CN-122019920-A - Broadband high-resolution robust beam forming method, device, equipment and storage medium based on space-frequency cross-coupling domain phase difference compensation

CN122019920ACN 122019920 ACN122019920 ACN 122019920ACN-122019920-A

Abstract

The application discloses a broadband high-resolution robust beam forming method, device, equipment and storage medium based on space-frequency cross coupling domain phase difference compensation, wherein the method comprises the steps of converting an underwater time domain received signal into a space-frequency cross coupling domain according to a preset frequency domain conversion algorithm, and determining an expected space phase difference corresponding to the preset reference frequency and phase compensation information corresponding to an initial underwater received signal according to the preset reference frequency, the underwater medium sound velocity and the adjacent array element spacing; the method comprises the steps of carrying out phase correction on an initial underwater receiving signal, determining an optimal underwater receiving beam weight vector according to a preset optimal receiving beam weight limiting formula, a standard covariance matrix and a guide vector uncertainty set, forming an underwater broadband high-resolution robust beam based on the receiving signal intensity of each preset scanning direction, and improving the anti-interference capability of the underwater broadband high-resolution robust beam and the accuracy of an underwater orientation result, so that reliable detection and high-accuracy orientation of a broadband signal target in a complex underwater acoustic environment are realized.

Inventors

HUI JUAN
YAN SHAN
Cui Huchen
SU RUIQING
ZHANG QINCHUAN

Assignees

哈尔滨工程大学

Dates

Publication Date: 20260512
Application Date: 20260127

Claims (10)

1. A method for forming a broadband high-resolution robust beam based on space-frequency cross-coupling domain phase difference compensation, the method comprising: acquiring an underwater time domain receiving signal received by a preset hydrophone array, and converting the underwater time domain receiving signal into a space-frequency cross-coupling domain according to a preset frequency domain conversion algorithm to obtain an initial underwater receiving signal for phase difference compensation of the cross-coupling domain; respectively determining the water medium sound velocity and the adjacent array element distance of the preset hydrophone array, and determining the expected airspace phase difference corresponding to the preset reference frequency according to the preset reference frequency, the water medium sound velocity and the adjacent array element distance, wherein the expected airspace phase difference is used for calculating a phase compensation factor; Determining a plurality of compensation factors corresponding to the initial underwater receiving signal according to the expected spatial phase difference, and integrating the plurality of compensation factors to obtain phase compensation information corresponding to the initial underwater receiving signal; performing phase difference compensation correction on the initial underwater receiving signal in the space-frequency mutual coupling domain based on the phase compensation information to obtain a standard underwater receiving signal for space-frequency mutual coupling domain phase alignment; calculating a standard covariance matrix of the standard underwater received signal, and generating a steering vector uncertainty set according to a preset steering vector set parameter for calculating broadband high-resolution robust beam weight; Determining an optimal underwater receiving beam weight vector corresponding to the preset hydrophone array according to a preset optimal receiving beam weight limiting formula, the standard covariance matrix and the guide vector uncertainty set, wherein the optimal underwater receiving beam weight vector is used for adjusting the receiving coefficient of the preset hydrophone array; under the condition that current received signals in each preset scanning direction are read, which are received by a preset hydrophone array after adjustment based on the receiving coefficients, the received signal intensity of each preset scanning direction is determined, and broadband high-resolution robust beam orientation is carried out based on a plurality of signal intensities, so that an underwater broadband high-resolution robust beam is formed.
2. The method for forming a wideband high-resolution robust beam based on space-frequency cross-coupling domain phase difference compensation according to claim 1, wherein the determining an optimal underwater reception beam weight vector corresponding to the preset hydrophone array according to a preset optimal reception beam weight definition formula, the standard covariance matrix and the steering vector uncertainty set comprises: Constructing a receiving beam weight optimization formula based on a first association relation between a preset covariance matrix and receiving beam weights, the standard covariance matrix, a second association relation between a preset steering vector and the receiving beam weights and a nominal steering vector in the uncertain set of steering vectors, wherein the nominal steering vector is a theoretical steering vector corresponding to the standard underwater receiving signal determined based on the preset reference frequency; and calculating an optimal underwater receiving beam weight vector corresponding to the preset hydrophone array according to a preset optimal receiving beam weight limiting formula and the receiving beam weight optimizing formula.
3. The broadband high-resolution robust beamforming method based on space-frequency cross-coupling domain phase difference compensation according to claim 2, wherein the calculating an optimal underwater receiving beam weight vector corresponding to the preset hydrophone array according to a preset optimal receiving beam weight limiting formula and the receiving beam weight optimizing formula comprises: constructing a Lagrangian equation associated with the nominal steering vector and the received beam weight based on the received beam weight optimization formula, and calculating an optimal Lagrangian multiplier according to the Lagrangian equation; And calculating an optimal underwater receiving beam weight vector corresponding to the preset hydrophone array according to a preset optimal receiving beam weight limiting formula, the nominal steering vector, the standard covariance matrix and the optimal Lagrangian multiplier.
4. The broadband high-resolution robust beamforming method based on space-frequency cross-coupling domain phase difference compensation according to claim 3, wherein the preset optimal receiving beam weight defining formula is: ; Wherein, the Is the optimal underwater receive beam weight vector, Is the standard covariance matrix of the model set, Is the optimal lagrange multiplier, Is the said nominal steering vector and, Is the conjugate transpose of the calculated symbol, Is an identity matrix.
5. The broadband high-resolution robust beamforming method based on space-frequency cross-coupling domain phase difference compensation according to claim 1, wherein the preset steering vector set parameters include a preset steering vector set shape parameter and a preset steering vector set uncertainty radius; the generating the guiding vector uncertain set according to the preset guiding vector set parameter comprises the following steps: Determining a true guiding vector according to the standard underwater receiving signal, and determining a nominal guiding vector corresponding to the standard underwater receiving signal according to a preset reference frequency; And calculating the guide vector deviation of the real guide vector and the nominal guide vector, and generating a guide vector uncertainty set according to the guide vector deviation, the preset guide vector set shape parameter and the preset guide vector set uncertainty radius.
6. The method for forming a wideband high-resolution robust beam based on space-frequency cross-coupling domain phase difference compensation according to claim 1, wherein after determining the received signal strength of each of the preset scanning directions and performing wideband high-resolution robust beam orientation based on a plurality of signal strengths, the method further comprises: calculating the received signal strength of each scanning direction according to the optimal underwater received wave beam weight vector and the current guiding vector in the current received signal; integrating the received signal intensities of all the scanning directions according to azimuth sequences corresponding to the scanning directions to generate an underwater target azimuth spectrum; And extracting azimuth angles corresponding to the signal intensity peaks in the underwater target azimuth spectrum to conduct broadband high-resolution robust beam orientation, and obtaining an underwater target orientation result.
7. A broadband high-resolution robust beam forming apparatus based on space-frequency cross-coupling domain phase difference compensation, the apparatus comprising: The signal conversion module is used for acquiring an underwater time domain receiving signal received by a preset hydrophone array, converting the underwater time domain receiving signal into a space-frequency cross coupling domain according to a preset frequency domain conversion algorithm, and obtaining an initial underwater receiving signal which is used for phase difference compensation of the cross coupling domain; The airspace phase difference determining module is used for respectively determining the sound velocity of the water medium and the distance between adjacent array elements of the preset hydrophone array, determining the expected airspace phase difference corresponding to the preset reference frequency according to the preset reference frequency, the sound velocity of the water medium and the distance between the adjacent array elements, and calculating a phase compensation factor; the compensation information determining module is used for determining a plurality of compensation factors corresponding to the initial underwater receiving signal according to the expected spatial phase difference, and integrating the plurality of compensation factors to obtain phase compensation information corresponding to the initial underwater receiving signal; the phase correction module is used for carrying out phase difference compensation correction on the initial underwater receiving signal in the space-frequency mutual coupling domain based on the phase compensation information to obtain a standard underwater receiving signal which is used for phase alignment of the space-frequency mutual coupling domain; the covariance matrix calculation module is used for calculating a standard covariance matrix of the standard underwater received signal; The set generation module is used for generating a steering vector uncertainty set according to preset steering vector set parameters and calculating broadband high-resolution robust beam weights; The weight vector determining module is used for determining an optimal underwater receiving beam weight vector corresponding to the preset hydrophone array according to a preset optimal receiving beam weight limiting formula, the standard covariance matrix and the guide vector uncertainty set, and is used for adjusting the receiving coefficient of the preset hydrophone array; and the beam forming module is used for determining the received signal intensity of each preset scanning direction under the condition that the current received signal of each preset scanning direction received by the preset hydrophone array after the adjustment based on the receiving coefficient is read, and carrying out broadband high-resolution robust beam orientation based on a plurality of signal intensities to form an underwater broadband high-resolution robust beam.
8. An electronic device comprising a processor, a memory and a program or instructions stored on the memory and running on the processor, which when executed by the processor, performs the steps of the wideband high resolution robust beamforming method based on space-frequency cross-coupling domain phase difference compensation as claimed in any one of claims 1-6.
9. A computer readable storage medium, characterized in that it has stored thereon a program or instructions, which when executed by a processor, implements the steps of the wideband high resolution robust beamforming method based on space-frequency cross-coupling domain phase difference compensation according to any of claims 1-6.
10. A computer program product, characterized in that it comprises a computer program stored in a computer readable storage medium, from which at least one processor of an electronic device reads and executes the computer program implementing the steps of the wideband high resolution robust beamforming method based on space-frequency cross-coupling domain phase difference compensation according to any of claims 1-6.

Description

Broadband high-resolution robust beam forming method, device, equipment and storage medium based on space-frequency cross-coupling domain phase difference compensation Technical Field The application belongs to the technical field of underwater sound detection, and particularly relates to a broadband high-resolution robust beam forming method, device, equipment and storage medium based on space-frequency cross coupling domain phase difference compensation. Background The core requirement of underwater broadband high-resolution robust beamforming is to receive the radiated or reflected underwater acoustic signals of the target through the hydrophone array, and to identify the spatial orientation of the target through analysis of the underwater acoustic signals. The broadband signal has stronger anti-interference potential in the underwater complex environment because the broadband signal contains richer target characteristic information, and becomes a main stream signal form of underwater broadband high-resolution robust beam forming. In order to ensure the accurate orientation of an underwater target, the accurate resolution of an underwater broadband signal has become an important research topic in the field of underwater acoustic communication. In the related art, the method for forming the underwater broadband high-resolution robust beam mainly comprises the steps of restraining the real steering vector of the underwater received signal in a determined set to perform underwater broadband high-resolution robust beam forming analysis so as to realize the effect of inhibiting the interference signal in the underwater signal while tolerating a certain model error. However, the related art has a low adaptation degree to the space-frequency coupling characteristic of the broadband signal, and has the problems of poor anti-interference capability on the underwater broadband high-resolution robust beam forming and low accuracy of the directional result. Disclosure of Invention The embodiment of the application provides a broadband high-resolution robust beam forming method, device, equipment and storage medium based on space-frequency cross coupling domain phase difference compensation, which solve the problems of poor anti-interference capability and lower orientation result precision of the underwater broadband high-resolution robust beam forming in the related technology, carry out phase correction on an initial underwater receiving signal by determining phase compensation information, carry out parameterized phase correction on the initial underwater receiving signal based on the phase compensation information to obtain a standard underwater receiving signal, determine an optimal underwater receiving beam weight vector corresponding to a preset hydrophone array, and form an underwater broadband high-resolution robust beam according to the receiving signal intensity of each preset scanning direction, thereby achieving the purpose of carrying out full-band phase difference compensation on the underwater receiving signal, ensuring that a target signal can be received while stably inhibiting an interference signal, improving the anti-interference capability of the underwater broadband high-resolution beam, and further improving the precision of an underwater orientation result. In a first aspect, an embodiment of the present application provides a method for forming a broadband high-resolution robust beam based on space-frequency cross-coupling domain phase difference compensation, where the method includes: Acquiring an underwater time domain receiving signal received by a preset hydrophone array, and converting the underwater time domain receiving signal into a space-frequency cross-coupling domain according to a preset frequency domain conversion algorithm to obtain an initial underwater receiving signal for phase difference compensation of the cross-coupling domain; respectively determining the sound velocity of the water medium and the distance between adjacent array elements of a preset hydrophone array, and determining an expected airspace phase difference corresponding to the preset reference frequency according to the preset reference frequency, the sound velocity of the water medium and the distance between the adjacent array elements, wherein the expected airspace phase difference is used for calculating a phase compensation factor; Determining a plurality of compensation factors corresponding to the initial underwater receiving signal according to the expected spatial phase difference, and integrating the plurality of compensation factors to obtain phase compensation information corresponding to the initial underwater receiving signal; performing phase difference compensation correction on the initial underwater receiving signal in the space-frequency mutual coupling domain based on the phase compensation information to obtain a standard underwater receiving signal for phase alignment of the space-fr