CN117289252A - Direct wave interference elimination method based on elliptical segmentation in active detection of underwater sound target - Google Patents
Direct wave interference elimination method based on elliptical segmentation in active detection of underwater sound target Download PDFInfo
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Abstract
The invention relates to the technical field of underwater sound target active sonar detection, in particular to a direct wave interference elimination method based on elliptical segmentation in the underwater sound target active detection, which comprises the following steps: step 1), direct wave suppression is carried out on signals received by active sonar in a beam domain; step 2) detecting the coordinates of each potential target echo signal in the received signals on a beam angle; step 3) calculating physical coordinates corresponding to each potential target; and 4) performing direct wave interference elimination by adopting an ellipse segmentation method, and retaining physical coordinates of an effective target. The invention can eliminate direct wave interference, acquire the position information of the underwater sound target, effectively reduce the false alarm rate of the active sonar system of the manned and unmanned platforms and improve the performance index of the active sonar system.
Description
Technical Field
The invention relates to the technical field of underwater sound target active sonar detection, in particular to a direct wave interference elimination method based on elliptical segmentation in the underwater sound target active detection.
Background
In multi-base sonar, an acoustic wave that reaches a receiving base directly from an acoustic source is generally defined as a direct wave. Since the direct wave propagation loss is small, the sound level is often several tens of db higher than that of the target echo. When the direct wave and the target echo are aliased, it is generally considered that the detection of the echo signal cannot be completed. If target detection is expected to be realized in the direct wave background, direct wave interference needs to be restrained algorithmically.
The underwater acoustic channel is a sparse multipath channel, and direct wave suppression is generally carried out by adopting an adaptive method, a Least Square (LS) method, an Orthogonal Matching Pursuit (OMP) method and the like, and the essence of the underwater acoustic channel is that an estimated channel and a transmitting signal are adopted to carry out convolution to obtain a reconstructed signal, so that a noise-containing direct wave signal and the reconstructed signal under the multipath channel have minimum error. Taking OMP method as an example, as the iteration number increases, the energy of the received signal containing the direct wave gradually decreases until converging near the stable residual component, continuing iteration, and canceling a part of the newly introduced transmitted signal with the residual component, adding the rest as a "newly introduced residual component" to the rest, wherein the "energy of the canceling part" is similar to the "energy of the newly introduced residual component", and the iteration result fluctuates up and down near the stable residual component value at this time, so as not to act on the energy cancellation of the direct wave. The energy of the 'newly introduced residual component' is far lower than that of the direct wave, the interference of the direct wave is inhibited, but compared with the target echo, the 'newly introduced residual component' still has stronger correlation with a transmitting signal, and in a beam domain signal detection result, the 'newly introduced residual component' corresponds to a cluster of elliptic curves with a receiving array and a transmitting station as fixed points. By utilizing the characteristics, the beam domain signal detection result is subjected to ellipse segmentation on an ellipse curve cluster taking a receiving array and a transmitting station as fixed points, and an ellipse section corresponding to the newly introduced residual component is deleted, namely the influence of the newly introduced residual component on the detection result is eliminated.
In the underwater sound target active sonar detection application, the direct wave interference is effectively eliminated, the false alarm rate of the active sonar system of the manned and unmanned platforms is reduced, and the performance index of the active sonar system is improved.
Disclosure of Invention
The invention aims to design a direct wave interference elimination method based on elliptical segmentation in the active detection of underwater sound targets, which can effectively reduce the false alarm rate of active sonar systems of manned and unmanned platforms so as to improve the performance index of the active sonar systems.
In order to achieve the above purpose, the present invention is realized by the following technical scheme.
The invention provides a direct wave interference elimination method based on elliptical segmentation in active detection of underwater sound targets, which comprises the following steps:
step 1), direct wave suppression is carried out on signals received by active sonar in a beam domain;
step 2) detecting the coordinates of each potential target echo signal in the received signals on a beam angle;
step 3) calculating physical coordinates corresponding to each potential target;
and 4) performing direct wave interference elimination by adopting an ellipse segmentation method, and retaining physical coordinates of an effective target.
As an improvement of the foregoing technical solution, the step 1) specifically includes:
carrying out beam forming processing on signals received by the active sonar to obtain beam domain signals;
setting a multi-path channel estimation value corresponding to a direct wave signal in a beam domain signal, and reconstructing the direct wave signal by using the multi-path channel estimation value to obtain a direct wave reconstruction signal;
and performing direct wave suppression on the beam domain signals by using the direct wave reconstruction signals to obtain signals subjected to direct wave suppression.
As one of the improvements of the above technical scheme, the ith beam angleCorresponding beam domain signal S i Direct wave reconstruction signal ∈>Expressed as:
wherein S is copy For the pulsed signal transmitted by the active sonar,is a convolution operator, W i Is S i Multi-path channel estimation values corresponding to the medium direct wave signals, i=1, 2, N; n is the number of beam angles when the signals received by the active sonar are subjected to beam forming processing;
for S i Signal after direct wave suppressionExpressed as:
as an improvement of the foregoing technical solution, the step 2) specifically includes:
calculating the signal after direct wave inhibition by adopting pulse compression methodAnd active sonar emission pulse signal S copy Normalized cross-correlation coefficient sequence->
Calculation ofCoordinates (X) corresponding to the jth data point of (b) j ,Y j )：
Fs is the sampling rate of the wave beam domain signal, and c is the sound velocity; j represents the j-th sample for each beam anglePoints j=1, 2, …, P being the total number of samples corresponding to each beam angle,d max the maximum detection distance of the active sonar system;
reservation ofAnd obtaining a coordinate set omega of the corresponding point of the potential target on the beam angle by using the point with the value larger than the potential target detection threshold phi as the potential target corresponding point.
As an improvement of the foregoing technical solution, the step 3) specifically includes:
the receiving array is positioned at the origin of coordinates O (0, 0), and the active sonar transmitting signal is positioned at the coordinate point A (x 1 ,y 1 ) The potential target is located at coordinate point B (x 0 ,y 0 ) The underwater sound target at the coordinate point B corresponds to the point coordinate A' (x) on the beam angle 2 ,y 2 ) e.OMEGA.with a midpoint of line segment AA' of C (x 3 ,y 3 )；
Calculate the straight line l passing through the origin O and the point A OA′ Straight line l with passing point B and point C BC Is the intersection point of the potential target, namely coordinate point B (x 0 ,y 0 ) The method comprises the steps of carrying out a first treatment on the surface of the When straight line l OA′ Perpendicular to the X axis, X 0 ＝0，y 0 =b; when straight line l OA′ When the axis is not perpendicular to the X-axis,wherein k is 1 Is a straight line l OA′ Slope of>k 2 And b are respectively straight lines l BC Slope and intercept of>b＝y 3 -k 2 ·x 3 ，/>Obtaining a physical coordinate set omega corresponding to the point coordinate set omega corresponding to the potential target on the beam angle * 。
As an improvement of the foregoing technical solution, the step 4) specifically includes:
setting two fixed points corresponding to an elliptic curve psi for direct wave interference elimination as a point A and a point O, and setting the fixed length as D to obtain the elliptic curve psi for direct wave interference elimination;
judging whether the physical coordinates corresponding to each potential target are positioned in an elliptic curve psi or not: if a coordinate value is positioned in the elliptic curve psi, the coordinate value is a direct wave interference target, and the direct wave interference target is eliminated; if a coordinate value is located outside the elliptic curve ψ or on the elliptic curve ψ, the coordinate value is an effective target coordinate, which is reserved.
As one of the improvements of the above technical scheme, the calculation formula of the fixed length D is:
D＝d OA +2·c·T
wherein d OA The distance between the coordinate point A of the active sonar transmitting signal and the coordinate point of the receiving array, namely the coordinate origin O, and T is the length seconds of the multi-path underwater sound channel corresponding to the direct wave.
The invention also designs a direct wave interference elimination system based on elliptical segmentation in the active detection of the underwater sound target, which comprises: an active sonar and signal processing module; wherein,
the active sonar is used for transmitting pulse signals and receiving signals;
the signal processing module is used for performing direct wave suppression on signals received by the active sonar in a beam domain, detecting coordinates of echo signals of potential targets in the received signals on a beam angle, calculating physical coordinates corresponding to the potential targets, performing direct wave interference elimination by adopting an elliptical segmentation method, and retaining the physical coordinates of the effective targets.
Compared with the prior art, the invention has the advantages that:
in the active sonar target detection, the residual component of the direct wave in the existing direct wave inhibition method is often misjudged as a target echo signal, a false alarm target is generated, and the performance index of the active sonar system is reduced. The invention discloses a direct wave interference elimination method based on elliptical segmentation by utilizing the characteristic that a direct wave residual component corresponds to a cluster of elliptic curves with a receiving array and a transmitting site as fixed points, so that the false alarm rate of an active sonar system of a manned platform and an unmanned platform is effectively reduced, and the performance index of the active sonar system is improved.
Drawings
FIG. 1 is a schematic flow chart of a direct wave interference cancellation method based on elliptical segmentation in active detection of underwater sound targets according to one embodiment of the application;
FIG. 2 is a schematic diagram of calculating physical coordinates corresponding to potential targets according to one embodiment of the present application;
FIG. 3 is a schematic diagram of direct wave interference cancellation using the method of the present application, according to one embodiment of the present application.
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings and examples.
Example 1
The invention provides a direct wave interference elimination method based on elliptical segmentation in active detection of underwater sound targets, which comprises the following steps: step 1), direct wave suppression is carried out on active sonar receiving signals in a beam domain; step 2) detecting the coordinates of each potential target echo signal in the received signals on a beam angle; step 3) calculating physical coordinates corresponding to each potential target; step 4) adopting an ellipse segmentation method to eliminate direct wave interference and keeping physical coordinates of an effective target
. The method can eliminate direct wave interference, acquire the position information of the underwater sound target, is beneficial to reducing the false alarm rate of the active sonar system of the manned and unmanned platforms and improving the performance index of the active sonar system.
In order to achieve the above object, the present invention provides a method for eliminating direct wave interference based on elliptical segmentation in active detection of underwater sound targets, the method comprising:
step 1), direct wave suppression is carried out on active sonar receiving signals in a beam domain;
at the underwater sound targetIn the active detection, the receiving array is positioned at the coordinate origin O (0, 0), and the active sonar is positioned at the coordinate point A (x) at the moment 0 1 ,y 1 ) Transmitting pulse signal S copy The underwater sound target is located at coordinate point B (x 0 ,y 0 ) The region equivalent sound velocity is c. The signal of the pulse signal transmitted to the coordinate origin O from the coordinate point A through the underwater sound multipath channel is a direct wave signal; after the pulse signal propagates from the coordinate point A to the underwater sound target of the coordinate point B through the underwater sound multi-path channel, the signal which is reflected by the underwater sound target and propagates to the coordinate origin point O again is a target echo signal. In order to obtain the array gain, carrying out beam forming processing on the received array data to obtain a beam domain signal, wherein the number of beam angles is N, and each beam angle is respectivelyThe beam domain signal corresponding to each beam angle is S 1 S 2 … S i … S N The beam domain signal sampling rate is fs. Let beam signal S 1 S 2 … S i … S N The estimation values of the multipath channels corresponding to the direct wave signals in the filter are respectively W 1 W 2 … W i … W N The direct wave reconstruction signal is +.>Wherein-> Is a convolution operator. Let the signal after direct wave suppression of the beam domain signal be +.>Wherein->
Step 2) detecting the coordinates of each potential target echo signal in the received signals on a beam angle;
respectively calculating signals after direct wave inhibition by adopting pulse compression methodAnd transmitting pulse signal S copy Normalized cross-correlation coefficient sequence->Wherein-> Wherein the function f (s 1 ,s 2 ) Representing the calculated signal s 1 Sum signal s 2 Is provided. Order theThe j-th data point of (b) corresponds to the coordinate (X j ,Y j ) Then->Let the potential target detection threshold be phi, normalize the cross-correlation coefficient sequence +.>The point with the value larger than phi is the corresponding point of the potential target. Let M potential target points be detected altogether, the corresponding point coordinate set of the potential targets on the beam angle is omega= { (X) 1 ,Y 1 ) (X 2 ,Y 2 ) … (X k ,Y k ) … (X M ,Y M )}。
Step 3) calculating physical coordinates corresponding to each potential target;
the receiving array is positioned at the origin of coordinates O (0, 0), and the active sonar transmitting signal is positioned at the coordinate point A (x 1 ,y 1 ) The underwater sound target is located at coordinate point B (x 0 ,y 0 ) The underwater sound target at coordinate point B corresponds to the point in the beam angleThe coordinates are A' (x 2 ,y 2 ) Δaba ' is an isosceles triangle where ba=ba ', let the midpoint of line segment AA ' be C (x 3 ,y 3 ) Straight line l BC Perpendicular to line segment AA', andlet straight line l passing through origin O OA′ The equation is: y=k 1 x is->Let straight line l BC The equation is: y=k 2 x+b, then->b＝y 3 -k 2 ·x 3 . Straight line l OA′ And straight line lx C The intersection point of (a) is coordinate point B (x) 0 ,y 0 ) When straight line l OA′ Perpendicular to the X axis, X 0 ＝0，y 0 =b; otherwise, go (L)>Calculating according to the formula, wherein the physical coordinate set corresponding to the point coordinate set omega of the potential target on the beam angle is +.>
And 4) performing direct wave interference elimination by adopting an ellipse segmentation method, and retaining physical coordinates of an effective target.
An ellipse is a collection of points that are equal to a fixed length from two fixed points. The receiving array is positioned at the origin of coordinates O (0, 0), and the active sonar transmitting signal is positioned at the coordinate point A (x 1 ,y 1 ) The distance between the point A and the point O is d OA . Let the length T seconds of the multi-path underwater sound channel corresponding to the direct wave, let the fixed length D=d OA +2.c.T. Two determinations corresponding to elliptic curve ψ for direct wave interference cancellationThe points are point A and point O, and the fixed length is D. In the physical coordinates corresponding to each potential target, if a coordinate value is positioned in an elliptic curve psi, eliminating the direct wave interference target; otherwise, it is reserved for valid target coordinates. The M potential target points are removed and the effective target number is M after the coordinate points in the elliptic curve psi are removed # The effective target coordinate set is
The invention will now be further described with reference to examples and figures.
As shown in fig. 1, a flowchart of a direct wave interference cancellation method based on elliptical segmentation according to embodiment 1 of the present application includes: step 1), direct wave suppression is carried out on active sonar receiving signals; step 2) detecting potential target echo signals; step 3) calculating physical coordinates corresponding to each potential target; and 4) performing direct wave interference elimination by adopting an ellipse segmentation method. In this embodiment, the invention provides a direct wave interference cancellation method based on elliptical segmentation in active underwater sound target detection, which specifically includes:
as shown in fig. 3, in the active detection of the underwater sound target, the receiving array is located at the origin O (0, 0), the active sonar is located at the coordinate point a (5000 m, 3000 m) at the time 0, the point a is represented by the symbol "x" in fig. 3, and the pulse signal S is transmitted copy The hydroacoustic target is located at coordinate point B (2000 m, 4000 m), which is indicated in fig. 3 by the "+" symbol, and the region equivalent sound velocity is c=1500 m/s. The signal of the pulse signal transmitted to the coordinate origin O from the coordinate point A through the underwater sound multipath channel is a direct wave signal; after the pulse signal propagates from the coordinate point A to the underwater sound target of the coordinate point B through the underwater sound multi-path channel, the signal which is reflected by the underwater sound target and propagates to the coordinate origin point O again is a target echo signal. In order to obtain the array gain, the received array data is subjected to beam forming processing to obtain a beam domain signal, wherein the number of beam angles is n=181, and the beam angles are respectively0 DEG 1 DEG … i DEG … DEG 180 DEG, the beam domain signal corresponding to each beam angle is S 1 S 2 … S i … S N The beam domain signal sampling rate is fs=2000 Hz. Let beam signal S 1 S 2 … S i … S N The estimation values of the multipath channels corresponding to the direct wave signals in the filter are respectively W 1 W 2 … W i … W N The direct wave reconstruction signal isWherein-> Is a convolution operator. Let the signal after direct wave suppression of the beam domain signal be +.>Wherein the method comprises the steps of
Respectively calculating signals after direct wave inhibition by adopting pulse compression methodAnd transmitting pulse signal S copy Normalized cross-correlation coefficient sequence->Wherein-> Wherein the function f (s 1 ,s 2 ) Representing the calculated signal s 1 Sum signal s 2 Is provided. Order theThe j-th data point of (b) corresponds to the coordinate (X j ,Y j ) Then->Let the potential target detection threshold be phi=0.64, then normalize the cross-correlation coefficient sequence +.>The point with the value larger than phi is the corresponding point of the potential target. Let m=195 potential target points be detected altogether, the potential target corresponding to a point coordinate set of Ω= { (X) in the beam angle 1 ,Y 1 ) (X 2 ,Y 2 ) … (X k ,Y k ) … (X M ,Y M ) -rice, (-rice,) (-rice, rice) (-834.1 meter, rice) (-834.3 meter, rice) (-rice, rice) (-834.1 m, m) (-834.3 m, rice) (-rice, rice) (rice ) (rice, 3784.4 m) (4674.5 m, 3785.4 m) (4677.4 m, 3787.7 m) (4678.6 m, 3788.7 m) (4736.3 m, 3700.4 m) (4737.5 m, 3701.4 m) (4738.7 m, 3702.3 m) (4739.9 m, 3703.2 m) (4741.7 m, 3704.6 m) (4742.8 m, 3705.5 m) (4744.0 m, 3706.4 m)Rice) (rice ) (rice, rice) (rice, 2915.0 m) (rice ) (rice, rice) (rice), rice) (rice ) (riceRice, rice) (rice ) (rice), rice) (rice ) (rice, rice (rice ) (1657.8 rice) (rice ) (rice), rice) (rice ) (rice), rice) (rice ) }.
As shown in fig. 2, the receiving array is located at the origin O (0, 0) of coordinates, and the active sonar transmission signal is located at the point a (x 1 ,y 1 ) The underwater sound target is located at coordinate point B (x 0 ,y 0 ) The underwater sound target at the coordinate point B corresponds to the point coordinate A' (x) on the beam angle 2 ,y 2 ) Δaba ' is an isosceles triangle where ba=ba ', let the midpoint of line segment AA ' be C (x 3 ,y 3 ) Straight line l BC Perpendicular to line segment AA', andlet straight line l passing through origin O OA′ The equation is: y=k 1 x is->Let straight line l BC The equation is: y=k 2 x+b, then->b＝y 3 -k 2 ·x 3 . Straight line l OA′ And straight line l BC The intersection point of (a) is coordinate point B (x) 0 ,y 0 ) When straight line l OA′ Perpendicular to the X axis, X 0 ＝0，y 0 =b; otherwise, go (L)>Calculating according to the formula, wherein the physical coordinate set corresponding to the point coordinate set omega of the potential target on the beam angle is +.> In fig. 3 the "." symbol is set Ω * The set of coordinates of the physical coordinate map corresponding to 195 potential target points is { (-48.2 meters, 226.9 meters) (-45.9 meters, 236.4 meters) (-46.4 meters, meters) (-42.5 meters, 240.8 meters) (-42.8 meters, 242.9 meters) (-40.1 meters, 253.0 meters) (-35.9 meters, 255.5 meters) (-36.2 meters, meters) (-33.0 meters, meters) (-33.3 meters, 271.0 meters) (-28.5 meters, 271.4 meters) (-28.8 meters, 273.8 meters) (79.4 meters, 450.4 meters) (92.3 meters, meters) (209.1 meters), rice (rice ) (rice), rice (rice ) (rice), rice) (rice ) (rice, 2739.3 meters) (3496.1 meters, 2831.1 meters) (3503.5 meters, 2837.1 meters) (3510.8 meters, 2843.0 meters) (3528.6 meters, 2857.4 meters) (3535.6 meters, 2863.1 meters) (3748.7 meters, 2928.8 meters) (3755.3 meters, 2934.0 meters) (3761.8 meters, 2939.1 meters) (3768.3 meters ) (3768.3 meters), 3768.3 meters) (3768.3 meters ) (3768.3 meters, 3768.3 meters)/(Rice, rice) (rice ) (rice, rice) (rice ) (rice446.1 meters) (rice ) (rice, rice) (rice, 1010.7 m) (rice, 1014.5 m) (rice, 1018.3 m) (3145.6 m, rice) (rice ) (rice, 899.8 meters) (rice ) (rice, rice) (rice, 688.4 m) (rice ) (rice, 603.9 m) (rice ) }.
An ellipse is a collection of points that are equal to a fixed length from two fixed points. The receiving array is positioned at the origin of coordinates O (0, 0), the active sonar transmitting signal is positioned at a coordinate point A (5000 m, 3000 m), and the distance between the point A and the point O is d OA =5831 meters. Let the corresponding multi-path underwater sound channel length T=0.1 seconds of the direct wave, let the fixed length D=d OA +2·c·t=6131 meters. Two fixed points corresponding to an elliptic curve ψ for direct wave interference elimination are point a and point O, the fixed length is D, and the elliptic curve ψ is represented by a solid curve in fig. 3. In the physical coordinates corresponding to each potential target, if a coordinate value is positioned in an elliptic curve psi, eliminating the direct wave interference target; otherwise, it is reserved for valid target coordinates. The 195 potential target points are removed and the effective target number is M after the coordinate points in the elliptic curve psi are removed # =1, the valid target coordinate set is Ω # ＝{(X 1 = 1947.4 meters, Y 1 = 3992.7 meters) }. The distance error between the target position detection result and the true value B (2000 m, 4000 m) is 53.1 m.
In this embodiment, due to interference of the direct wave residual component, 195 potential targets are detected, and segmentation processing is performed through an elliptic curve ψ, so that 194 false alarm targets caused by the direct wave residual component are removed, 1 real target is reserved, the false alarm rate of the active sonar system is effectively reduced, and the performance index of the active sonar system is improved.
From the above detailed description of the invention, the technical scheme of the invention eliminates the false alarm target caused by the direct wave residual component, retains the real target, effectively reduces the false alarm rate of the active sonar system, and improves the performance index of the active sonar system.
Example 2
The invention relates to a direct wave interference elimination system based on elliptical segmentation in active detection of underwater sound targets, which comprises the following components: an active sonar and signal processing module; wherein,
the active sonar is used for transmitting pulse signals and receiving signals;
the signal processing module is used for performing direct wave suppression on signals received by the active sonar in a beam domain, detecting coordinates of echo signals of potential targets in the received signals on a beam angle, calculating physical coordinates corresponding to the potential targets, performing direct wave interference elimination by adopting an elliptical segmentation method, and retaining the physical coordinates of the effective targets.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and are not limiting. 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 modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the appended claims.
Claims (8)
1. A direct wave interference elimination method based on elliptical segmentation in active detection of underwater sound targets comprises the following steps:
step 1), direct wave suppression is carried out on signals received by active sonar in a beam domain;
step 2) detecting the coordinates of each potential target echo signal in the received signals on a beam angle;
step 3) calculating physical coordinates corresponding to each potential target;
and 4) performing direct wave interference elimination by adopting an ellipse segmentation method, and retaining physical coordinates of an effective target.
2. The method for direct wave interference cancellation based on elliptical segmentation in active underwater sound target detection according to claim 1, wherein the step 1) specifically comprises:
carrying out beam forming processing on signals received by the active sonar to obtain beam domain signals;
setting a multi-path channel estimation value corresponding to a direct wave signal in a beam domain signal, and reconstructing the direct wave signal by using the multi-path channel estimation value to obtain a direct wave reconstruction signal;
and performing direct wave suppression on the beam domain signals by using the direct wave reconstruction signals to obtain signals subjected to direct wave suppression.
3. The method for direct wave interference cancellation based on elliptical segmentation in active detection of underwater acoustic targets according to claim 2, wherein the ith beam angleCorresponding beam domain signal S i Direct wave reconstruction signal ∈>Expressed as:
wherein S is copy For the pulsed signal transmitted by the active sonar,is a convolution operator, W i Is S i Multi-path channel estimation values corresponding to the medium direct wave signals, i=1, 2, N; n is the number of beam angles when the signals received by the active sonar are subjected to beam forming processing;
for S i Signal after direct wave suppressionExpressed as:
4. the method for direct wave interference cancellation based on elliptical segmentation in active underwater sound target detection according to claim 3, wherein the step 2) specifically comprises:
calculating the signal after direct wave inhibition by adopting pulse compression methodAnd active sonar emission pulse signal S copy Normalized cross-correlation coefficient sequence->
Calculation ofCoordinates (X) corresponding to the jth data point of (b) j ,Y j )：
Fs is the sampling rate of the wave beam domain signal, and c is the sound velocity; j=1, 2, …, P is the total number of samples corresponding to each beam angle,d max the maximum detection distance of the active sonar system;
reservation ofAnd obtaining a coordinate set omega of the corresponding point of the potential target on the beam angle by using the point with the value larger than the potential target detection threshold phi as the potential target corresponding point.
5. The method for direct wave interference cancellation based on elliptical segmentation in active underwater sound target detection according to claim 4, wherein the step 3) specifically comprises:
the receiving array is positioned at the origin of coordinates O (0, 0), and the active sonar transmitting signal is positioned at the coordinate point A (x 1 ,y 1 ) The potential target is located at coordinate point B (x 0 ,y 0 ) The underwater sound target at the coordinate point B corresponds to the point coordinate A' (x) on the beam angle 2 ,y 2 ) e.OMEGA.with a midpoint of line segment AA' of C (x 3 ,y 3 )；
Calculate the straight line l passing through the origin O and the point A OA′ Straight line l with passing point B and point C BC Is the intersection point of the potential target, namely coordinate point B (x 0 ,y 0 ) The method comprises the steps of carrying out a first treatment on the surface of the When straight line l OA′ Perpendicular to the X axis, X 0 ＝0，y 0 =b; when straight line l OA′ When the axis is not perpendicular to the X-axis,wherein k is 1 Is a straight line l OA′ Slope of>k 2 And b are respectively straight lines l BC Slope and intercept of>Obtaining a physical coordinate set omega corresponding to the point coordinate set omega corresponding to the potential target on the beam angle * 。
6. The method for direct wave interference cancellation based on elliptical segmentation in active underwater sound target detection according to claim 5, wherein the step 4) specifically comprises:
setting two fixed points corresponding to an elliptic curve psi for direct wave interference elimination as a point A and a point O, and setting the fixed length as D to obtain the elliptic curve psi for direct wave interference elimination;
judging whether the physical coordinates corresponding to each potential target are positioned in an elliptic curve psi or not: if a coordinate value is positioned in the elliptic curve psi, the coordinate value is a direct wave interference target, and the direct wave interference target is eliminated; if a coordinate value is located outside the elliptic curve ψ or on the elliptic curve ψ, the coordinate value is an effective target coordinate, which is reserved.
7. The method for eliminating direct wave interference based on elliptical segmentation in active underwater sound target detection according to claim 6, wherein the calculation formula of the fixed length D is as follows:
D＝d OA +2·c·T
wherein d OA The distance between the coordinate point A of the active sonar transmitting signal and the coordinate point of the receiving array, namely the coordinate origin O, and T is the length seconds of the multi-path underwater sound channel corresponding to the direct wave.
8. An elliptical segmentation-based direct wave interference cancellation system in active detection of underwater sound targets, which is characterized by comprising: an active sonar and signal processing module; wherein,
the active sonar is used for transmitting pulse signals and receiving signals;
the signal processing module is used for performing direct wave suppression on signals received by the active sonar in a beam domain, detecting coordinates of echo signals of potential targets in the received signals on a beam angle, calculating physical coordinates corresponding to the potential targets, performing direct wave interference elimination by adopting an elliptical segmentation method, and retaining the physical coordinates of the effective targets.
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