用于单矢量水听器方位估计的加权直方图法

张小勇; 张国军; 尚珍珍; 王 帅

doi:10.11993/j.issn.2096-3920.2021.02.005

用于单矢量水听器方位估计的加权直方图法

doi: 10.11993/j.issn.2096-3920.2021.02.005

1.
中北大学动态测试省部共建实验室, 山西太原, 030051
2.
太原学院计算机科学与工程系, 山西太原, 030032

基金项目: 国家自然科学基金项目资助(61525107, 61727806).

详细信息

作者简介:
张小勇(1982-), 男, 在读博士, 副教授, 主要研究方向为矢量水听器及其信号处理.

中图分类号: TJ630.34 TB566
计量
- 文章访问数: 195
- HTML全文浏览量: 15
- PDF下载量: 100
- 被引次数: 0
出版历程
- 收稿日期: 2020-04-27
- 修回日期: 2020-07-30
- 刊出日期: 2021-04-30

Weighted Histogram Method for DOA Estimation Using Single Vector Hydrophone

1.
State Key Laboratory of Dynamic Testing Technology, North University of China, Taiyuan 030051, China
2.
Department of Computer Science and Engineering, Taiyuan University, Taiyuan 030032, China

摘要

摘要: 在水下无人系统中使用矢量水听器进行声源方位估计具有较大的优势, 采用加权直方图法可以利用单个矢量水听器实现方位估计, 且计算量较小。文中分析了声能流检测器的原理, 由声能流可以获得平面内声能量的分布情况, 为加权直方图法提供了理论基础。通过分析发现: 在低信噪比下, 声源的能量扩展到了真实方位之外, 使得加权直方图法的统计间隔会分割声源能量, 从而出现方位估计误差。针对这一问题, 提出了改进的基于能量搜索的加权直方图法, 该算法采用滑动窗口法寻找声源所在区间, 并利用重心法获得区间内的能量中心即方位估计的结果。通过仿真证明: 改进后的算法在统计间隔为10°, 信噪比为-10~10 dB时, 均比原算法具有更好的性能, 其均方根误差平均减小43.7%, 且在多目标(干扰)环境下的方位估计结果也更准确。文中研究可为有效改进单矢量水听器方位估计算法提供参考。
- 水下无人系统 /
- 矢量水听器 /
- 方位估计 /
- 加权直方图 /
- 滑动窗口法 /
- 重心法
Abstract: Using vector hydrophone for direction of arrival(DOA) estimation in unmanned undersea system is advantageous, and this can be realized by the weighted histogram method with less computation using single vector hydrophone. In this study, the principle of acoustic energy flux detector is analyzed, the distribution of acoustic energy in the plane can be obtained from acoustic energy flux, which provides the theoretical basis for the weighted histogram method. It is observed that the energy of the sound source extends beyond the real orientation under low signal-to-noise ratio(SNR) through the analysis. Hence, the statistical interval of the weighted histogram method will segment the energy of the sound source and a DOA estimation error will occur. Aiming to the problem existing in the previous algorithm, an improved weighted histogram method based on energy search is proposed. In the new algorithm, the slide window method is used to find the range of sound source, and the center of gravity method is used to obtain the energy center which is the DOA estimation result. The simulation results show that the algorithm has better performance when the statistical interval is 10° and the SNR is within the range of 10 dB to 10 dB. Its root mean square error is 43.7% less than that of the previous algorithm and its DOA estimation results are comparatively accurate in a multi-target(interference) environment. The research in this paper provides a reference for improving the algorithm of DOA estimation using single vector hydrophone.
- unmanned undersea system /
- vector hydrophone /
- direction of arrival(DOA) estimation /
- weighted histogram /
- slide window method /
- gravity center method

HTML全文

参考文献(16)

[1]	申辉. 基于纤毛式纳机电矢量水听器的潜标系统设计与实现[D]. 太原: 中北大学, 2015.
[2]	Zhang G P, Zheng C, Lin W S, et al. Steering Acoustic Intensity Estimator Using a Single Acoustic Vector Hydrophone[J]. Journal of sensors, 2018(3): 1-10.
[3]	Anbang Z, Lin M, Juan H, et al. Open-Lake Experimental Investigation of Azimuth Angle Estimation Using a Single Acoustic Vector Sensor[J]. Journal of Sensors, 2018(3): 1-11.
[4]	Zhang X Y, Xu Q D, Zhang G J, et al. Design and Analysis of a Multiple Sensor Units Vector Hydrophone[J]. Aip Advances, 2018(8): 085124.
[5]	Nehoral A. Acoustic Vector Sensor Array Processing[J]. IEEE Trans．Signal Processing, 1994(9): 2481-2491.
[6]	孙贵青, 杨德森, 张揽月, 等. 基于矢量水听器的最大似然比检测和最大似然方位估计[J]. 声学学报, 2003, 28(1): 66-72. Sun Gui-qin, Yang De-sen, Zhang Lan-yue, et al. Maximum Likelihood Ratio Detection and Maximum Likelihood DOA Estimation Based on the Vector Hydrophone[J]. Acta Acustica, 2013, 28(1): 66-72.
[7]	姚直象, 惠俊英, 殷敬伟, 等. 基于单矢量水听器四种方位估计方法[J]. 海洋工程, 2006, 24(1): 122-127. Yao Zhi-xiang, Hui Jun-yin, Yin Jin-wei, et al. Four Approaches to DOA Estimation Based on a Single Vector Hydrophone[J]. The Ocean Engineering, 2006, 24(1): 122-127.
[8]	曾雄飞, 孙贵青, 李宇, 等. 单矢量水听器的几种DOA估计方法[J]. 仪器仪表学报, 2012, 33(3): 499-507. Zeng Xiong-fei, Sun Gui-qin, Li Yu, et al. Several Approaches of DOA Estimation for Single Vector Hydrophone[J]. Chinese Journal of Scientific Instrument, 2012, 33(3): 499-507.
[9]	孙芹东. 一种新型姿态实时修正矢量水听器的设计[C]// 中国声学学会水声学分会2015年学术会议论文集. 武汉: 中国声学学会水声学分会, 2015.
[10]	杨德森, 洪连进. 矢量水听器原理及应用引论[M]. 北京: 科学出版社, 2009.
[11]	李春旭, 王逸林, 梁国龙. 平均声强器性能分析[C]//中国声学学会1999年青年学术会议论文集. 武汉: 中国声学学会, 1999.
[12]	姚直象, 惠俊英, 蔡平, 等. 单矢量水听器方位估计的柱状图方法[J]. 应用声学, 2006, 25(3): 161-167. Yao Zhi-xiang, Hui Jun-yin, Cai Pin, et al. A Histogram Approach of the Azimuth Angle Estimation Using a Single Vector Hydrophone[J]. Applied Acoustics, 2006, 25(3): 161-167.
[13]	彭策. 单矢量水听器被动定位方法研究[D]. 哈尔滨: 哈尔滨工程大学, 2014.
[14]	吴鹏, 赵风海, 黄洋. 一种结合线性预测倒谱法和组合滑动窗口平滑法的基音周期估计改进算法[J]. 南开大学学报(自然科学版), 2019, 52(2): 29-33. Wu Peng, Zhao Feng-hai, Huang Yang. An Improved Pitch Period Estimation Cepstrum Algorithm Combined Linear Prediction and Sliding Window Smoothing[J]. Acta Scientiarum Naturalium Universitatis Nankaiensis(Natural Science Edition), 2019, 52(2): 29-33.
[15]	陈平, 王佳昌, 吴兴研. 能量重心法的改进FFT算法分析及应用研究[J]. 机械科学与技术, 2018, 37(12): 1883-1889. Chen Ping, Wang Jia-chang, Wu Xing-yan. Analysis and Application of an Improved FFT Algorithm for Energy Centrobaric Correction Method[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(12): 1883-1889.
[16]	惠俊英, 惠娟. 矢量声信号处理技术[M]. 北京: 北京国防工业出版社, 2004.