23 | 2022-07-26 | 西北工业大学青岛研究院 | Deep sea target forward scattering sound field calculation method based on ray theory |
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