声呐脉冲侦察与被动测距研究
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摘要
声呐脉冲侦察是利用目标主动声呐发射的脉冲信号来探测目标的技术。其主要任务是侦察目标主动声呐的工作参数，对目标实施跟踪。其关键技术是测量目标距离，而距离测量的关键是高精度的时延测量。时延测量精度是制约距离测量精度的主要因素。
本论文的研究工作分为两个部分：三元非对称阵被动测距技术研究和声呐脉冲侦察模块系统软件的研制。
对三元非对称阵被动测距技术的主要研究工作包括：分析了三元对称阵和非对称阵测向测距的原理，对两种阵型的测向、测距误差进行了对比分析，探讨了三元阵被动测距中时延差的特点，提出了有效的时延差估计方法，并对该方法的局限性以及被动测距中存在的距离模糊问题进行了探讨研究。
本论文在改进的声呐脉冲侦察模块硬件系统的基础上，开发了一套实时系统软件。该软件的主要功能包括：对主动声呐CW脉冲信号进行检测，测量目标信号的中心频率，测定目标的方位；执行显控台跟踪命令，对搜索到的目标进行跟踪，测量目标信号的重复周期，测定目标的距离，给出距离测量值的置信度。
本论文在Matlab环境下对测频、测向、测距等算法进行了仿真，给出了各个环节的仿真结果。所研制的声呐脉冲侦察模块用目标模拟器(ATANC)进行了陆上联调实验，实验结果验证了实时处理声呐脉冲侦察模块性能优良。
Detecting sonar pulse transmitted by an active sonar, it is called "sonar pulse detection" . The main task of it is to measure the working parameter of active sonar and track the target. The key technology of it is passive ranging, while the key of ranging is the high precise time delay estimation, which is the main factor that restricts the precision of ranging.
The research work of the dissertation includes the following two parts: researching the passive ranging technology of three elements dissymmetrical array and developing system software of the sonar pulse detection module.
The main work of the first part includes: analyzing the theory of measuring direction and distance of the target by three elements symmetrical and dissymmetrical array, comparing the measuring error of two kinds of array, discussing the characteristics of time delay in passive distance measurement, giving valid method of time delay estimation, and discussing the restriction of this method and the distance wrapping in passive ranging.
In the thesis, a series of real-time system software of sonar pulse detection is developed on an improved hardware system. The main function of the module is as follows: it can detect the CW signal transmitted by the active sonar, and measure the frequency of target signal and the direction of target. It can execute the tracking order sent by the display and control platform, and track the searched target, measure the target signal repetition intervals and target distance, and give the reliability of estimated distance.
The arithmetic of measuring frequency, direction and distance is
simulated in Matlab, and the simulating results are given. An experiment on the module is carried out with the target simulator ATANC, and the experiment results shows the performance of sonar pulse detection module is good enough.
本论文的研究工作分为两个部分：三元非对称阵被动测距技术研究和声呐脉冲侦察模块系统软件的研制。
对三元非对称阵被动测距技术的主要研究工作包括：分析了三元对称阵和非对称阵测向测距的原理，对两种阵型的测向、测距误差进行了对比分析，探讨了三元阵被动测距中时延差的特点，提出了有效的时延差估计方法，并对该方法的局限性以及被动测距中存在的距离模糊问题进行了探讨研究。
本论文在改进的声呐脉冲侦察模块硬件系统的基础上，开发了一套实时系统软件。该软件的主要功能包括：对主动声呐CW脉冲信号进行检测，测量目标信号的中心频率，测定目标的方位；执行显控台跟踪命令，对搜索到的目标进行跟踪，测量目标信号的重复周期，测定目标的距离，给出距离测量值的置信度。
本论文在Matlab环境下对测频、测向、测距等算法进行了仿真，给出了各个环节的仿真结果。所研制的声呐脉冲侦察模块用目标模拟器(ATANC)进行了陆上联调实验，实验结果验证了实时处理声呐脉冲侦察模块性能优良。
Detecting sonar pulse transmitted by an active sonar, it is called "sonar pulse detection" . The main task of it is to measure the working parameter of active sonar and track the target. The key technology of it is passive ranging, while the key of ranging is the high precise time delay estimation, which is the main factor that restricts the precision of ranging.
The research work of the dissertation includes the following two parts: researching the passive ranging technology of three elements dissymmetrical array and developing system software of the sonar pulse detection module.
The main work of the first part includes: analyzing the theory of measuring direction and distance of the target by three elements symmetrical and dissymmetrical array, comparing the measuring error of two kinds of array, discussing the characteristics of time delay in passive distance measurement, giving valid method of time delay estimation, and discussing the restriction of this method and the distance wrapping in passive ranging.
In the thesis, a series of real-time system software of sonar pulse detection is developed on an improved hardware system. The main function of the module is as follows: it can detect the CW signal transmitted by the active sonar, and measure the frequency of target signal and the direction of target. It can execute the tracking order sent by the display and control platform, and track the searched target, measure the target signal repetition intervals and target distance, and give the reliability of estimated distance.
The arithmetic of measuring frequency, direction and distance is
simulated in Matlab, and the simulating results are given. An experiment on the module is carried out with the target simulator ATANC, and the experiment results shows the performance of sonar pulse detection module is good enough.
引文
[1] Ouaij A H. IEEE Trans. ASSP-29, 1981:527-533P
[2] Hahn W R. J. Acoust. Soc. Am., 1975(58):201-207P
[3] Peterson W W et al. The theory of signal detectability. IRE Trans., IT-4, 1954
[4] Siebert W M. A radar detection philosophy. IRE Trans., IT-2, 1956:20-221P
[5] Turbin G. An introduction to matched filter. IRE Trans., IT-6, 1960:311-330P
[6] Westerfield E C. Processing gain against reverberation using matched filter. IRE Trans., IT-6, 1960:376-383P
[7] 鞠德航等．信号检测理论导论．科学出版社，1975
[8] 田坦，刘国枝，孙大军．哈尔滨工程大学出版社，1990
[9] 王玉泉，水声设备，哈尔滨船舶工程学院出版社，1993
[10] 李启虎．声呐信号处理引论．北京：海洋出版社，1985
[11] 阎福旺等．现代声呐技术．海洋出版社，1998
[12] Urick R J，洪申译．工程水声学原理．哈尔滨船舶工程学院出版社，1992
[13] 侯自强，李贵斌．声呐信号处理原理与设备．海洋出版社，1986
[14] Schmidt R O. Multiple emitter location and signal parameter estimation. Proc. RADC Spectral Estimation Workshop. Rome, NY, 1979:243-258P
[15] Tichavsky P. High-SNR asymptotics for signal-subspace methods in sinusoidal frequency estimation. IEEE Trans. SP, July 1991, 41(7):2448-2459P
[16] Kassam S A, Poor H V. Proc. IEEE 1985,73:21-53P
[17] Gingras D F. IEEE J. of Oceanic Engr., 1993,18(3):253-264P
[18] Sullivin E J, Middeleton D. IEEE J. of Oceanic Engr., 1993,18(3):156-167P
[19] 梁国龙．回波信号瞬时参数序列分析及其应用研究．哈尔滨工程大学博士学位论文．1997
[20] 戴福和，周世源等．数字声呐三波束多目标跟踪方法．应用声学，1994，13(4)：20-24P
[21] LI Oihu, YIN Li, et al. Precise bearing and automatic target tracking in digital sonar. Chinese Journal of Acoustic, 1996,15(1):29-22P
[22] Pillai S U, Kwon B H. Performance analysis of MUSIC-type high resolution estimators for direction finding in correlated and coherent scenes. IEEE Trans. ASSP, August 1989, 37(8):1176-1189P
[23] Clifford Carter G. Time delay estimation for passive sonar signal processing. IEEE Trans. on Acoustics, Speech, and Signal Processing. Vol. ASSP-29 No. 3, June 1981:463-469P
[24] Urick R J. Multipath propagation and its effects on sonar design and performance in the real ocean. Proc. of NATO ASI on Underwater Acoustics, 1976.
[25] Zhang R H, et al. Acta Acoustica, 1981, (1):9-18P
[26] Elliott D F. Handbook of Digital Signal Processing-Engineering Application. California: Academic Press Inc., 1987
[27] Fertner A, Sjolund A. Comparison of various time delay estimation method by computer simulation. IEEE Trans. On ASSP, 1986,34(5):1329-1330
[28] Hannan E J, Thomson P J. Time delay estimation. Journal on Time Series Analysis, 1988,9(1):21-33P
[29] 生雪莉．被动式三维水声定位技术研究．哈尔滨工程大学硕士学位论文．2001
[30] 邱天爽，王宏禹．几种基本时间延迟估计方法及其相互关系．大连理工大学学报，1996，36(4)：493-498P
[31] Knapp C H, Carter G C. The generalized correlation method for estimation of time delay. IEEE Trans. on Acoustics, Speech, and Signal Processing, Vol. ASSP-24: 320-327P
[32] Caner GC. Coherence and time delay estimation. Proc. of the IEEE, 1987, 75(2):236-255P
[33] Reed F A et al. time delay estimation using the LMS adaptive filter-static behavior. IE' Vol. ASSP-29 No. 3, June 1981:571-576P
[34] Youn D H, Ahmed N, Carter G C. On using the LMS algorithm for time delay estimation. IEEE Trans. On ASSP, 1982, 75(7):869-891P
[35] Piersol A G. Time delay estimation using phase data. IEEE Trans. On ASSP, 1981,29(3):471-477P
[36] Zhao Zhen, Hou Ziqiang. The generalized phase spectrum method for time delay estimation. ICASSP' 84, 1984, 46.2.1-4
[37] 张贤达．现代信号处理．清华大学出版社，1995
[38] 龚文汀．时延估计方法和后置处理技术．水下武器靶场技术情报调研报告与译文集．中国船舶工业总公司七五○实验场，1990
[39] Widrow B. Adaptive noise canceling: principals and application. Proc. IEEE, Dec. 1975, 63:1692-1716P
[40] Smith J O, Friedlander B. Adaptive multipath delay estimation. Proc. IE' ICASSP, 84:15.9.1-15.9.4P
[41] Youn D H, Ahmed N. Comparison of two adaptive methods for time delay. Proc. IE' ICASSP, 83:883-886P
[42] Feintuch P L et al. Time delay estimation using the LMS adaptive filter-dynamic behavior. IE' Vol. ASSP-29 No. 3, June 1981:571-576P
[43] Youn D H, Mathews V J. Adaptive realization of the maximum likelihood processor for time delay estimation. IEEE Trans. on ASSP, 1984,32(4):938-940P
[44] Youn D H, Abmed N, Carter G C. An adaptive approach for time delay
estimation of band-limited signals. IEEE Trans. on ASSP, 1983, 31(3):780-784P
[45] Ching P C, Chan Y T. Adaptive time delay estimation with constraints. IEEE Trans. on ASSP, 1988, 36(4):599-602P
[46] Etter D M, Stearns S D. Adaptive estimation of time delay estimation in sampled date system. IEEE Trans. on ASSP, 1981,29(3):582-587P
[47] Ho K C, Ching P C. A new constrained least mean square time-delay estimation system. IEEE Trans. on CAS, 1990, 37(8):1060-1064P
[48] 朱华等．随机信号分析．北京理工大学出版社，1995
[49] Bendat J S, Piersol A G. Engineering applications of correlation and spectral analysis. John Wiley & Sons., 1980
[50] 赵真，侯自强．广义相位谱延时估计．声学学报，1985，10(4)：201-215P
[51] 梁国龙，江峰，蔡平．一种新颖的短线阵高精度定位系统．应用声学，1999，18(5)：15-18P
[52] 蔡平，梁国龙，惠俊英，王智元．采用自适应相位计的超短基线水声跟踪系统．应用声学，1992，12(2)：19-23P
[53] 何振亚．自适应信号处理．科学出版社，2002
[54] 温海青．用自适应线谱增强器实现主动声呐信号的检测．声学与电子工程，1994，33：36-38P
[55] 蒋卫跃．自适应线谱增强器在主动声纳中的应用研究．声学技术，1999，18(4)：175-178P
[56] Sun M, Sclabssi R J. Discrete-time instantaneous frequency and its computation. IEEE Trans. SP, May 1993,41(5):1867-1879P
[57] Kay S M. A fast and accurate single frequency estimator. IEEE Trans. ASSP, 1989, 37(12):1987-1990P
[58] Griffiths L J. Rapid measurement of digital instantaneous frequency. IEEE Trans. ASSP, April 1975, 23(2):207-221P
[59] Riedel K S. Kernel estimation of the instantaneous frequency. IEEE Trans. SP, October 1994, 42(10):2614-2649P
[60] Kedem B. Spectral analysis and discrimination by zero crossings. Proc. IEEE, 1986, 74(11):1477-1493P
[61] Bom M Conoly B W. Zero crossing shift as a detection method. JASA, 1970, 47(5):1408-1411P
[62] 吴国清．水下被动测距的后置处理．声学学报，March 1995，20(2)：88-100P
[63] Widrow B, Steans S D. Adaptive Signal Processing. Prentice-Hall Inc., 1985
[64] 钱秋珊，陆根源．水声信号处理基础．国防工业出版社，1981
[65] 宋文尧，张牙．卡尔曼滤波．科学出版社，1991
[66] 邓自立．最优滤波理论及其应用—现代时间序列分析方法．哈尔滨工业大学出版社，2000
[67] 项楚琪，田坦．离散估计导论．国防工业出版社，1989
[68] 梁国龙，惠俊英，冯海泓，桂彤．基于自适应噪声抵消器的参数估计器．声学学报，1996，21(4)：685-692P
[2] Hahn W R. J. Acoust. Soc. Am., 1975(58):201-207P
[3] Peterson W W et al. The theory of signal detectability. IRE Trans., IT-4, 1954
[4] Siebert W M. A radar detection philosophy. IRE Trans., IT-2, 1956:20-221P
[5] Turbin G. An introduction to matched filter. IRE Trans., IT-6, 1960:311-330P
[6] Westerfield E C. Processing gain against reverberation using matched filter. IRE Trans., IT-6, 1960:376-383P
[7] 鞠德航等．信号检测理论导论．科学出版社，1975
[8] 田坦，刘国枝，孙大军．哈尔滨工程大学出版社，1990
[9] 王玉泉，水声设备，哈尔滨船舶工程学院出版社，1993
[10] 李启虎．声呐信号处理引论．北京：海洋出版社，1985
[11] 阎福旺等．现代声呐技术．海洋出版社，1998
[12] Urick R J，洪申译．工程水声学原理．哈尔滨船舶工程学院出版社，1992
[13] 侯自强，李贵斌．声呐信号处理原理与设备．海洋出版社，1986
[14] Schmidt R O. Multiple emitter location and signal parameter estimation. Proc. RADC Spectral Estimation Workshop. Rome, NY, 1979:243-258P
[15] Tichavsky P. High-SNR asymptotics for signal-subspace methods in sinusoidal frequency estimation. IEEE Trans. SP, July 1991, 41(7):2448-2459P
[16] Kassam S A, Poor H V. Proc. IEEE 1985,73:21-53P
[17] Gingras D F. IEEE J. of Oceanic Engr., 1993,18(3):253-264P
[18] Sullivin E J, Middeleton D. IEEE J. of Oceanic Engr., 1993,18(3):156-167P
[19] 梁国龙．回波信号瞬时参数序列分析及其应用研究．哈尔滨工程大学博士学位论文．1997
[20] 戴福和，周世源等．数字声呐三波束多目标跟踪方法．应用声学，1994，13(4)：20-24P
[21] LI Oihu, YIN Li, et al. Precise bearing and automatic target tracking in digital sonar. Chinese Journal of Acoustic, 1996,15(1):29-22P
[22] Pillai S U, Kwon B H. Performance analysis of MUSIC-type high resolution estimators for direction finding in correlated and coherent scenes. IEEE Trans. ASSP, August 1989, 37(8):1176-1189P
[23] Clifford Carter G. Time delay estimation for passive sonar signal processing. IEEE Trans. on Acoustics, Speech, and Signal Processing. Vol. ASSP-29 No. 3, June 1981:463-469P
[24] Urick R J. Multipath propagation and its effects on sonar design and performance in the real ocean. Proc. of NATO ASI on Underwater Acoustics, 1976.
[25] Zhang R H, et al. Acta Acoustica, 1981, (1):9-18P
[26] Elliott D F. Handbook of Digital Signal Processing-Engineering Application. California: Academic Press Inc., 1987
[27] Fertner A, Sjolund A. Comparison of various time delay estimation method by computer simulation. IEEE Trans. On ASSP, 1986,34(5):1329-1330
[28] Hannan E J, Thomson P J. Time delay estimation. Journal on Time Series Analysis, 1988,9(1):21-33P
[29] 生雪莉．被动式三维水声定位技术研究．哈尔滨工程大学硕士学位论文．2001
[30] 邱天爽，王宏禹．几种基本时间延迟估计方法及其相互关系．大连理工大学学报，1996，36(4)：493-498P
[31] Knapp C H, Carter G C. The generalized correlation method for estimation of time delay. IEEE Trans. on Acoustics, Speech, and Signal Processing, Vol. ASSP-24: 320-327P
[32] Caner GC. Coherence and time delay estimation. Proc. of the IEEE, 1987, 75(2):236-255P
[33] Reed F A et al. time delay estimation using the LMS adaptive filter-static behavior. IE' Vol. ASSP-29 No. 3, June 1981:571-576P
[34] Youn D H, Ahmed N, Carter G C. On using the LMS algorithm for time delay estimation. IEEE Trans. On ASSP, 1982, 75(7):869-891P
[35] Piersol A G. Time delay estimation using phase data. IEEE Trans. On ASSP, 1981,29(3):471-477P
[36] Zhao Zhen, Hou Ziqiang. The generalized phase spectrum method for time delay estimation. ICASSP' 84, 1984, 46.2.1-4
[37] 张贤达．现代信号处理．清华大学出版社，1995
[38] 龚文汀．时延估计方法和后置处理技术．水下武器靶场技术情报调研报告与译文集．中国船舶工业总公司七五○实验场，1990
[39] Widrow B. Adaptive noise canceling: principals and application. Proc. IEEE, Dec. 1975, 63:1692-1716P
[40] Smith J O, Friedlander B. Adaptive multipath delay estimation. Proc. IE' ICASSP, 84:15.9.1-15.9.4P
[41] Youn D H, Ahmed N. Comparison of two adaptive methods for time delay. Proc. IE' ICASSP, 83:883-886P
[42] Feintuch P L et al. Time delay estimation using the LMS adaptive filter-dynamic behavior. IE' Vol. ASSP-29 No. 3, June 1981:571-576P
[43] Youn D H, Mathews V J. Adaptive realization of the maximum likelihood processor for time delay estimation. IEEE Trans. on ASSP, 1984,32(4):938-940P
[44] Youn D H, Abmed N, Carter G C. An adaptive approach for time delay
estimation of band-limited signals. IEEE Trans. on ASSP, 1983, 31(3):780-784P
[45] Ching P C, Chan Y T. Adaptive time delay estimation with constraints. IEEE Trans. on ASSP, 1988, 36(4):599-602P
[46] Etter D M, Stearns S D. Adaptive estimation of time delay estimation in sampled date system. IEEE Trans. on ASSP, 1981,29(3):582-587P
[47] Ho K C, Ching P C. A new constrained least mean square time-delay estimation system. IEEE Trans. on CAS, 1990, 37(8):1060-1064P
[48] 朱华等．随机信号分析．北京理工大学出版社，1995
[49] Bendat J S, Piersol A G. Engineering applications of correlation and spectral analysis. John Wiley & Sons., 1980
[50] 赵真，侯自强．广义相位谱延时估计．声学学报，1985，10(4)：201-215P
[51] 梁国龙，江峰，蔡平．一种新颖的短线阵高精度定位系统．应用声学，1999，18(5)：15-18P
[52] 蔡平，梁国龙，惠俊英，王智元．采用自适应相位计的超短基线水声跟踪系统．应用声学，1992，12(2)：19-23P
[53] 何振亚．自适应信号处理．科学出版社，2002
[54] 温海青．用自适应线谱增强器实现主动声呐信号的检测．声学与电子工程，1994，33：36-38P
[55] 蒋卫跃．自适应线谱增强器在主动声纳中的应用研究．声学技术，1999，18(4)：175-178P
[56] Sun M, Sclabssi R J. Discrete-time instantaneous frequency and its computation. IEEE Trans. SP, May 1993,41(5):1867-1879P
[57] Kay S M. A fast and accurate single frequency estimator. IEEE Trans. ASSP, 1989, 37(12):1987-1990P
[58] Griffiths L J. Rapid measurement of digital instantaneous frequency. IEEE Trans. ASSP, April 1975, 23(2):207-221P
[59] Riedel K S. Kernel estimation of the instantaneous frequency. IEEE Trans. SP, October 1994, 42(10):2614-2649P
[60] Kedem B. Spectral analysis and discrimination by zero crossings. Proc. IEEE, 1986, 74(11):1477-1493P
[61] Bom M Conoly B W. Zero crossing shift as a detection method. JASA, 1970, 47(5):1408-1411P
[62] 吴国清．水下被动测距的后置处理．声学学报，March 1995，20(2)：88-100P
[63] Widrow B, Steans S D. Adaptive Signal Processing. Prentice-Hall Inc., 1985
[64] 钱秋珊，陆根源．水声信号处理基础．国防工业出版社，1981
[65] 宋文尧，张牙．卡尔曼滤波．科学出版社，1991
[66] 邓自立．最优滤波理论及其应用—现代时间序列分析方法．哈尔滨工业大学出版社，2000
[67] 项楚琪，田坦．离散估计导论．国防工业出版社，1989
[68] 梁国龙，惠俊英，冯海泓，桂彤．基于自适应噪声抵消器的参数估计器．声学学报，1996，21(4)：685-692P
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