海底多波束信号频域处理技术研究
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摘要
多波束测深仪是现代海洋勘探的重要工具。本文主要致力于多波束测深系统中的信号处理问题研究,从不同层面对海底多波束信号频域处理技术作了深入探讨。
1.对多波束测深关键技术之一——波束形成算法进行了研究,主要有CBF、DFT、Capon、MUSIC、FIM以及WFIM法,利用仿真数据和实测数据分别对上述六种算法作了计算机仿真,通过比较,Capon、FIM、WFIM和MUSIC法的束宽都比CBF法窄。
2.应用了子阵平滑方法估计回波信号每个时间片的协方差矩阵,使用CBF、Capon、MUSIC、FIM以及WFIM法波束形成算法处理了仿真的多波束测深回波数据,并就其性能与DFT法进行了比较与分析,准确度比较结果为:DFT法>MUSIC法>WFIM法>FIM法>Capon法>CBF法,分辨率比较结果为:MUSIC法>Capon法>DFT法>FIM法> WFIM法>CBF法。
3.分别对仿真信号做了基于BDI方法的TOA研究和基于相位差方法的TOA研究,给出了基于DFT波束形成的BDI处理的流程,推导了DFT波束形成的子阵相位差式,并就这两种算法做了比较:对于边缘波束采用相位差方法比BDI方法效果要好。
4.提出了基于插值算法的虚拟阵元FIM波束形成的方法,不仅有效地增加了阵元数目,而且解决了等距稀疏阵列因阵元间距大于半波长而引起的信号角度模糊问题,同时采用FIM波束形成技术提高了指向性性能和抑制相关干扰噪声性能,通过对仿真数据和实测数据处理证实了该方法的有效性。
5.分析了基于DFT波束形成的BDI技术信号处理的各个重要环节的运算量,对重要环节编写了程序并给出了在TigerSHARC TS101S DSP上的运算时间。
Multibeam Swath Bathymeter is an important tool for modern sea exploration. This paper mainly researches on the signal processing problems about Multibeam Bathymetric system. The frequency domain processing techniques for seafloor multibeam signals are discussed from different points of view.
Firstly, this paper researches on one of the key techniques of the Bathymetry—beamforming method. It discusses CBF (Conventional BeamForming) method, DFT (Discrete Fourier Transform) method, Capon method, MUSIC (Multiple Signal Classification) method, FIM (Fourier Integral Method) and WFIM (Weighted Fourier Integral Method). Six kinds of algorithms principle have been separately processed using the computer simulations and real sonar data. Through the comparison, the beam widths of Capon, MUSIC, FIM and WFIM algorithm are much narrower than that of CBF.
Secondly, a kind of subarray smoothing algorithm is proposed in the paper to estimate the covariance matrix of the echo signal in each slice. CBF, DFT, Capon, MUSIC, FIM and WFIM beamformers are used to process the simulation data and compared with DFT beamformer on their performance. For each kind of beamformers, the result about accuracy is DFT >MUSIC >WFIM >FIM >Capon >CBF, and the result about resolution is MUSIC >Capon >DFT >FIM > WFIM >CBF.
Thirdly, this paper studies on BDI (Bearing Direction Indicator) method and Phase Difference method for TOA (Time of Arrival), the design process of BDI method is given by studying the computer simulations data. The form of Phase Difference method about DFT beamforming is derived. Compared to the BDI method, Phase Difference method for the edge beams is clearly better.
Fourthly, interpolation technique is proposed for processing the FIM beamforming of equispaced linear sparse array. The method not only increases the numbers of the elements, but also overcomes the disadvantage of the ambiguity of the angle, which is caused by the elements spacing larger than half-wavelength. Meanwhile, the method improves the performance of directivity and noise rejection. The effectiveness of this method is verified by processing computer simulations and real sonar data.
Fifthly, this paper analyzes digital signal processing tasks about the BDI method base on DFT beamforming. The programs about each task are compiled and running time on the TigerSHARC TS101S DSP is given.
1.对多波束测深关键技术之一——波束形成算法进行了研究,主要有CBF、DFT、Capon、MUSIC、FIM以及WFIM法,利用仿真数据和实测数据分别对上述六种算法作了计算机仿真,通过比较,Capon、FIM、WFIM和MUSIC法的束宽都比CBF法窄。
2.应用了子阵平滑方法估计回波信号每个时间片的协方差矩阵,使用CBF、Capon、MUSIC、FIM以及WFIM法波束形成算法处理了仿真的多波束测深回波数据,并就其性能与DFT法进行了比较与分析,准确度比较结果为:DFT法>MUSIC法>WFIM法>FIM法>Capon法>CBF法,分辨率比较结果为:MUSIC法>Capon法>DFT法>FIM法> WFIM法>CBF法。
3.分别对仿真信号做了基于BDI方法的TOA研究和基于相位差方法的TOA研究,给出了基于DFT波束形成的BDI处理的流程,推导了DFT波束形成的子阵相位差式,并就这两种算法做了比较:对于边缘波束采用相位差方法比BDI方法效果要好。
4.提出了基于插值算法的虚拟阵元FIM波束形成的方法,不仅有效地增加了阵元数目,而且解决了等距稀疏阵列因阵元间距大于半波长而引起的信号角度模糊问题,同时采用FIM波束形成技术提高了指向性性能和抑制相关干扰噪声性能,通过对仿真数据和实测数据处理证实了该方法的有效性。
5.分析了基于DFT波束形成的BDI技术信号处理的各个重要环节的运算量,对重要环节编写了程序并给出了在TigerSHARC TS101S DSP上的运算时间。
Multibeam Swath Bathymeter is an important tool for modern sea exploration. This paper mainly researches on the signal processing problems about Multibeam Bathymetric system. The frequency domain processing techniques for seafloor multibeam signals are discussed from different points of view.
Firstly, this paper researches on one of the key techniques of the Bathymetry—beamforming method. It discusses CBF (Conventional BeamForming) method, DFT (Discrete Fourier Transform) method, Capon method, MUSIC (Multiple Signal Classification) method, FIM (Fourier Integral Method) and WFIM (Weighted Fourier Integral Method). Six kinds of algorithms principle have been separately processed using the computer simulations and real sonar data. Through the comparison, the beam widths of Capon, MUSIC, FIM and WFIM algorithm are much narrower than that of CBF.
Secondly, a kind of subarray smoothing algorithm is proposed in the paper to estimate the covariance matrix of the echo signal in each slice. CBF, DFT, Capon, MUSIC, FIM and WFIM beamformers are used to process the simulation data and compared with DFT beamformer on their performance. For each kind of beamformers, the result about accuracy is DFT >MUSIC >WFIM >FIM >Capon >CBF, and the result about resolution is MUSIC >Capon >DFT >FIM > WFIM >CBF.
Thirdly, this paper studies on BDI (Bearing Direction Indicator) method and Phase Difference method for TOA (Time of Arrival), the design process of BDI method is given by studying the computer simulations data. The form of Phase Difference method about DFT beamforming is derived. Compared to the BDI method, Phase Difference method for the edge beams is clearly better.
Fourthly, interpolation technique is proposed for processing the FIM beamforming of equispaced linear sparse array. The method not only increases the numbers of the elements, but also overcomes the disadvantage of the ambiguity of the angle, which is caused by the elements spacing larger than half-wavelength. Meanwhile, the method improves the performance of directivity and noise rejection. The effectiveness of this method is verified by processing computer simulations and real sonar data.
Fifthly, this paper analyzes digital signal processing tasks about the BDI method base on DFT beamforming. The programs about each task are compiled and running time on the TigerSHARC TS101S DSP is given.
引文
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[2]李军.浅海多波束测深回波信号建模及波达时间研究, [硕士学位论文] .南京:南京航空航天大学, 2007.
[3]胡银丰,朱辉庆,夏铁坚.现代深水多波束测深系统简介.声学与电子工程, 2008, 89(1): 46~48.
[4]李家彪,王小华,华祖根,等.多波束勘查原理技术与方法.北京:海洋出版社, 1999: 1~8.
[5]黄谟涛.多波束测深技术研究进展与展望.海洋测绘, 2000, 78(3): 2~7.
[6]赵会滨,徐新盛,吴英姿.多波束条带测深技术发展动态展望.哈尔滨工程大学学报, 2001, 22(2): 42~45.
[7]黄谟涛,翟国君,欧阳永忠,等.海洋测量技术的研究进展与展望.海洋测绘, 2008, 28(5): 77~82.
[8]范震寰.多波束测深关键技术研究, [硕士学位论文].南京:南京航空航天大学, 2005.
[9]宋玲玲.多波束测量数据预处理研究, [硕士学位论文].南京:南京航空航天大学, 2008.
[10] L-3 Communications SeaBeam Instrument Inc. SeaBeam 2000 serials multibeam survey system. L-3 Communications SeaBeam Instrument Inc, 1993.
[11] Kongsberg simrad Inc. Simrad EM3000 multibeam echo sounder operator manual. Kongsberg simrad Inc, 1997.
[12]刘忠臣,周兴华,陈义兰,等.浅水多波束系统及其最新技术发展.海洋测绘, 2005, 25(6): 67~70.
[13] L-3 Communications Seabeam Instruments Inc. Multibeam sonar theory of operation. L-3 Communications Seabeam Instruments Inc, 2000.
[14]朱琦.多波束条带测深幅度检测方法研究, [硕士学位论文] .哈尔滨:哈尔滨工程大学, 1999.
[15] Satrano J H, Smith L C, Ambrose J T. Signal processing for wide swath bathymetric sonars. Proc. IEEE Oceans'91, 1991: 558~561.
[16] Hammerstad E, Pohner F, Parchiotf, et al. Filed testing of a new deep water multibeam echo-sonar. Proc. IEEE Oceans'91, 1991: 743~749.
[17] Farr, H K. Multibeam bathymetric sonar: SeaBeam and Hydrochart. Marine Geodesy, 1980, 4(2): 77~93.
[18] De Moustier, Alexandrou D. Angular dependence of 12KHz seafloor acoustic backscatter. Journal of the Acoustical Society of America, 1991, 90(1): 522~531.
[19] Morega S D, Sankar. Digital signal processing for precision wide swath bathymetry. IEEE Journal of Oceanic Engineering, 1984, 9(2): 73~84.
[20] De Moustier. Signal processing for swath bathymetry and concurrent seafloor acoustic imaging. AD-A266214, 1993.
[21]曹洪泽.多波束条带测深系统中的相位检测法研究, [硕士学位论文].哈尔滨:哈尔滨工程大学, 1999.
[22] Lingsch S C, Robinson C S. Acoustic imagery bathymetric system using a multibeam. Marine Geodesy, 1992(15): 81~95.
[23] Krim H, Viberg M. Two decades of array signal processing research. IEEE Signal Processing Magazine, 1996, 13 (4): 67~94.
[24] Kay S M, Marple S L. Spectrum analysis--a modern perspective. Proc. of the IEEE, 1981, 68(11): 1380~1419.
[25] Burg J P. Maximum entropy spectral analysis. Proc. of the 37th meeting of the Annual Int. SEG Meeting. Oklahoma City, OK, 1967.
[26] Capon J. High-resolution frequency-wavenumber spectrum analysis. Proc. of the IEEE, 1969, 57(8): 1408~1418.
[27] Schmidt R O. Multiple emitter location and signal parameter estimation. IEEE Trans. Antennas Propag, 1986, 34(3): 276~280.
[28] Kung S Y, Arun K S, Rao D V B. State space and SVD based approximation methods for the harmonic retrieval problem. J. Opt. Soc. Amer., 1983, 73(12): 1799~1811.
[29] Roy R, Kailath T. ESPRIT—a subspace rotation approach to estimation of parameters of cissoids in noise. IEEE Trans. on ASSP, 1986, 34(10): 1340~1342.
[30] Roy R, Kailath T. ESPRIT—estimation of signal parameters via rotational invariance techniques. IEEE Trans. on ASSP, 1989, 37(7): 984~995.
[31] Stoica P, Nehorai A. MUSIC, Maximum likelihood, and Cramer-Rao bound. Proc. ICASSP 1988, 1988: 2296~2299.
[32] Ottersten B, Viberg M, Stoica P, Nehorai A. Exact and larger sample ML techniques for parameter estimation and diction in array processing. Haykin, Litva, Shepherd. Radar array processing. Berlin: Springer-Verlag, 1993: 99~151.
[33] Cadzow J A. A high resolution direction-of-arrival algorithm narrow-band coherent andincoherent sources. IEEE Trans. on ASSP, 1988, 36(7): 965~979.
[34]田坦.水下定位与导航技术.北京:国防工业出版社, 2007: 128~130.
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