封闭空间液态场内声源定位方法研究
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摘要
大型石油储罐是石化行业中油品储存的重要设施，是目前石油储运中非常关键的环节。影响石油储罐安全的因素中，罐底板腐蚀是最为主要和隐蔽的。进行先进的罐底腐蚀在线检测技术的研究，对保障石油储罐的安全稳定运行具有重要的意义。本文针对基于游弋式传感器的石油储罐罐底腐蚀检测技术中，需要解决的封闭空间液态场中声源定位问题开展研究，提出相应的解决方法。本文的主要工作及研究内容包括以下几个方面：
（1）分析了石油储罐罐底腐蚀检测的国内外研究现状，提出一种基于游弋式传感器的罐底腐蚀检测方法。对游弋式传感器所在的封闭空间液态场内声源定位面临的问题，进行了分析。
（2）针对封闭空间液态场内声源定位求解中面临的定位方程非线性及系统模型偏差影响定位性能问题，提出一种基于优化扩展卡尔曼滤波（EKF）的定位方法和一种基于粒子滤波的定位方法。通过引入自适应衰减因子，避免了算法的发散，利用前次定位结果对本次测量数据进行修正，实现EKF的优化。另外，采用粒子滤波方法实现定位估计，通过对时延估计后验概率的迭代处理，逐渐消除或削弱多途效应导致的伪峰的影响。这两种定位方法具有较小的计算误差和较好的稳定性，为实现封闭空间液态场中目标定位提供了有力手段。
（3）针对封闭空间液态场中被动声源定位的多途效应对时延估计的影响，提出一种基于扩展平均幅度差函数（AMDF）的广义互相关的方法。通过信号的延拓抑制多途效应的影响，利用基于相位变换（PHAT）的广义互相关，提高时延估计的鲁棒性。通过对不同信号及多途情况下的实验，表明该算法能够有效克服封闭空间液态场中噪声干扰及多途效应的影响，提高了时延估计的稳定性和准确性。
（4）针对封闭空间液态场中主动声源定位的渡越时间（TOF）估计，提出基于扩频信号的广义互相关渡越时间估计方法和基于主成分分析（PCA）的渡越时间估计方法。采用m序列对发射信号进行直接序列扩频调制，将采集信号进行解调后取相关结果的峰值作为渡越时间的估计值。通过对信号的协方差矩阵进行分解，得到由信号特征矢量组成的信号子空间及由噪声特征矢量组成的噪声子空间，选取其中表征信号主要信息的特征值及特征向量，提高估计的准确性。
（5）对上述算法进行了计算机仿真，验证了所提算法的优良性能，并设计了游弋式传感器及实验系统，实现声源信号波形分析、声源定位及位置显示等功能，对算法性能进行了实验验证。
Large-scale vertical metal tank is one of the most important facilities of oilstorage. Corrosion of bottom palate is the most primary and hidden factors that affectthe security of oil storage tanks. It’s is meaningful to study on advanced tank bottomcorrosion online testing technology for maintaining stable operation of tanks. Thispaper presents a method of oil tank bottom corrosion testing called underwatercruising sensor system. Acoustic source localization was one of the key problems forthe underwater cruising sensor system. The problem was summarized in this paper.The problems of acoustic source localization in enclosed liquid field were studied inthis paper and the corresponding solving methods were proposed. The study includesthe following aspects:
(1) Domestic and foreign situation of oil storage tank bottom corrosion detectionwas analyzed. Underwater cruising sensor system was proposed to measure the innerparameters online in enclosed liquid field. The positioning problems in enclosedliquid field were analyzed.
(2) The nonlinear of positioning equations of TDOA (time difference of arrival)and bias of system model affect the localization performance of acoustic source inenclosed liquid field. The optimized EKF (extended Kalman filter) based localizationmethod and PF (particle filter) based localization method are proposed. For theoptimized EKF method, the adaptive fading factor was used to prevent algorithmdivergence. The EKF was optimized by adjusting the current measurements with theformer localization result. For the PF based algorithm, the state space model was usedto descript the localization problem. The posterior density of time delay estimationwas processed iteratively to eliminate or weaken the fake peaks caused by themultipath. The two algorithms have smaller deviation and better ability of stabilitycompare to the traditional methods and is a powerful means of acoustic sourcelocalization in enclosed liquid field.
(3) An algorithm of generalized cross correlation based on extended AMDF(Average Magnitude Difference Function) was proposed to improve the accuracy oftime delay estimation (TDE). The effect of multipath was eliminated with thecontinuation of signals. The GCC was weighted with the AMDF and PHAT. Theexperimental results with different signals and different multipath showed that the algorithm can overcome the effect of multipath and noise in enclosed liquid field andimprove the stability and accuracy of TDE.
(4) The time of flight (TOF) was used to locate the underwater cruising sensorsystem in enclosed liquid field. The algorithms based on GCC of spread spectrumsignal and principle component analysis (PCA) were proposed to improve theperformance of TOF estimation. In the former algorithm, the emitter signal wasmodulated by the direct sequence spread spectrum with m sequence. The receivedsignal was demodulated and the index of the peak of GCC was treated as theestimation of TOF. In the latter algorithm, the covariance matrix of signals wasdecomposed to get the signal subspace composed of signal feature vectors and noisesubspace composed of noise feature vectors. The accuracy of TOF estimation wasimproved by selecting the eigenvalue and eigenvectors which corresponds to the maininformation of signals and eliminating the redundancy item caused by the coherentmultipath and noise.
(5) Simulation experiments were performed to validate the proposed algorithms.The underwater cruising sensor system and experimental system which can analysisthe waveform of acoustic source and perform the localization algorithms weredesigned and verified the performance of the proposed algorithms.
（1）分析了石油储罐罐底腐蚀检测的国内外研究现状，提出一种基于游弋式传感器的罐底腐蚀检测方法。对游弋式传感器所在的封闭空间液态场内声源定位面临的问题，进行了分析。
（2）针对封闭空间液态场内声源定位求解中面临的定位方程非线性及系统模型偏差影响定位性能问题，提出一种基于优化扩展卡尔曼滤波（EKF）的定位方法和一种基于粒子滤波的定位方法。通过引入自适应衰减因子，避免了算法的发散，利用前次定位结果对本次测量数据进行修正，实现EKF的优化。另外，采用粒子滤波方法实现定位估计，通过对时延估计后验概率的迭代处理，逐渐消除或削弱多途效应导致的伪峰的影响。这两种定位方法具有较小的计算误差和较好的稳定性，为实现封闭空间液态场中目标定位提供了有力手段。
（3）针对封闭空间液态场中被动声源定位的多途效应对时延估计的影响，提出一种基于扩展平均幅度差函数（AMDF）的广义互相关的方法。通过信号的延拓抑制多途效应的影响，利用基于相位变换（PHAT）的广义互相关，提高时延估计的鲁棒性。通过对不同信号及多途情况下的实验，表明该算法能够有效克服封闭空间液态场中噪声干扰及多途效应的影响，提高了时延估计的稳定性和准确性。
（4）针对封闭空间液态场中主动声源定位的渡越时间（TOF）估计，提出基于扩频信号的广义互相关渡越时间估计方法和基于主成分分析（PCA）的渡越时间估计方法。采用m序列对发射信号进行直接序列扩频调制，将采集信号进行解调后取相关结果的峰值作为渡越时间的估计值。通过对信号的协方差矩阵进行分解，得到由信号特征矢量组成的信号子空间及由噪声特征矢量组成的噪声子空间，选取其中表征信号主要信息的特征值及特征向量，提高估计的准确性。
（5）对上述算法进行了计算机仿真，验证了所提算法的优良性能，并设计了游弋式传感器及实验系统，实现声源信号波形分析、声源定位及位置显示等功能，对算法性能进行了实验验证。
Large-scale vertical metal tank is one of the most important facilities of oilstorage. Corrosion of bottom palate is the most primary and hidden factors that affectthe security of oil storage tanks. It’s is meaningful to study on advanced tank bottomcorrosion online testing technology for maintaining stable operation of tanks. Thispaper presents a method of oil tank bottom corrosion testing called underwatercruising sensor system. Acoustic source localization was one of the key problems forthe underwater cruising sensor system. The problem was summarized in this paper.The problems of acoustic source localization in enclosed liquid field were studied inthis paper and the corresponding solving methods were proposed. The study includesthe following aspects:
(1) Domestic and foreign situation of oil storage tank bottom corrosion detectionwas analyzed. Underwater cruising sensor system was proposed to measure the innerparameters online in enclosed liquid field. The positioning problems in enclosedliquid field were analyzed.
(2) The nonlinear of positioning equations of TDOA (time difference of arrival)and bias of system model affect the localization performance of acoustic source inenclosed liquid field. The optimized EKF (extended Kalman filter) based localizationmethod and PF (particle filter) based localization method are proposed. For theoptimized EKF method, the adaptive fading factor was used to prevent algorithmdivergence. The EKF was optimized by adjusting the current measurements with theformer localization result. For the PF based algorithm, the state space model was usedto descript the localization problem. The posterior density of time delay estimationwas processed iteratively to eliminate or weaken the fake peaks caused by themultipath. The two algorithms have smaller deviation and better ability of stabilitycompare to the traditional methods and is a powerful means of acoustic sourcelocalization in enclosed liquid field.
(3) An algorithm of generalized cross correlation based on extended AMDF(Average Magnitude Difference Function) was proposed to improve the accuracy oftime delay estimation (TDE). The effect of multipath was eliminated with thecontinuation of signals. The GCC was weighted with the AMDF and PHAT. Theexperimental results with different signals and different multipath showed that the algorithm can overcome the effect of multipath and noise in enclosed liquid field andimprove the stability and accuracy of TDE.
(4) The time of flight (TOF) was used to locate the underwater cruising sensorsystem in enclosed liquid field. The algorithms based on GCC of spread spectrumsignal and principle component analysis (PCA) were proposed to improve theperformance of TOF estimation. In the former algorithm, the emitter signal wasmodulated by the direct sequence spread spectrum with m sequence. The receivedsignal was demodulated and the index of the peak of GCC was treated as theestimation of TOF. In the latter algorithm, the covariance matrix of signals wasdecomposed to get the signal subspace composed of signal feature vectors and noisesubspace composed of noise feature vectors. The accuracy of TOF estimation wasimproved by selecting the eigenvalue and eigenvectors which corresponds to the maininformation of signals and eliminating the redundancy item caused by the coherentmultipath and noise.
(5) Simulation experiments were performed to validate the proposed algorithms.The underwater cruising sensor system and experimental system which can analysisthe waveform of acoustic source and perform the localization algorithms weredesigned and verified the performance of the proposed algorithms.
引文
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