CN117907998B - Shallow sea broadband sound source ranging method, medium and system - Google Patents
Shallow sea broadband sound source ranging method, medium and system Download PDFInfo
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Abstract
The invention provides a shallow sea broadband sound source ranging method, medium and system, belonging to the technical field of sound source ranging, comprising the following steps: arranging a horizontal line array parallel to the sea level at the bottom of the sea for observation; performing multi-frequency point division on the received broadband signal; performing space domain Fourier transform on each frequency point signal to obtain a horizontal wave number amplitude spectrum; the energy of each mode in the horizontal wave number magnitude spectrum is related to the estimation precision of the horizontal wave number value, so that the mode energy duty ratio is obtained; setting a duty ratio threshold value, and screening out a horizontal wave number effective value of each frequency point signal; judging a modal symbol corresponding to the effective value of the horizontal wave number, and obtaining a distance fuzzy function by using the effective value of the horizontal wave number and the modal symbol; and obtaining the distance fuzzy function of the broadband sound source by summing the distance fuzzy functions and averaging the average modulo value, wherein the corresponding distance at the peak value is the estimated distance of the broadband sound source.
Description
Technical Field
The invention belongs to the technical field of sound source ranging, and particularly relates to a shallow sea broadband sound source ranging method, medium and system.
Background
In a complex marine environment, particularly in shallow sea, the waveguide characteristics are affected by climate change, uneven sound velocity distribution and other factors, and the waveguide characteristics are represented as a complex acoustic transmission channel with space-time dynamic change. This phenomenon presents a great challenge for accurately and real-time acquisition and analysis of environmental parameters, which is time-consuming and tedious, and requires a great deal of manpower and material resources. The effectiveness and accuracy of conventional sound source ranging methods, such as matched field processing techniques and virtual time reversal techniques, are highly dependent on accurate ambient parameter settings and detailed sound field model construction. However, in practical applications, the performance of these methods tends to suffer from significant compromises due to complex variability of environmental parameters.
In recent years, with the deep research and study of the dispersion characteristics of broadband signals, a new generation ranging technology based on modal information is gradually used in the open corner, and is widely applied in various fields. Such techniques can be broadly divided into two broad categories: the first type is to separate and extract each order of dominant modal information by performing time-frequency analysis on the signals, and then perform accurate ranging according to the matched modal characteristics. However, the method has certain limitation that when the thermocline structure appears in the water body environment, the interaction among the modes of each order can generate a cross interference effect in a time-frequency domain, so that the ranging precision is rapidly reduced.
The second type is to utilize the principle of modal coherent superposition in the distance-frequency domain to realize target ranging by observing the morphology and distribution of interference fringes. The method ingeniously utilizes the inherent physical characteristics of the waveguide, but has certain condition constraint on practical application, and is mainly suitable for an equal-sound-velocity waveguide environment with uniform and stable sound velocity. Meanwhile, the effective implementation of the method also needs to grasp invariant parameters closely related to specific waveguide environments in advance, which certainly limits the universality and flexibility of the method in more complex and changeable practical application scenes to a certain extent.
Disclosure of Invention
In view of the above, the shallow sea broadband sound source ranging method, medium and system provided by the invention are based on the modal phase compensation technology, the dependence of the traditional method on environment priori information is abandoned, the constant sound velocity profile is not required, and the calculation is convenient and quick.
The invention is realized in the following way:
the first aspect of the invention provides a shallow sea broadband sound source ranging method, which comprises the following steps:
S10, arranging a horizontal line array parallel to the sea level at the bottom of the sea for observation;
S20, performing multi-frequency point division on the received broadband signal to obtain a frequency point signal;
S30, performing space domain Fourier transform on each frequency point signal to obtain a horizontal wave number magnitude spectrum of each frequency point signal;
S40, associating the energy of each mode in the horizontal wave number magnitude spectrum with the estimation precision of the horizontal wave number value to obtain the mode energy duty ratio;
s50, setting a modal energy duty ratio threshold value, and screening out a horizontal wave number effective value of the frequency point signal;
S60, judging a modal symbol corresponding to the horizontal wave number effective value, and obtaining a distance blurring function of the frequency point signal by using the horizontal wave number effective value and the modal symbol;
and S70, summing the distance fuzzy functions and averaging the average modulus value to obtain the distance fuzzy function of the broadband sound source, wherein the corresponding distance at the peak value is the estimated distance of the broadband sound source.
The invention provides a shallow sea broadband sound source ranging method which has the following technical effects: because the aperture of the horizontal linear array is limited, energy leakage phenomenon can occur in each mode in the horizontal wave number amplitude spectrum, and the estimation accuracy of the horizontal wave number can be influenced due to larger interference to the mode with smaller energy, so that larger mode phase error is introduced. In order to obtain more accurate horizontal wave values, a modal energy ratio is defined, horizontal wave values corresponding to modes with larger energy in signals of all frequency points are screened out by setting a proper modal energy ratio threshold, and the screened horizontal wave values are defined as effective horizontal wave number values.
On the basis of the technical scheme, the shallow sea broadband sound source ranging method can be further improved as follows:
The step S10 specifically includes:
the horizontal line array receives far-field broadband signals;
according to Jian Zhengbo theory, the sound field excited by a point sound source is expressed as a simple square wave in the far field:
Where h represents the channel transfer function between the sound source and the far field; f represents the sound source frequency; r 0 denotes the horizontal distance between the sound source and the receiving array; z s and z r represent the sound source depth and the receive array depth, respectively; ρ represents the water density; m represents the mode order of single-frequency sound source excitation in the current shallow sea environment; phi m and k rm represent the modal function and horizontal wave values, respectively, of the M (m=1, …, M) th order mode; Is an imaginary unit;
The horizontal distance r n between the nth array element and the far-field sound source in the N-element horizontal line array disposed at the z r depth is expressed as:
rn≈rs+Δn；
Wherein r s＝r1 represents the horizontal distance between the center of the sound source and array element 1; Δ n = (n-1) dcos θ represents the horizontal distance difference between the sound source center and the No. 1 and n array elements, d represents the array element spacing, θ represents the sound source azimuth.
And calculating horizontal linear array received data, a sound source radiation signal and background noise according to the channel transfer value between the sound source and the far field, wherein the signal-to-noise ratio of a single frequency point is defined as the ratio of the energy of the received signal to the noise power on a single array element.
Further, the specific step S20 includes:
the first frequency domain snapshot of the received broadband signal of the horizontal line array is as follows:
Wherein l=1, …, L represent frequency domain snapshots, s l、xl and w l are n×1-dimensional column vectors, and represent a sound source radiation signal, horizontal line array received data and received noise in the first frequency domain snapshot respectively; a (f) represents the frequency spectrum of each frequency point signal; j represents the number of frequency points;
The horizontal line array receiving noise under the first frequency domain snapshot is space white noise and obeys w l～CN(0,σ2IN, wherein sigma 2 represents noise power on a single array element, and I N represents an N multiplied by N identity matrix;
Defining the signal-to-noise ratio of a single frequency point as the ratio of the energy of a received signal to the noise power on a single array element, wherein the decibel SNR (signal-to-noise ratio) is expressed as follows:
In the formula, II 2 represents the vector l-2 norm.
Further, the step S30 specifically includes:
performing space domain Fourier transform on the frequency point signals to obtain horizontal wave number magnitude spectrums of the frequency point signals:
Wherein k represents a discrete horizontal wave number; For N x 1 dimension column vectors, representing spatial weighting coefficients, and superscript T represents transposition; representing the average of L frequency domain snapshots; the superscript H denotes a conjugate transpose;
Wherein B m (f) represents the m-th order modal amplitude; w k (f) represents background noise of the horizontal wave number magnitude spectrum of the signal at each frequency point.
Further, the specific contents of S40 to S50 include:
Defining a modal energy ratio:
Wherein M 0 represents the modal order corresponding to the first M 0 amplitude maxima in the horizontal wave number amplitude spectrum; setting the mode energy ratio threshold as eta, if E (f) is more than or equal to eta, defining the horizontal wave value of the M 0 -order mode as the effective value of the horizontal wave number, and recording as
Further, the step S50 further includes:
the effective value of the horizontal wave number of the M 0 -order mode is equal to the horizontal wave number of the previous M 0 -order mode in the M-order modes, namely
Defining a modal domain beamforming weighting matrix U (θ, f) in n×m 0 dimensions:
the received data of the corresponding frequency points are subjected to modal domain beam forming to obtain:
in the formula, y l (f) and w' l (f) are M 0 ×1 dimension column vectors, and respectively represent an output value and background noise of the modal domain beam forming performed by the frequency point signals in the first time of frequency domain snapshot. Further, the step S60 specifically includes:
Constructing a modal domain beam forming weighting matrix of the frequency point signal by using the horizontal wave number effective value of the frequency point signal, and obtaining a modal domain beam output result by carrying out modal domain beam forming on the frequency point signal;
Judging a modal symbol corresponding to the horizontal wave number effective value, constructing a modal phase weighting vector of the frequency point signal by using the horizontal wave number effective value and the modal symbol of the frequency point signal, and carrying out phase compensation on the modal domain beam output result to obtain a distance fuzzy function of the frequency point signal.
Further, the steps S60 to S70 include:
Defining modal amplitude symbols as:
horizontal wavenumber effective value using M 0 -order mode Defining a modal phase weight vector q (r, f) of M 0 x 1 dimensions:
wherein r represents a search distance;
performing phase compensation on the modal domain beam output result to construct a distance blurring function p (r, f):
wherein w' (f) represents background noise of the distance blur function of the signal of each frequency point;
the main lobe term is enhanced by the average of the signal bandwidth, the side lobe term is restrained, and the distance ambiguity function p (r) of the broadband sound source is:
Wideband sound source distance estimation result The method comprises the following steps: /(I)
A second aspect of the present invention provides a computer readable storage medium having program instructions stored therein, the program instructions, when executed, being configured to perform a shallow sea broadband sound source ranging method as described above.
A third aspect of the present invention provides a shallow sea broadband sound source ranging system comprising the computer readable storage medium described above.
Compared with the prior art, the shallow sea broadband sound source ranging method, medium and system provided by the invention have the beneficial effects that: aiming at the application scene when the parameters of the shallow sea environment are unknown, the invention provides a broadband sound source ranging method based on modal phase compensation according to the characteristic that the phase components of the modalities are only irrelevant to other parameters along with the change of the sound source distance and the horizontal wave number. The method directly carries out space domain Fourier transform on horizontal array observation data to obtain a horizontal wave number amplitude spectrum, defines a horizontal wave number effective value according to a modal energy ratio, separates out a modal component corresponding to the horizontal wave number effective value through modal domain beam forming, and further carries out phase compensation treatment on the separated modal to achieve the purpose of coherent superposition, thereby obtaining a distance peak value. The method does not need environment priori information, does not require constant sound velocity profile, is convenient and quick to calculate, and has certain robustness when the signal-to-noise ratio is low.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the spatial relationship between a sound source and a horizontal linear array according to the present invention;
FIG. 2 is a flow chart of the main steps of the present invention;
FIG. 3 is a schematic view of sound velocity profile of a simulation scenario of the present invention;
FIG. 4 is a diagram of an example of a wideband sound source ranging result and ranging relative error in a simulated scene according to the present invention;
FIG. 5 is an exemplary diagram of a wideband sound source ranging result and ranging relative error in an experimental scenario of the present invention;
fig. 6 is a flow chart of a method for ranging a shallow sea broadband sound source.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 2 and 6, a flowchart of a first embodiment of a shallow sea broadband sound source ranging method is provided for a first aspect of the present invention, in this embodiment, the method includes the following steps:
S10, arranging a horizontal line array parallel to the sea level at the bottom of the sea for observation;
S20, performing multi-frequency point division on the received broadband signal to obtain each frequency point signal;
s30, performing space domain Fourier transform on each frequency point signal to obtain a horizontal wave number magnitude spectrum of each frequency point signal;
S40, associating the energy of each mode in the horizontal wave number magnitude spectrum with the estimation precision of the horizontal wave number value to obtain the mode energy duty ratio;
s50, setting a modal energy duty ratio threshold value, and screening out a horizontal wave number effective value of the frequency point signal;
s60, judging a modal symbol corresponding to the horizontal wave number effective value, and obtaining a distance blurring function of the frequency point signal by using the horizontal wave number effective value and the modal symbol;
And S70, summing the distance fuzzy functions and averaging the average modulo value to obtain the distance fuzzy function of the broadband sound source, wherein the corresponding distance at the peak value is the estimated distance of the broadband sound source.
In the above technical solution, the step S10 specifically includes:
receiving far-field broadband signals by a horizontal line array;
according to Jian Zhengbo theory, the sound field excited by a point sound source is expressed as a simple square wave in the far field:
Where h represents the channel transfer function between the sound source and the far field; f represents the sound source frequency; r 0 denotes the horizontal distance between the sound source and the receiving array; z s and z r represent the sound source depth and the receive array depth, respectively; ρ represents the water density; m represents the mode order of single-frequency sound source excitation in the current shallow sea environment; phi m and k rm represent the modal function and horizontal wave values, respectively, of the M (m=1, …, M) th order mode; Is an imaginary unit;
The horizontal distance r n between the nth array element and the far-field sound source in the N-element horizontal line array disposed at the z r depth is expressed as:
rn≈rs+Δn；
Wherein r s＝r1 represents the horizontal distance between the center of the sound source and array element 1; Δ n = (n-1) dcos θ represents the horizontal distance difference between the sound source center and the No. 1 and n array elements, d represents the array element spacing, θ represents the sound source azimuth. The spatial relationship of the sound source to the horizontal linear array is shown in fig. 1.
The simple wave solution is an accurate product decomposition of the wave equation, acoustic propagation is described by using simple waves (characteristic functions), each characteristic function is a solution of the wave equation, and the simple waves are added together to meet boundary conditions and source conditions, so that the simple wave solution is obtained.
The Jian Zhengbo algorithm is an important means of shallow sea acoustic field analysis, and especially considering the influence of submarine parameters, it can completely give the acoustic propagation characteristics determined by the marine inherent Jian Zhengfang formula. The Jian Zhengbo algorithm is suitable for a point source sound field in a layered medium, ignores interaction of the simple waves of each number and a continuous spectrum structure of a model, and the higher the frequency is, the higher the order of the transmissible simple waves is; the lower the frequency, the less the simple wave and the corresponding calculation amount decreases.
Further, in the above technical solution, the specific step S20 includes:
the first frequency domain snapshot of the received broadband signal of the horizontal line array is as follows:
Wherein l=1, …, L represent frequency domain snapshots, s l,xl and w l are n×1-dimensional column vectors, and represent a sound source radiation signal, horizontal line array received data and received noise in the first frequency domain snapshot respectively; a (f) represents the frequency spectrum of each frequency point signal; j represents the number of frequency points;
The horizontal line array receiving noise under the first frequency domain snapshot is space white noise and obeys w l～CN(0,σ2IN, wherein sigma 2 represents noise power on a single array element, and I N represents an N multiplied by N identity matrix;
Defining the signal-to-noise ratio of a single frequency point as the ratio of the energy of a received signal to the noise power on a single array element, wherein the decibel SNR (signal-to-noise ratio) is expressed as follows:
In the formula, II 2 represents the vector l-2 norm.
Further, in the above technical solution, the step S30 specifically includes:
performing space domain Fourier transform on the frequency point signals to obtain horizontal wave number magnitude spectrums of the frequency point signals:
Wherein k represents a discrete horizontal wave number; For N x 1 dimension column vectors, representing spatial weighting coefficients, and superscript T represents transposition; representing the average of L frequency domain snapshots; the superscript H denotes a conjugate transpose;
Wherein B m (f) represents the m-th order modal amplitude; w k (f) represents background noise of the horizontal wave number magnitude spectrum of the signal at each frequency point.
Further, in the above technical solution, the specific contents of S40 to S50 include:
Defining a modal energy ratio:
Wherein M 0 represents the modal order corresponding to the first M 0 amplitude maxima in the horizontal wave number amplitude spectrum; setting the mode energy ratio threshold as eta, if E (f) is more than or equal to eta, defining the horizontal wave value of the M 0 -order mode as the effective value of the horizontal wave number, and recording as
Further, in the above technical solution, step S50 further includes:
the effective value of the horizontal wave number of the M 0 -order mode is equal to the horizontal wave number of the previous M 0 -order mode in the M-order modes, namely
Defining a modal domain beamforming weighting matrix U (θ, f) in n×m 0 dimensions:
the received data of the corresponding frequency points are subjected to modal domain beam forming to obtain:
In the formula, y l (f) and w' l (f) are M 0 ×1 dimension column vectors, and respectively represent an output value and background noise of the modal domain beam forming performed by the frequency point signals in the first time of frequency domain snapshot. Further, in the above technical solution, the step S60 specifically includes:
constructing a modal domain beam forming weighting matrix of the frequency point signal by using the horizontal wave number effective value of the frequency point signal, and obtaining a modal domain beam output result by carrying out modal domain beam forming on the frequency point signal;
Judging a modal symbol corresponding to the horizontal wave number effective value, constructing a modal phase weight vector of the frequency point signal by using the horizontal wave number effective value of the frequency point signal and the modal symbol, and carrying out phase compensation on a modal domain wave beam output result to obtain a distance fuzzy function of the frequency point signal.
Further, in the above technical solution, the steps S60 to S70 include:
Defining modal amplitude symbols as:
horizontal wavenumber effective value using M 0 -order mode Defining a modal phase weight vector q (r, f) of M 0 x 1 dimensions:
wherein r represents a search distance;
performing phase compensation on the modal domain beam output result to construct a distance blurring function p (r, f):
wherein w' (f) represents background noise of the distance blur function of the signal of each frequency point;
the main lobe term is enhanced by the average of the signal bandwidth, the side lobe term is restrained, and the distance ambiguity function p (r) of the broadband sound source is:
Wideband sound source distance estimation result The method comprises the following steps: /(I)
A second aspect of the present invention provides a computer readable storage medium, in which program instructions are stored, the program instructions, when executed, being configured to perform a shallow sea broadband sound source ranging method as described above.
A third aspect of the present invention provides a shallow sea broadband sound source ranging system comprising the computer readable storage medium described above.
A first aspect of the present invention provides a second embodiment of a shallow sea broadband sound source ranging method, in this embodiment, including the following:
As shown in FIG. 3, the simulated sound field is a horizontal layered shallow sea waveguide environment, the water depth is 70m, the water sound velocity profile is a typical shallow sea summer sound velocity profile, the sound velocity is equal in the depth of 10m of the sea surface, and a negative jump layer exists in the depth of 10-40 m. Assuming that the ocean floor is a uniform half-space acoustic medium with a density of 1.8g/cm 3, an acoustic velocity of 1800m/s, and an acoustic absorption coefficient of 0.1dB/λ, where λ is the acoustic wavelength in the ocean floor medium.
The sound source emits a broadband signal of 50-250Hz, the broadband signal is positioned at the water depth of 50m, the receiving array is a 300-element horizontal line array fixedly arranged on the sea floor, the array elements are spaced by 5m, and the incidence direction of the sound wave is 0 degree (namely the end-fire direction of the horizontal line array).
The modal energy duty cycle threshold η is 0.5; the frequency domain snapshot number L is 200; the distance estimation relative error expectation is within 25%.
Part S5 parameters in SWellEx-96 hydroacoustic experiments:
The target source ship runs north at the speed of 5 knots (2.5 m/s), the horizontal line array is arranged in the direction of the right south of the sound source track center, the experimental data processing frequency band is 49-175Hz, and the processing time period is 50-75min.
As shown in fig. 4 and fig. 5, according to simulation and experimental processing results, the method provided by the invention can estimate the distance of the broadband sound source under the scene without environment priori information, the relative error of the distance estimation is within 25%, and the method has certain robustness when the signal-to-noise ratio is lower. Wherein, the left graph of fig. 4 is a broadband sound source ranging result graph, and the right graph is a ranging relative error graph; the left graph of fig. 5 shows the ranging result of the broadband sound source, and the right graph shows the ranging relative error.
The principle content of the invention comprises:
1. since the modes of each order of the broadband signal are independent of each other, the phase components thereof are independent of other parameters only with the change of the sound source distance and the horizontal wave number. The invention estimates the sound source distance by separating each order mode and compensating the phase;
2. Arranging a horizontal linear array at the bottom of the seabed, observing the horizontal linear array parallel to the sea level, dividing the received broadband signal into multiple frequency points, and performing space domain Fourier transform on each frequency point signal to obtain a horizontal wave number amplitude spectrum of each frequency point signal;
3. Because the aperture of the horizontal linear array is limited, energy leakage phenomenon can occur in each mode in the horizontal wave number amplitude spectrum, and the estimation accuracy of the horizontal wave number can be influenced due to larger interference to the mode with smaller energy, so that larger mode phase error is introduced. In order to obtain more accurate horizontal wave values, defining a modal energy ratio, screening out horizontal wave values corresponding to modes with larger energy in signals of all frequency points by setting a proper modal energy ratio threshold, and defining the screened horizontal wave values as effective values of horizontal wave numbers;
4. Constructing a modal domain beam forming weighting matrix of each frequency point signal by using the horizontal wave number effective value of each frequency point signal, and obtaining a modal domain beam output result of each frequency point signal by carrying out modal domain beam forming on each frequency point signal;
5. Judging a modal symbol corresponding to the horizontal wave number effective value of each frequency point signal, constructing a modal phase weighting vector of each frequency point signal by using the horizontal wave number effective value of each frequency point signal and the modal symbol, and carrying out phase compensation on modal domain beam output of each frequency point signal to obtain a distance blurring function of each frequency point signal.
6. Obtaining a distance fuzzy function of the broadband sound source by summing the distance fuzzy functions of the frequency point signals and averaging the average modulus value, wherein the corresponding distance at the peak value is the estimated distance of the broadband sound source;
7. the ranging result of the method is given through computer numerical simulation and experimental data processing, and the effectiveness of the method is proved from the ranging result.
Claims (10)
1. The shallow sea broadband sound source distance measurement method is characterized by comprising the following steps of:
S10, arranging a horizontal line array parallel to the sea level at the bottom of the sea for observation;
S20, performing multi-frequency point division on the received broadband signal to obtain each frequency point signal;
S30, performing space domain Fourier transform on each frequency point signal to obtain a horizontal wave number magnitude spectrum of each frequency point signal;
S40, associating the energy of each mode in the horizontal wave number magnitude spectrum with the estimation precision of the horizontal wave number value to obtain the mode energy duty ratio;
s50, setting a modal energy duty ratio threshold value, and screening out a horizontal wave number effective value of the frequency point signal;
S60, judging a modal symbol corresponding to the horizontal wave number effective value, and obtaining a distance blurring function of the frequency point signal by using the horizontal wave number effective value and the modal symbol;
and S70, summing the distance fuzzy functions and averaging the average modulus value to obtain the distance fuzzy function of the broadband sound source, wherein the corresponding distance at the peak value is the estimated distance of the broadband sound source.
2. The method for ranging a shallow sea broadband sound source according to claim 1, wherein the step S10 specifically comprises:
the horizontal line array receives far-field broadband signals;
according to Jian Zhengbo theory, the sound field excited by a point sound source is expressed as a simple square wave in the far field:
Where h represents the channel transfer function between the sound source and the far field; f represents the sound source frequency; r 0 denotes the horizontal distance between the sound source and the receiving array; z s and z r represent the sound source depth and the receive array depth, respectively; ρ represents the water density; m represents the mode order of single-frequency sound source excitation in the current shallow sea environment; psi m and k rm represent the modal function and horizontal wave values of the mth order mode, m=1, …, M, respectively; Is an imaginary unit;
The horizontal distance r n between the nth array element and the far-field sound source in the N-element horizontal line array disposed at the z r depth is expressed as:
rn≈rs+Δn；
Wherein r s＝r1 represents the horizontal distance between the center of the sound source and array element 1; Δ n = (n-1) dcos θ represents the horizontal distance difference between the sound source center and the No. 1 and n array elements, d represents the array element spacing, θ represents the sound source azimuth.
3. The method for ranging a shallow sea broadband sound source according to claim 2, wherein the step S20 specifically comprises:
the first frequency domain snapshot of the received broadband signal of the horizontal line array is as follows:
Wherein l=1, …, L represent frequency domain snapshots, s l,xl and w l are n×1-dimensional column vectors, and represent a sound source radiation signal, horizontal line array received data and received noise in the first frequency domain snapshot respectively; a (f) represents the frequency spectrum of each frequency point signal; j represents the number of frequency points;
The horizontal line array receiving noise under the first frequency domain snapshot is space white noise and obeys w l～CN(0,σ2IN, wherein sigma 2 represents noise power on a single array element, and I N represents an N multiplied by N identity matrix;
Defining the signal-to-noise ratio of a single frequency point as the ratio of the energy of a received signal to the noise power on a single array element, wherein the decibel SNR (signal-to-noise ratio) is expressed as follows:
In the formula, II 2 represents the vector l-2 norm.
4. A method for ranging a shallow sea broadband sound source according to claim 3, wherein the step S30 specifically comprises:
performing space domain Fourier transform on the frequency point signals to obtain horizontal wave number magnitude spectrums of the frequency point signals:
Wherein k represents a discrete horizontal wave number; For N x 1 dimension column vectors, representing spatial weighting coefficients, and superscript T represents transposition; representing the average of L frequency domain snapshots; the superscript H denotes a conjugate transpose;
Wherein B m (f) represents the m-th order modal amplitude; w k (f) represents background noise of the horizontal wave number magnitude spectrum of the signal at each frequency point.
5. The method for ranging a shallow sea broadband sound source according to claim 4, wherein the specific contents of S40 to S50 include:
Defining a modal energy ratio:
Wherein M 0 represents the modal order corresponding to the first M 0 amplitude maxima in the horizontal wave number amplitude spectrum; setting the mode energy ratio threshold as eta, if E (f) is more than or equal to eta, defining the horizontal wave value of the M 0 -order mode as the effective value of the horizontal wave number, and recording as m0∈M0,M0≤M。
6. The method for ranging a shallow sea broadband sound source according to claim 5, wherein the step S50 further comprises:
the effective value of the horizontal wave number of the M 0 -order mode is equal to the horizontal wave number of the previous M 0 -order mode in the M-order modes, namely m0＝m＝1,…,M0；
Defining a modal domain beamforming weighting matrix U (θ, f) in n×m 0 dimensions:
the received data of the corresponding frequency points are subjected to modal domain beam forming to obtain:
In the formula, y l (f) and w' l (f) are M 0 ×1 dimension column vectors, and respectively represent an output value and background noise of the modal domain beam forming performed by the frequency point signals in the first time of frequency domain snapshot.
7. The method for ranging a shallow sea broadband sound source according to claim 6, wherein the step S60 specifically comprises:
Constructing a modal domain beam forming weighting matrix of the frequency point signal by using the horizontal wave number effective value of the frequency point signal, and obtaining a modal domain beam output result by carrying out modal domain beam forming on the frequency point signal;
Judging a modal symbol corresponding to the horizontal wave number effective value, constructing a modal phase weighting vector of the frequency point signal by using the horizontal wave number effective value and the modal symbol of the frequency point signal, and carrying out phase compensation on the modal domain beam output result to obtain a distance fuzzy function of the frequency point signal.
8. The method for ranging a shallow sea broadband sound source according to claim 7, wherein the steps S60 to S70 comprise:
Defining modal amplitude symbols The method comprises the following steps:
horizontal wavenumber effective value using M 0 -order mode M 0＝m＝1,…,M0, defining a modal phase weight vector q (r, f) of M 0 x1 dimensions:
wherein r represents a search distance;
performing phase compensation on the modal domain beam output result to construct a distance blurring function p (r, f):
wherein w' (f) represents background noise of the distance blur function of the signal of each frequency point;
the main lobe term is enhanced by the average of the signal bandwidth, the side lobe term is restrained, and the distance ambiguity function p (r) of the broadband sound source is:
Wideband sound source distance estimation result The method comprises the following steps: /(I)
9. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein program instructions, which when run, are adapted to perform a shallow sea broadband sound source ranging method according to any of claims 1-8.
10. A shallow sea broadband sound source ranging system comprising the computer readable storage medium of claim 9.
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