噪声目标广义互相关被动测距研究
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摘要
被动测距声纳系统是利用换能器基阵接收的目标辐射(噪声)信号来估计目标距离。其主要任务是探测目标的距离、方位及运动速度等，对目标实施跟踪。其关键技术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：三元阵被动测距仿真技术研究和噪声测距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，并对于被动测距中存在的距离模糊问题进行了探讨研究。传统的被动测距声纳，对于远程目标采用K系数分配法实现目标的被动定位，而对于近程目标无法实现测距。本论文采用相关峰直接测量的方法来克服传统被动声纳中存在的近程测距模糊问题，实现了噪声目标的全程测距。解决了非对称阵的测距问题，使得测距软件系统兼顾对称阵型和非对称阵型，应用场合更加宽广。要对抗鱼雷的巨大威胁，必须对其进行快速跟踪，后置滤波器的性能尤为重要。本文合理的运用了基于自适应噪声抵消的参数估计器，使得系统可有效地对快速运动目标进行跟踪。
本论文在改进的被动测距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：同时对三个目标进行定位，测量目标的距离、方位、识别快速目标及给出距离测量值的置信度。
本论文在Matlab环境下对测距算法进行了仿真，给出了各个环节的仿真结果。所研制的被动测距模块在TMS320C6416硬件平台上实现了被动目标的定位(用目标模拟器进行了陆上联调实验)，实验结果验证了实时处理被动测距模块性能优良。
The system of passive ranging SONAR makes use of the target noise received by the equipment which converts energy from one form to another to estimate the target distance. The main effect of passive ranging SONAR is detecting target distance、azimuth and speed and so on. Track the target. It's the key to measure the high precision time delay. The main factor for ranging distance is high precision time delay.
There are two research parts in this paper: three non-symmetry array passive ranging simulator research and the system software of passive ranging develop.
The main research task of three non-symmetry array passive ranging technology is analyzing symmetry array and non-symmetry array ranging and direction detecting theory, analyzing symmetry array and non-symmetry array ranging and direction detecting error and discuss the problem of range blurring in passive ranging. For the traditional passive ranging SONAR, K parameter distribution method (K - PDM) is used to estimate the time delay to range for far targets. However, for near targets, K- PDM has the problem of range blurring, In the paper, direct measurement method (DMM) is used to range, and conquer traditional SONAR near ranging blurring problem. Achieve whole ranging. Resolve non-symmetry array ranging problem. Have ranging software used in not only symmetry array but also non-symmetry array, and application is more aboard. If confront fish torpedo huge attack, it's necessary to track contrail apace. So it's very important of Adaptive filtering capability. In this passive ranging software, apply noise counteract based LMS arithmetic to track the fast targets apace.
Based the improved system hardware, develop this real-time system software. The function of real-time system software consists: ranging three targets at the same time, ranging targets distance、direction detecting、identifying fast targets and ranging reliability.
In this paper, passive ranging arithmetic is simulated in Matlab, and give the result of simulation in various phase. Developed passive ranging software system based TMS320C6416 hardware accomplishes target passive ranging (use target simulator to unite debugging ). The experimentation result proves that passive ranging software capability is excellent.
本论文的研究工作分为两个部分：三元阵被动测距仿真技术研究和噪声测距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，并对于被动测距中存在的距离模糊问题进行了探讨研究。传统的被动测距声纳，对于远程目标采用K系数分配法实现目标的被动定位，而对于近程目标无法实现测距。本论文采用相关峰直接测量的方法来克服传统被动声纳中存在的近程测距模糊问题，实现了噪声目标的全程测距。解决了非对称阵的测距问题，使得测距软件系统兼顾对称阵型和非对称阵型，应用场合更加宽广。要对抗鱼雷的巨大威胁，必须对其进行快速跟踪，后置滤波器的性能尤为重要。本文合理的运用了基于自适应噪声抵消的参数估计器，使得系统可有效地对快速运动目标进行跟踪。
本论文在改进的被动测距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：同时对三个目标进行定位，测量目标的距离、方位、识别快速目标及给出距离测量值的置信度。
本论文在Matlab环境下对测距算法进行了仿真，给出了各个环节的仿真结果。所研制的被动测距模块在TMS320C6416硬件平台上实现了被动目标的定位(用目标模拟器进行了陆上联调实验)，实验结果验证了实时处理被动测距模块性能优良。
The system of passive ranging SONAR makes use of the target noise received by the equipment which converts energy from one form to another to estimate the target distance. The main effect of passive ranging SONAR is detecting target distance、azimuth and speed and so on. Track the target. It's the key to measure the high precision time delay. The main factor for ranging distance is high precision time delay.
There are two research parts in this paper: three non-symmetry array passive ranging simulator research and the system software of passive ranging develop.
The main research task of three non-symmetry array passive ranging technology is analyzing symmetry array and non-symmetry array ranging and direction detecting theory, analyzing symmetry array and non-symmetry array ranging and direction detecting error and discuss the problem of range blurring in passive ranging. For the traditional passive ranging SONAR, K parameter distribution method (K - PDM) is used to estimate the time delay to range for far targets. However, for near targets, K- PDM has the problem of range blurring, In the paper, direct measurement method (DMM) is used to range, and conquer traditional SONAR near ranging blurring problem. Achieve whole ranging. Resolve non-symmetry array ranging problem. Have ranging software used in not only symmetry array but also non-symmetry array, and application is more aboard. If confront fish torpedo huge attack, it's necessary to track contrail apace. So it's very important of Adaptive filtering capability. In this passive ranging software, apply noise counteract based LMS arithmetic to track the fast targets apace.
Based the improved system hardware, develop this real-time system software. The function of real-time system software consists: ranging three targets at the same time, ranging targets distance、direction detecting、identifying fast targets and ranging reliability.
In this paper, passive ranging arithmetic is simulated in Matlab, and give the result of simulation in various phase. Developed passive ranging software system based TMS320C6416 hardware accomplishes target passive ranging (use target simulator to unite debugging ). The experimentation result proves that passive ranging software capability is excellent.
引文
[1] 宋新见．数字式噪声目标被动测距声纳研究．哈尔滨：哈尔滨工程大学博士论文．2003年
[2] 刘伯胜，雷家煜．水声学原理．哈尔滨：哈尔滨工程大学出版社，1993年12月第一版
[3] 刘孟庵．水声工程．浙江科学技术出版社，2002年10月第一版
[4] 田坦，刘国枝，孙大军．声纳技术．哈尔滨：哈尔滨工程大学出版社，2000年3月第一版
[5] 李启虎．数字式声纳设计原理．合肥：安徽教育出版社，1990：1-167页
[6] 毛卫宁．水下被动定位方法回顾和展望．东南大学学报．2001，31(6)：129-132页
[7] Prosperi, Serge. New passive tracking algorithms using power information with application to passive sonar. IEEE International Conference on Acoustic, Speech and Signal Processing. 1991, 2: 1437-1440P
[8] Chan, Y. T., Niezgoda, G.. H. Passive sonar detection and localization by matched velocity filtering. IEEE J. Ocean. Eng. 1995, 20(3): 179-189P
[9] Berry, Jesse F. Introduction to sonar systems. Vitro Technical Journal. 1991, 9(1): 1-11P
[10] 李启虎．水声信号处理领域若干专题研究进展．应用声学．2001，Vol．20(1)：1-5页
[11] Hassab, J. Contact localization and motion analysis in the ocean environment: A prespective. IEEE J. Ocean. Eng. 1983, 8(3): 136-147P
[12] Roy, R., Kailath, T. ESPRIT-estimation of signal parameters by rotational invariance techniques. IEEE Trans. Acoust, Speech, Signal Processing. 1989, 37(3): 984-995P
[13] A. G. Lindgren, K. F. Gong. Position and VelocityEstimatio via Bearing Observations IEEE Trans. Aerosp. Electron. Syst. 1978: 564-577P[14] S. C. Nardone, A. G Lindgren, Fundamental Properties and Performance of Conventional Bearings-only Target Motion Analysis. IEEE Automat. Contr. Sept. 1984: 775-787P
[15] Starer, D., Nehorai, A. Passive localization of near-field sources by path following. IEEE Trans. Signal Process. 1994, 42(3): 677-680P
[16] FrazerS. M., Pecholcs, P. I. Single-hydrophonelocalization. J. Acoust. Soc. Am. 1990 88(2): 995-1002P
[17] Jesus, S. M., Porter, M. B. Single hydrophone source localization. IEEE J. Ocean. Eng. 2000, 25 (3): 337-346P
[18] Arthur B. Baggeroer, William A. Kuperman. An overview of matched field methods in ocean acoutics. IEEE Trans. Signal Processing. 1993, 40(1): 1-11P
[19] R. L. Kirlin, D. F. Moore, and R. F. Kubichek. Improvement of delay measurements from sonar arrays via sequential state estimation. IEEETrans. Acoust, Speech, SignalProcessing. 1981, ASSP-27: 373-38 OP
[20] Richard L. Moose. Passive range estimation of an underwater maneuvering target. IEEE Trans. Acoust, Speech, Signal Processing. 1987, ASSP-35(3): 274-285P
[21] 胡来招．无源定位．北京：国防工业出版社，2004年1月第一版
[22] 李艳梅．声纳脉冲侦查与被动测距研究．哈尔滨：哈尔滨工程大学硕士学位论文．2003年．
[23] 杨春．水声跟踪定位中的抗距离模糊技术研究．哈尔滨：哈尔滨工程大学硕士学位论文．2003年
[24] 赵羽．界面反射对水下目标跟踪系统的影响分析．哈尔滨：哈尔滨工程大学硕士学位论文．2001年
[25] 相位干涉仪测向定位研究．上海航天．1999，No3，1-7页
[26] 赵安邦．声纳脉冲侦察及硬件系统实现研究．哈尔滨：哈尔滨工程大学硕士学位论文．2003年
[27] Andrew Bateman．陈健译．DSP算法．应用与设计．北京：机械工业出版??社，2002年
[28] R. L. Kirlin, L. A. Dewey. Optimal delay estimation in a multiple sensor array having spatially correlated noise. IEEE rrans. Acoust, Speech, Signal Processing. 1985, ASSP-33: 1387-1396P
[29] Siu-Kay Chow, Schultheiss, P. Delay estimation using narrow-band processing. IEEE rrans. Acoust, Speech, Signal Processing. 1981, 29(3): 478-484P
[30] 郑兆宁，向大威．水声信号被动检测与参数估计理论．北京：科学出版社，1983：50-310页，365-450页
[31] 沈正一．被动测距声纳测向模块研究．哈尔滨：哈尔滨工程大学学士学位论文．2005年
[32] 卞静，赵惠民．数字语音编码一种DSP实现方法．现代计算机．1999(4)
[33] 叶松．G．．729语言编码标准若干问题的研究．哈尔滨：哈尔滨工程大学硕士学位论文．2002年1月
[34] 李方惠，王飞，何佩琨．TMS320C6000系列DSPs原理与应用(第二版)．2003年1月第二版
[35] TMS320C64XTechnical Overview, Texas Instruments Incorporated, January 2001
[36] TMS320C6000 Technical Brief, Texas Instruments Incorporated, February 1999
[37] Jane W. S. Real-time System．北京：高等教育出版社，2002：132-180P
[38] 汪安民．TMS320C54XXDSP实用技术．北京：清华大学出版社，2002年7月第一版
[2] 刘伯胜，雷家煜．水声学原理．哈尔滨：哈尔滨工程大学出版社，1993年12月第一版
[3] 刘孟庵．水声工程．浙江科学技术出版社，2002年10月第一版
[4] 田坦，刘国枝，孙大军．声纳技术．哈尔滨：哈尔滨工程大学出版社，2000年3月第一版
[5] 李启虎．数字式声纳设计原理．合肥：安徽教育出版社，1990：1-167页
[6] 毛卫宁．水下被动定位方法回顾和展望．东南大学学报．2001，31(6)：129-132页
[7] Prosperi, Serge. New passive tracking algorithms using power information with application to passive sonar. IEEE International Conference on Acoustic, Speech and Signal Processing. 1991, 2: 1437-1440P
[8] Chan, Y. T., Niezgoda, G.. H. Passive sonar detection and localization by matched velocity filtering. IEEE J. Ocean. Eng. 1995, 20(3): 179-189P
[9] Berry, Jesse F. Introduction to sonar systems. Vitro Technical Journal. 1991, 9(1): 1-11P
[10] 李启虎．水声信号处理领域若干专题研究进展．应用声学．2001，Vol．20(1)：1-5页
[11] Hassab, J. Contact localization and motion analysis in the ocean environment: A prespective. IEEE J. Ocean. Eng. 1983, 8(3): 136-147P
[12] Roy, R., Kailath, T. ESPRIT-estimation of signal parameters by rotational invariance techniques. IEEE Trans. Acoust, Speech, Signal Processing. 1989, 37(3): 984-995P
[13] A. G. Lindgren, K. F. Gong. Position and VelocityEstimatio via Bearing Observations IEEE Trans. Aerosp. Electron. Syst. 1978: 564-577P[14] S. C. Nardone, A. G Lindgren, Fundamental Properties and Performance of Conventional Bearings-only Target Motion Analysis. IEEE Automat. Contr. Sept. 1984: 775-787P
[15] Starer, D., Nehorai, A. Passive localization of near-field sources by path following. IEEE Trans. Signal Process. 1994, 42(3): 677-680P
[16] FrazerS. M., Pecholcs, P. I. Single-hydrophonelocalization. J. Acoust. Soc. Am. 1990 88(2): 995-1002P
[17] Jesus, S. M., Porter, M. B. Single hydrophone source localization. IEEE J. Ocean. Eng. 2000, 25 (3): 337-346P
[18] Arthur B. Baggeroer, William A. Kuperman. An overview of matched field methods in ocean acoutics. IEEE Trans. Signal Processing. 1993, 40(1): 1-11P
[19] R. L. Kirlin, D. F. Moore, and R. F. Kubichek. Improvement of delay measurements from sonar arrays via sequential state estimation. IEEETrans. Acoust, Speech, SignalProcessing. 1981, ASSP-27: 373-38 OP
[20] Richard L. Moose. Passive range estimation of an underwater maneuvering target. IEEE Trans. Acoust, Speech, Signal Processing. 1987, ASSP-35(3): 274-285P
[21] 胡来招．无源定位．北京：国防工业出版社，2004年1月第一版
[22] 李艳梅．声纳脉冲侦查与被动测距研究．哈尔滨：哈尔滨工程大学硕士学位论文．2003年．
[23] 杨春．水声跟踪定位中的抗距离模糊技术研究．哈尔滨：哈尔滨工程大学硕士学位论文．2003年
[24] 赵羽．界面反射对水下目标跟踪系统的影响分析．哈尔滨：哈尔滨工程大学硕士学位论文．2001年
[25] 相位干涉仪测向定位研究．上海航天．1999，No3，1-7页
[26] 赵安邦．声纳脉冲侦察及硬件系统实现研究．哈尔滨：哈尔滨工程大学硕士学位论文．2003年
[27] Andrew Bateman．陈健译．DSP算法．应用与设计．北京：机械工业出版??社，2002年
[28] R. L. Kirlin, L. A. Dewey. Optimal delay estimation in a multiple sensor array having spatially correlated noise. IEEE rrans. Acoust, Speech, Signal Processing. 1985, ASSP-33: 1387-1396P
[29] Siu-Kay Chow, Schultheiss, P. Delay estimation using narrow-band processing. IEEE rrans. Acoust, Speech, Signal Processing. 1981, 29(3): 478-484P
[30] 郑兆宁，向大威．水声信号被动检测与参数估计理论．北京：科学出版社，1983：50-310页，365-450页
[31] 沈正一．被动测距声纳测向模块研究．哈尔滨：哈尔滨工程大学学士学位论文．2005年
[32] 卞静，赵惠民．数字语音编码一种DSP实现方法．现代计算机．1999(4)
[33] 叶松．G．．729语言编码标准若干问题的研究．哈尔滨：哈尔滨工程大学硕士学位论文．2002年1月
[34] 李方惠，王飞，何佩琨．TMS320C6000系列DSPs原理与应用(第二版)．2003年1月第二版
[35] TMS320C64XTechnical Overview, Texas Instruments Incorporated, January 2001
[36] TMS320C6000 Technical Brief, Texas Instruments Incorporated, February 1999
[37] Jane W. S. Real-time System．北京：高等教育出版社，2002：132-180P
[38] 汪安民．TMS320C54XXDSP实用技术．北京：清华大学出版社，2002年7月第一版