CN114740460B - Underwater acoustic signal processing method, computer device, product and storage medium - Google Patents
Underwater acoustic signal processing method, computer device, product and storage medium Download PDFInfo
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- 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
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Abstract
The invention discloses an underwater sound signal processing method, a computer device, a product and a storage medium. The signal generation module generates a response signal to be forwarded, which can be an ideal simulated signal or a real signal of an underwater experiment; the signal judgment module comprises two stages and five times of frequency domain judgment, and judges whether a useful signal is received in the current time period by utilizing multi-stage frequency domain information; the endpoint detection module is used for carrying out double-threshold detection on the signal after judgment, and accurately detecting the endpoint of the signal by utilizing the instantaneous energy entropy ratio; the signal display module displays a response effect. The invention can realize the generation of ideal signals and the return detection of real signals, provides an offline response verification platform, provides a more stable and reliable judgment and detection algorithm, and obtains experimental verification in an underwater environment.
Description
Technical Field
The invention relates to the field of underwater acoustic signal processing, in particular to an underwater acoustic signal processing method, a computer device, a product and a storage medium.
Background
Along with the development of underwater sound detection and communication technology, the signal transponder plays an increasingly important role in realizing and optimizing the underwater sound full system function, and is widely applied to various scenes such as ocean data observation, ocean resource exploration, ocean information interaction and the like. The traditional underwater acoustic transponder is generally an embedded closed underwater acoustic mark, can intercept, process, store and forward specific target signals, can receive acoustic signals in any appointed form, and transmits response signals according to actual demands of the system. The response system composed of one or more underwater acoustic marks can realize multiple functions of target simulation, fixed-point detection, networking communication, matching navigation and the like.
However, current underwater transponders mainly suffer from the following problems: (1) The algorithm is single, and response false triggering phenomenon is easy to generate under the environment of stronger white noise or line spectrum noise; (2) The signal starting end point detection error is large, so that the starting time of the forwarded signal is inaccurate; (3) The function is single, and the modularization is used less, and the adjustment degree of difficulty is big.
Disclosure of Invention
The invention aims to solve the technical problems of inaccurate starting time of a forwarding signal caused by easy false triggering and large end point detection error in the underwater acoustic signal processing.
In order to solve the technical problems, the invention adopts the following technical scheme: a method of processing an underwater acoustic signal, comprising the steps of:
s1, acquiring an underwater sound signal;
S2, judging whether the k spectral lines of the continuous three frames of underwater sound signals meet the corresponding sound pressure level P (k) or not, if not, entering a step S3; if so, calculating the spectrum peak-to-average ratio L (K) of the three frames of underwater acoustic signals, judging whether the signals after the superposition of the three frames of underwater acoustic signals meet P (K) > Th_SL+3 and L (K) > Th_PAR, if so, selecting each K frames of underwater acoustic signals before and after the first frame of underwater acoustic signals in the three frames of underwater acoustic signals, and entering step S4; th_SL is a first threshold, and Th_PAR is a second threshold; otherwise, enter step S3;
S3, respectively taking the second and third frames of underwater acoustic signals of the continuous three frames of underwater acoustic signals as the first and second frames of underwater acoustic signals of the new three frames of underwater acoustic signals, acquiring new frame data as the third frame of underwater acoustic signal of the new three frames of underwater acoustic signals, and returning to the step S2;
S4, equally dividing the selected underwater sound signal into M signal segments in a time domain, wherein the marks are m=1, … and M respectively; calculating the instantaneous energy-entropy ratio EHR of each signal segment: Wherein E is instantaneous logarithmic energy, and H is instantaneous entropy;
s5, traversing all signal segments according to a time sequence, and judging the starting moment of the useful signal by using the instantaneous energy entropy ratio EHR.
The invention firstly utilizes two-stage spectrum analysis and judgment to ensure the normal triggering of useful signals; the invention solves the problem of inaccurate starting time of the forwarding signal caused by easy false triggering and large end point detection error in underwater sound signal processing.
In step S2, the calculation formula of the sound pressure level of the underwater sound signal is: Wherein, X (N) is the received signal in a certain time frame after sampling, N is the sampling point number in the time frame,/>F is the underwater sound signal frequency, f s is the sampling frequency, and G is the sum of the sensitivity and gain of the hydrophone. The calculation mode utilizes Fourier analysis to perform sound pressure spectrum level conversion, and can meet the requirements of accuracy and instantaneity.
Step S2, two-stage signal judgment is carried out on a frequency domain by utilizing a plurality of thresholds, wherein the first-stage judgment utilizes the characteristic of continuity of useful signals, and line spectrum analysis and judgment are respectively carried out on three continuous frames of signals, so that false triggering of stronger impulse noise can be prevented; the second level judgment utilizes the characteristic of narrow-band property of the useful signal, and makes spectrum judgment and peak-to-average ratio judgment on the whole signal after three frames are overlapped, so that false triggering of stronger white noise and non-useful signal line spectrum noise can be prevented.
In step S4, the calculation formula of the instantaneous logarithmic energy E is: the energy of different signal segments is calibrated in a logarithmic form, and the calculation accuracy of instantaneous logarithmic energy is improved.
In step S4, the calculation formula of the instantaneous entropy H is: The useful signal and the non-useful signal have larger difference in section entropy, and the two are distinguished by combining the log energy to make energy entropy comparison, so that the accuracy of the calculation result of the instantaneous entropy value is improved.
The specific implementation process of the step S5 comprises the following steps:
1) Initializing the number L=1 of continuous useful signals, setting the number L min of minimum continuous useful signal segments, and initializing a possible starting point m 0 =1;
2) Let m=m+1, if EHR (m) < T1, determine m as a non-useful signal segment, return to step 1); if T1 is less than EHR (m) is less than T2, judging that m is possibly in a useful signal, and entering step 3); if EHR (m) is more than T2, judging that m is in a useful signal section, and entering step 4); t1 and T2 are respectively a first detection threshold and a second detection threshold which are set, and T1 is less than T2;
3) Let m 0 = m-L, the value of L add 1, return to step 2);
4) Let m 0 = m-L, the value of L plus 1, the value of m plus 1, if EHR (m) > T1, go to step 5); otherwise, returning to the step 1);
5) If L is more than or equal to L min, judging that m 0 is the starting time of the useful signal, otherwise, returning to the step 4).
Step S5 uses the characteristic that the useful signal and the non-useful signal have larger difference in energy entropy ratio, and uses a double threshold decision method to detect the starting moment of the useful signal. When the signal is transited from the non-useful signal to the useful signal, the entropy ratio can be changed drastically in a short time, so that the signal starting moment can be limited in a small error range by the double-threshold decision method, and the accuracy of calculating the starting moment of the forwarded signal is ensured.
The invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory; the processor executes the computer program to implement the steps of the method of the invention.
The present invention also provides a computer program product comprising a computer program/instructions; which when executed by a processor, perform the steps of the method according to the invention.
The present invention also provides a computer readable storage medium having stored thereon computer programs/instructions; the computer program/instructions, when executed by a processor, implement the steps of the method of the present invention.
Compared with the prior art, the invention has the following beneficial effects:
(1) The multi-stage spectrum analysis is utilized to make signal judgment, so that false triggering is reduced;
(2) And the accuracy of the forwarding starting endpoint is ensured by using the instantaneous energy entropy ratio as the endpoint detection.
Drawings
FIG. 1 is a block diagram of the topology of a simulator of an underwater acoustic signal response system in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a signal generation module according to an embodiment of the invention;
FIG. 3 is a program flow diagram of a signal decision module according to an embodiment of the invention;
FIG. 4 is a program flow diagram of an endpoint detection module according to an embodiment of the invention;
fig. 5 is an interface diagram of a signal display module according to an embodiment of the invention.
Detailed Description
The invention provides a LabView-based underwater acoustic signal response system simulator, the framework of which is shown in figure 1, and the simulator comprises a signal generation module, a signal judgment module, an endpoint detection module and a signal display module. The signal generation module is used for generating a response signal to be forwarded, can be an ideal signal for simulation or a real signal for underwater experiments, has certain flexibility, and can meet important requirements of simulation debugging, result multiplexing and the like; the signal judgment module comprises two stages and five times of frequency domain judgment, judges whether a useful signal is received in the current period or not by utilizing multi-stage frequency domain information, ensures the reliability of the judgment of the useful signal, and reduces false triggering of a transponder; the end point detection module is used for detecting double thresholds of the judged signals, and accurately detecting the end points of the signals by utilizing the instantaneous energy entropy ratio, so that the accuracy of the response starting moment is ensured; the signal display module displays response effects, including waveforms and frequency spectrums of received signals and response signals, actual measurement delay of response, sound source level of received and response signals and the like, can visually display waveforms and results, and is favorable for coordination of all modules, system debugging and system function upgrading.
Fig. 2 shows a schematic diagram of LabView software of the signal generating module, whose main function is to generate ideal signals or read real signals according to requirements, mainly by a conditional structure. When the condition structure selects an ideal signal branch, the software generates a corresponding ideal signal according to the set signal parameters (signal bandwidth, signal pulse width, starting frequency, sampling rate, signal-to-noise ratio and response time delay); when the conditional structure selects the true signal branch, the software reads the txt storage file of the true acquisition signal to generate a signal. The module finally transmits the generated signal to a signal decision module.
The program flow of the underwater sound signal response system simulator comprises a signal decision part shown in fig. 3 and an end point detection part shown in fig. 4, and is specifically as follows:
s1: signal judgment is carried out:
s11: initializing a register and setting a frame length, and registering continuous three-frame signals of the initial stage of the signal generation module according to the time sequence;
s12: calculate the sound pressure level P (k) of the signal for three consecutive frames: the fourier transform of the acquired signal within a time frame can be expressed as:
where x (N) is the received signal in a time frame after sampling, and N is the number of sampling points in the time frame. The sound pressure level of each spectral level of the measured signal can be expressed as:
Wherein, F is the signal frequency, f s is the sampling frequency, and G is the sum of the sensitivity and gain of the hydrophone;
S13: and (3) performing primary frequency spectrum judgment: judging whether the continuous three frames all meet P (k) > Th_SL, if yes, jumping to S14, otherwise jumping to S15;
S14: and carrying out secondary spectrum judgment: and (3) carrying out calculation of the formulas (1) and (2) on the whole signals in three frames. And calculating the peak-to-average ratio:
Judging whether the superposition of the three frame signals satisfies P (k) > Th_SL+3 and L (k) > Th_PAR, if yes, jumping to S16, otherwise jumping to S15;
S15: performing shift registering of three frames of signals, namely, the first frame and the second frame in the three frames of underwater sound signals (new three frames of underwater sound signals) of the next judgment are respectively the second frame and the third frame of the last judgment, acquiring new frame data as the third frame of the underwater sound signals of the next judgment, and returning to S12 after finishing the process;
S16: the method comprises the steps of selecting K frame signals before and after a first frame, integrally sending the K frame signals to an endpoint detection module and a signal display module, jumping to S2, and clearing a buffer in a collection queue of a signal generation module after data reading is completed;
s2: performing energy entropy ratio calculation and parameter initialization:
S21: the method comprises the steps of obtaining a signal to be detected from a signal judging module, and equally dividing the signal into M signal segments in a time domain, wherein the marks are m=1, … and M, and the length of each segment of signal is a minimum resolvable time unit;
s22: and respectively calculating the instantaneous energy-entropy ratio EHR of each signal segment to form a time domain sequence of the energy-entropy ratio. Wherein the instantaneous logarithmic energy is expressed as:
The instantaneous probability is represented by a normalized spectrum:
the instantaneous entropy value can be expressed as:
finally, calculating the instantaneous energy entropy ratio:
s3: performing endpoint detection, traversing all signal segments according to a time sequence, initializing m=0, and executing:
s31: initializing the number L=1 of continuous useful signals, setting the number L min of minimum continuous useful signal segments, and initializing a possible starting point m 0 =1;
S32: let m=m+1. If EHR (m) is less than T1, judging that m is a non-useful signal segment, and jumping to S31; if T1 is less than EHR (m) is less than T2, judging that m is possibly in a useful signal, and jumping to S33; if EHR (m) is more than T2, judging that m is actually in a useful signal section, and jumping to S34;
s33: let m 0 =m-L, l=l+1, jump back to S32;
s34: let m 0 =m-L, l=l+1, m=m+1. If EHR (m) > T1, then jump to S35; otherwise, jumping back to S31;
S35: if L is more than or equal to L min, judging that m 0 is the starting moment of the useful signal; otherwise, the process jumps back to S34.
The primary judgment shown in fig. 3 adopts continuous three-frame signals to be arranged in time sequence, and the later frame and the former frame are overlapped by half frames, so that the accuracy and the instantaneity of the primary judgment are ensured; the repeated parts in the three frames are removed from the signals subjected to the secondary judgment, and the spectrum analysis is performed on the whole, so that the spectrum resolution and judgment stability are improved.
The decision threshold th_sl shown in fig. 3 is a spectrum level decision threshold, subject to the relationship: NL is less than or equal to Th_SL is less than or equal to SL-TL+NL, wherein NL is the measured noise spectrum level, SL is the target signal sound source level, and TL is the target signal propagation loss. The relation guides the artificial selection of Th_SL from the spectrum level, ensures that the transponder cannot be triggered by the background noise, and avoids the situation that the transponder is not triggered due to overlarge threshold value setting; th_PAR is a peak-to-average ratio judgment threshold, is selected according to historical experience, and is defaulted to be 1.
The end point detection thresholds T1 and T2 shown in fig. 4 obey the relation T1 < T2, and because there is a large difference between the signal-present segment and the signal-absent segment EHR, T1 is generally taken to be 0.5·max (EHR), and T2 is taken to be 0.6·max (EHR), which can be adjusted up and down by a user according to the actual environment. When the signal segment of which EHR is greater than T1 is judged to be a possible useful signal, the total length of the useful signal is accumulated, but the length judgment and the end point confirmation are not performed; the signal segment with EHR greater than T2 is determined to be a useful signal, and length accumulation, length determination, and end point confirmation are performed.
Fig. 5 shows the result of a certain underwater sound experiment displayed by the signal display module, wherein the signal type is 400-500Hz LFM signal, the duration is 1s, the preset response gain is 12dB, and the forwarding delay is 3s. The module is mainly realized through a LabView display control, and has the main functions of displaying waveforms or important parameters such as full signal waveforms, received signal interception, response signal interception, received signal spectrum, response signal spectrum, received sound pressure level, response sound source level, signal starting endpoint, signal response endpoint and the like. As can be seen from fig. 5, the signal forwarding gain is about 12dB, the forwarding delay is 3.01s, the frequency spectrum of the forwarded signal after being filtered is ideal, and the forwarding effect is good.
Claims (8)
1. A method of processing an underwater acoustic signal, comprising the steps of:
s1, acquiring an underwater sound signal;
S2, judging whether the k spectral lines of the continuous three frames of underwater sound signals meet the corresponding sound pressure level P (k) or not, if not, entering a step S3; if so, calculating the spectrum peak-to-average ratio L (K) of the three frames of underwater acoustic signals, judging whether the signals after the superposition of the three frames of underwater acoustic signals meet P (K) > Th_SL+3 and L (K) > Th_PAR, if so, selecting each K frames of underwater acoustic signals before and after the first frame of underwater acoustic signals in the three frames of underwater acoustic signals, and entering step S4; th_SL is a first threshold, and Th_PAR is a second threshold; otherwise, enter step S3;
S3, respectively taking the second and third frames of underwater acoustic signals of the continuous three frames of underwater acoustic signals as the first and second frames of underwater acoustic signals of the new three frames of underwater acoustic signals, acquiring new frame data as the third frame of underwater acoustic signal of the new three frames of underwater acoustic signals, and returning to the step S2;
S4, equally dividing the selected underwater sound signal into M signal segments in a time domain, wherein the marks are m=1, … and M respectively; calculating the instantaneous energy-entropy ratio EHR of each signal segment: Wherein E is instantaneous logarithmic energy, and H is instantaneous entropy;
s5, traversing all signal segments according to a time sequence, and judging the starting moment of the useful signal by using the instantaneous energy entropy ratio EHR.
2. The underwater sound signal processing method according to claim 1, wherein in step S2, the calculation formula of the sound pressure level of the underwater sound signal is: wherein/> X (N) is the received signal in a certain time frame after sampling, N is the sampling point number in the time frame,/>F is the underwater sound signal frequency, f s is the sampling frequency, and G is the sum of the sensitivity and gain of the hydrophone.
3. The underwater sound processing method as claimed in claim 2, wherein in step S4, the calculation formula of the instantaneous logarithmic energy E is:
4. The underwater sound processing method as claimed in claim 2, wherein in step S4, the calculation formula of the instantaneous entropy value H is:
5. The underwater sound signal processing method according to claim 1, wherein the specific implementation process of step S5 includes:
1) Initializing the number L=1 of continuous useful signals, setting the number L min of minimum continuous useful signal segments, and initializing a possible starting point m 0 =1;
2) Let m=m+1, if EHR (m) < T1, determine m as a non-useful signal segment, return to step 1); if T1 is less than EHR (m) is less than T2, judging that m is possibly in a useful signal, and entering step 3); if EHR (m) is more than T2, judging that m is in a useful signal section, and entering step 4); t1 and T2 are respectively a first detection threshold and a second detection threshold which are set, and T1 is less than T2;
3) Let m 0 = m-L, the value of L add 1, return to step 2);
4) Let m 0 = m-L, the value of L plus 1, the value of m plus 1, if EHR (m) > T1, go to step 5); otherwise, returning to the step 1);
5) If L is more than or equal to L min, judging that m 0 is the starting time of the useful signal, otherwise, returning to the step 4).
6. A computer device comprising a memory, a processor, and a computer program stored on the memory; characterized in that the processor executes the computer program to carry out the steps of the method according to one of claims 1 to 5.
7. A computer program product comprising computer programs/instructions; characterized in that the computer program/instructions, when executed by a processor, implement the steps of the method according to one of claims 1 to 5.
8. A computer readable storage medium having stored thereon computer programs/instructions; characterized in that the computer program/instructions, when executed by a processor, implement the steps of the method according to one of claims 1 to 5.
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