基于矢量声场的水下被动探测与定位技术研究
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摘要
复杂海洋环境对声纳性能的限制性影响一直被认为是水声物理和水声工程领域最重要的挑战。随着声隐身技术和远射程对抗武器的发展，研究安静型目标辐射声场特征，探索适用于复杂海洋环境的新型远程被动探测技术势在必行。另一方面，中、近程强机动水下目标被动定位是发展安静型潜艇对抗武器和其它水下航行器的重要保障。本文对水下目标被动探测定位领域最富挑战性的两个课题，即中、远程目标被动探测定位的物理基础和中、近程强机动水下目标的高精度跟踪定位关键技术，展开理论、试验和应用研究。论文的主要研究内容包括：
一、浅海矢量声场干涉结构研究
推导了浅海矢量声场的简正波表达式，分析了矢量场的能量关系与特性，并对矢量声场干涉结构特性进行了仿真研究，随后介绍波导不变量的定义，探讨了矢量声场干涉结构的波导不变量表征，对波导不变量特性进行了理论推导和数值计算。最后进行了宽带声源辐射矢量声场干涉特性海上测量试验。实测结果与理论、仿真分析有较好的一致性。
二、浅海矢量声场干涉结构的时空处理及应用研究
推导了波导条件下矢量线列阵常规波束形成器波束输出的数学表达式，分析时空采样相干处理对矢量场干涉结构影响机理，对波束域干涉结构特性进行了仿真研究，理论、仿真结果表明波束域输出干涉条纹强度、分布等细节受波束图调制而产生变化，但是条纹斜率的自然不变性保持。随后研究了干涉谱图的映射以及映射域的脊特征，提出了基于矢量声场干涉结构的目标检测预警器，对可行性做了仿真分析，并利用海上实测数据对目标检测预警器进行了原理性验证。研究结果表明，该检测预警器可有效的检测动、静目标，并指示目标运动状态。
三、分布式矢量阵被动定位关键技术研究
分析了运动干扰对分布式定位系统的影响，提出了一种适应运动干扰背景的单矢量水听器目标方位估计方法，即导向声强器，对导向声强器的性能进行了仿真研究，进行了海上试验验证和效果评估。研究了基于单矢量水听器的方位估计器的视在方位序列的统计特性，提出了一种基于视在方位序列分析的分布式系统多站被动定位跟踪协同算法，该算法既可减少初始航迹建立过程中产生的大量虚警，又可有效融合多站信息，结合导向声强器，还能提高分布式被动定位系统抗干扰能力，已投入实际应用。
四、浅海信道有效声速估计方法及应用研究
提出了基于本征声线视在搜索的浅海信道有效声速估计方法，获取了对三种浅海信道有效声速空间分布的物理图像，提出了有效声速梯度概念，对空变特征进行了分析，开展了浅海信道有效声速测量实验，并探讨了浅海信道有效声速及其估计方法在长基线水声定位阵元位置规划，精确定位模型建立等方面的应用，应用效果良好。
本文前两方面研究工作成果对有效提高安静型目标检测、识别的稳健性及增加探测距离有重要意义，在远程被动测距、海洋环境监测以及水声通信等方面也有应用价值；后两方面研究工作成果较大的提升了水下机动目标高精度被动定位跟踪性能和能力，在水声测距、分布式主动定位系统与信道匹配等方面也有应用价值。
The restrictive effect of complex environment on sonar performance has been alwaysconsidered as one of the most important challenges in underwater acoustic physics filed andunderwater acoustic engineering filed. With the development of acoustic stealth technologyand long-distance countermeasure weapons, passive sonar meets a new challenge of the lowsignal-to-noise ratio detection. Thus, it is imperative to develop newly technology for thelong-distance passive detection in complex ocean environment by utilizing the characteristicsof target’s radiation acoustic field. On the other hand, the passive tracking of underwatermoving target is an important guarantee for the development of quiet submarine’scountermeasure weapons and other underwater vehicles. Under such circumstance, thetheoretical, experimental and applied research on two aspects of the most challenging subjectsin underwater passive detection and positioning technology were studied in this thesis,including the physical basis of passive detection and localization towards the mid-distance orlong-distance quiet targets and the key technologies of high-accuracy tracking and positioningtowards the underwater moving target. The key contributions are:
1、Research on the interference structure of shallow water vector acoustic field
The normal mode expression of the shallow water vector acoustic field was deduced, andthe energy relations and energy characteristics of vector field was analyzed. The interferencestructural properties of vector acoustic field were researched through simulation. Based on thedefinition of waveguide invariant, the interference structure of vector sound field wasdescribed in waveguide invariant, whose characteristics was studied through theoreticalanalysis and numerical computation, and the verification by sea trials was commenced finally.The measurement fits in with the theoretical and simulation results very well.
2、Space-time processing and applied research on interference structure of the shallowwater vector acoustic field
Mathematical expression of the conventional beam-forming output of vector line array inwaveguide conditions was deduced, and the impact mechanism of time-space samplingcoherent process on vector field interference structure was analyzed. The characteristics ofinterference structure in beam field were researched through simulation. It is verified that thenatural invariance of stripe slope remain the same, although several aspects of beam domainoutput interference fringe,including intensity, distribution and so on, would change with themodulation of beam map. The mapping method of interference spectrum and the characteristics of the ridge in mapping space were discussed, and the implement of targetdetection and warning, which was based on the interference structure of vector acoustic field,was proposed. The performance of this implement was analyzed through simulation andchecked through the data measured in sea trial. The research results show that this implementcan detect mobile and immobile targets effectively and can indicate the target’s motion state.
3、Research on the key technologies of distributed vector array passive positioning
The impact of motion interference on Distributed Positioning System was analyzed, anda new method of direction estimation based on single vector hydrophone in motioninterference background was put forward, named oriented intensity implement. Theperformance of this implement was analyzed through simulation, and sea trials verify andeffects assessments were done. The statistical properties of pseudo sequence in the directionestimator based on single vector hydrophone was studied, and a multi-station cooperatingmethod based on pseudo sequence analysis in passive locating and tracking distributedsystems was proposed, whose application on track establishment and multi-stationcooperation was discussed.The method can reduce lots of false alarms effectively during theprocess of setting up initial path, and can fuse multi-station information very well. Combinedwith oriented intensity implement, it can also improve the anti-interference capability ofdistributed passive positioning system. The method has been put into practical application.
4、Research on the estimation method of effective sound velocity in shallow water and itsapplication
A new estimation method of effective sound velocity in shallow water based onEigen-rays pseudo searching was put forward, and the physical images of the spacedistribution of effective velocity in three kinds of shallow water channel were acquired.According to the concept of effective velocity gradient, the space variable characteristics wereanalyzed. The experiment about effective sound velocity measurement was carried out inshallow water, and the application of effective sound velocity and its estimation method wasdiscussed, such as the forecast of system range, the planning of array position in long baselineacoustic positioning system, the establishment of high-accuracy positioning model, and so on.The application results showed its effectiveness.
The forward two aspects of these research results above not only have great significancein improving the robustness of the detection and the recognition toward the quiet targets, butalso have many practical applications in remote passive ranging, underwater environmentalmonitoring and underwater acoustic communication. The backward two aspects can enhancethe performance and capacity of underwater maneuvering target high-accuracy passive location and is useful in underwater acoustic ranging, distributed active positioning systemand channel matching.
一、浅海矢量声场干涉结构研究
推导了浅海矢量声场的简正波表达式，分析了矢量场的能量关系与特性，并对矢量声场干涉结构特性进行了仿真研究，随后介绍波导不变量的定义，探讨了矢量声场干涉结构的波导不变量表征，对波导不变量特性进行了理论推导和数值计算。最后进行了宽带声源辐射矢量声场干涉特性海上测量试验。实测结果与理论、仿真分析有较好的一致性。
二、浅海矢量声场干涉结构的时空处理及应用研究
推导了波导条件下矢量线列阵常规波束形成器波束输出的数学表达式，分析时空采样相干处理对矢量场干涉结构影响机理，对波束域干涉结构特性进行了仿真研究，理论、仿真结果表明波束域输出干涉条纹强度、分布等细节受波束图调制而产生变化，但是条纹斜率的自然不变性保持。随后研究了干涉谱图的映射以及映射域的脊特征，提出了基于矢量声场干涉结构的目标检测预警器，对可行性做了仿真分析，并利用海上实测数据对目标检测预警器进行了原理性验证。研究结果表明，该检测预警器可有效的检测动、静目标，并指示目标运动状态。
三、分布式矢量阵被动定位关键技术研究
分析了运动干扰对分布式定位系统的影响，提出了一种适应运动干扰背景的单矢量水听器目标方位估计方法，即导向声强器，对导向声强器的性能进行了仿真研究，进行了海上试验验证和效果评估。研究了基于单矢量水听器的方位估计器的视在方位序列的统计特性，提出了一种基于视在方位序列分析的分布式系统多站被动定位跟踪协同算法，该算法既可减少初始航迹建立过程中产生的大量虚警，又可有效融合多站信息，结合导向声强器，还能提高分布式被动定位系统抗干扰能力，已投入实际应用。
四、浅海信道有效声速估计方法及应用研究
提出了基于本征声线视在搜索的浅海信道有效声速估计方法，获取了对三种浅海信道有效声速空间分布的物理图像，提出了有效声速梯度概念，对空变特征进行了分析，开展了浅海信道有效声速测量实验，并探讨了浅海信道有效声速及其估计方法在长基线水声定位阵元位置规划，精确定位模型建立等方面的应用，应用效果良好。
本文前两方面研究工作成果对有效提高安静型目标检测、识别的稳健性及增加探测距离有重要意义，在远程被动测距、海洋环境监测以及水声通信等方面也有应用价值；后两方面研究工作成果较大的提升了水下机动目标高精度被动定位跟踪性能和能力，在水声测距、分布式主动定位系统与信道匹配等方面也有应用价值。
The restrictive effect of complex environment on sonar performance has been alwaysconsidered as one of the most important challenges in underwater acoustic physics filed andunderwater acoustic engineering filed. With the development of acoustic stealth technologyand long-distance countermeasure weapons, passive sonar meets a new challenge of the lowsignal-to-noise ratio detection. Thus, it is imperative to develop newly technology for thelong-distance passive detection in complex ocean environment by utilizing the characteristicsof target’s radiation acoustic field. On the other hand, the passive tracking of underwatermoving target is an important guarantee for the development of quiet submarine’scountermeasure weapons and other underwater vehicles. Under such circumstance, thetheoretical, experimental and applied research on two aspects of the most challenging subjectsin underwater passive detection and positioning technology were studied in this thesis,including the physical basis of passive detection and localization towards the mid-distance orlong-distance quiet targets and the key technologies of high-accuracy tracking and positioningtowards the underwater moving target. The key contributions are:
1、Research on the interference structure of shallow water vector acoustic field
The normal mode expression of the shallow water vector acoustic field was deduced, andthe energy relations and energy characteristics of vector field was analyzed. The interferencestructural properties of vector acoustic field were researched through simulation. Based on thedefinition of waveguide invariant, the interference structure of vector sound field wasdescribed in waveguide invariant, whose characteristics was studied through theoreticalanalysis and numerical computation, and the verification by sea trials was commenced finally.The measurement fits in with the theoretical and simulation results very well.
2、Space-time processing and applied research on interference structure of the shallowwater vector acoustic field
Mathematical expression of the conventional beam-forming output of vector line array inwaveguide conditions was deduced, and the impact mechanism of time-space samplingcoherent process on vector field interference structure was analyzed. The characteristics ofinterference structure in beam field were researched through simulation. It is verified that thenatural invariance of stripe slope remain the same, although several aspects of beam domainoutput interference fringe,including intensity, distribution and so on, would change with themodulation of beam map. The mapping method of interference spectrum and the characteristics of the ridge in mapping space were discussed, and the implement of targetdetection and warning, which was based on the interference structure of vector acoustic field,was proposed. The performance of this implement was analyzed through simulation andchecked through the data measured in sea trial. The research results show that this implementcan detect mobile and immobile targets effectively and can indicate the target’s motion state.
3、Research on the key technologies of distributed vector array passive positioning
The impact of motion interference on Distributed Positioning System was analyzed, anda new method of direction estimation based on single vector hydrophone in motioninterference background was put forward, named oriented intensity implement. Theperformance of this implement was analyzed through simulation, and sea trials verify andeffects assessments were done. The statistical properties of pseudo sequence in the directionestimator based on single vector hydrophone was studied, and a multi-station cooperatingmethod based on pseudo sequence analysis in passive locating and tracking distributedsystems was proposed, whose application on track establishment and multi-stationcooperation was discussed.The method can reduce lots of false alarms effectively during theprocess of setting up initial path, and can fuse multi-station information very well. Combinedwith oriented intensity implement, it can also improve the anti-interference capability ofdistributed passive positioning system. The method has been put into practical application.
4、Research on the estimation method of effective sound velocity in shallow water and itsapplication
A new estimation method of effective sound velocity in shallow water based onEigen-rays pseudo searching was put forward, and the physical images of the spacedistribution of effective velocity in three kinds of shallow water channel were acquired.According to the concept of effective velocity gradient, the space variable characteristics wereanalyzed. The experiment about effective sound velocity measurement was carried out inshallow water, and the application of effective sound velocity and its estimation method wasdiscussed, such as the forecast of system range, the planning of array position in long baselineacoustic positioning system, the establishment of high-accuracy positioning model, and so on.The application results showed its effectiveness.
The forward two aspects of these research results above not only have great significancein improving the robustness of the detection and the recognition toward the quiet targets, butalso have many practical applications in remote passive ranging, underwater environmentalmonitoring and underwater acoustic communication. The backward two aspects can enhancethe performance and capacity of underwater maneuvering target high-accuracy passive location and is useful in underwater acoustic ranging, distributed active positioning systemand channel matching.
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