采用单水听器的匀速圆弧运动直升机三维参数估计算法

张华霞; 孙伟涛; 王惠刚; 荣少巍

doi:10.11999/JEIT210887

采用单水听器的匀速圆弧运动直升机三维参数估计算法

doi: 10.11999/JEIT210887

张华霞¹,
孙伟涛¹,
王惠刚^{1, 2, ,},
荣少巍¹

1.
西北工业大学航海学院西安 710072
2.
西北工业大学深圳研究院深圳 518057

基金项目: 水声对抗技术国家重点实验室项目(JZX7Y201911SY003401)，深圳市科技创新委员会基金(CYJ20190806150003606)，中央高校基本科研业务费专项资金(D5000220158)

详细信息

作者简介:
张华霞：女，博士生，研究方向为阵列信号处理

孙伟涛：男，博士生，研究方向为时频估计、目标检测

王惠刚：男，教授，博士生导师，研究方向为目标检测、参数估计、自适应信息处理

荣少巍：男，博士生，研究方向为目标检测、自适应控制

通讯作者:
王惠刚　wanghg74@nwpu.edu.cn

中图分类号: TN911.7
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- 文章访问数: 345
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- PDF下载量: 59
- 被引次数: 0
出版历程
- 收稿日期: 2021-08-27
- 修回日期: 2022-07-07
- 网络出版日期: 2022-07-11
- 刊出日期: 2022-11-14

3D Parameters Estimation of Helicopter with Constant Speed Circular Motion Based on Single Hydrophone

1.
School of Marine Science & Technology, Northwestern Polytechnical University, Xi’an 710072, China
2.
Research & Development Institute in Shenzhen, Northwestern Polytechnical University, Shenzhen 518057, China

Funds: The National Key Laboratory of Science and Technology on Underwater Acoustic Antagonizing (JZX7Y201911SY003401), The Science, Technology and Innovation of Shenzhen Municipality (CYJ20190806150003606), The Fundamental Research Funds for the Central Universities (D5000220158)

摘要

摘要: 针对空中匀速圆弧运动目标激发的水下声信号，该文采用单水听器解决该动目标3维运动参数的估计问题。首先以直升机离散线谱为声源特征，在空气-水介质中建立声源线谱特征在匀速圆弧运动下3维多普勒传播模型。然后根据多普勒频移曲线、声源运动模型以及声线传播几何关系，选取3个时间观测点计算目标多普勒频移，推导了单水听器估计空中匀速圆弧运动声源的3维参数估计算法。最后，通过仿真单水听器所接收的水声信号，验证了该算法估计匀速圆弧运动声源飞行参数的有效性和精度。
- 水下声探测 /
- 多普勒效应 /
- 瞬时频率估计
Abstract: The Three-Dimensional(3D) parameter estimation algorithm of the helicopter with constant speed circular flight from the underwater acoustic data with single hydrophone is proposed. Firstly, the helicopter line spectrum is used as the characteristic of the source, and its 3D Doppler propagation model in two-layer air-water medium is established. Then, the parameters estimation for helicopter in 3D space is derived according to the Doppler frequency shift curve, the sound source motion model and the geometric model of sound propagation. Finally, the effectiveness and accuracy of the algorithm for Doppler signal with the alpha stable noise on single hydrophone is verified.
- Underwater acoustic detection /
- Doppler effect /
- Instantaneous frequency estimation

HTML全文

图 1 空中沿曲线运动的点声源与静止水听器节点的3维图

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图 2 空中动点声源与静止水听器节点的俯视图

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图 3 声波传播路径的侧视图

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图 4 圆弧上选取3个测量点的几何关系图

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图 5 仿真选取的5组测量点与静止水听器几何示意图

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图 6 匀速圆弧运动声源的多普勒频移曲线

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图 7 水听器接收的时域信号

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图 8 时频曲线的估计结果

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表 1 参数估计结果

序号	$t$(s)	${f_{\text{d}}}$(Hz)	${f_0}$(Hz)	$v$(m/s)	$h$(m)	$r$(m)
1	$\left. {\begin{array}{*{20}{ll} } { {t_A} = 1.5} \\ { {t_M} = 2} \\ { {t_C} = 2.5} \end{array} } \right\}$	$\left. {\begin{array}{*{20}{lll} } {f\left( { {t_A} } \right) = 67.12} \\ {f\left( { {t_M} } \right) = 67.9} \\ {f\left( { {t_C} } \right) = 68.66} \end{array} } \right\}$	68.7	119.8	145.6	56
2	$\left. {\begin{array}{*{20}{ll} } { {t_A} = 2.7} \\ { {t_M} = 3.2} \\ { {t_C} = 3.7} \end{array} } \right\}$	$ \left. {\begin{array}{*{20}{llll}} {f\left( {{t_A}} \right) = 68.9} \\ {f\left( {{t_M}} \right) = 69.25} \\ {f\left( {{t_C}} \right) = 69.21} \end{array}} \right\} $	68.5	120.1	146.8	61
3	$\left. {\begin{array}{*{20}{ll} } { {t_A} = 4} \\ { {t_M} = 4.2} \\ { {t_C} = 4.4} \end{array} } \right\}$	$ \left. {\begin{array}{*{20}{llll}} {f\left( {{t_A}} \right) = 68.99} \\ {f\left( {{t_M}} \right) = 69.79} \\ {f\left( {{t_C}} \right) = 69.56} \end{array}} \right\} $	67.5	120.8	143.8	58
4	$\left. {\begin{array}{*{20}{ll} } { {t_A} = 3.2} \\ { {t_M} = 3.4} \\ { {t_C} = 3.6} \end{array} } \right\}$	$ \left. {\begin{array}{*{20}{llll}} {f\left( {{t_A}} \right) = 68.25} \\ {f\left( {{t_M}} \right) = 69.3} \\ {f\left( {{t_C}} \right) = 69.24} \end{array}} \right\} $	68.4	125.2	143.1	34
5	$\left. {\begin{array}{*{20}{lll} } { {t_A} = 1.5} \\ { {t_M} = 2} \\ { {t_C} = 2.5} \end{array} } \right\}$	$ \left. {\begin{array}{*{20}{llll}} {f\left( {{t_A}} \right) = 65.58} \\ {f\left( {{t_M}} \right) = 65.66} \\ {f\left( {{t_C}} \right) = 66.24} \end{array}} \right\} $	68.2	120.6	48.6	58

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