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Acoustic Tracking Method of Low Altitude and High Speed ​​Flying Target

A flying target and target noise technology, applied in the field of tracking low-altitude flying targets, can solve problems such as difficulty in accurately obtaining signal characteristics, positioning and tracking difficulties

Active Publication Date: 2021-12-07
中国人民解放军91550部队
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The noise of high subsonic flying targets is a kind of transient signal, and it is difficult to accurately obtain its signal characteristics, which brings great difficulties to its positioning and tracking

Method used

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  • Acoustic Tracking Method of Low Altitude and High Speed ​​Flying Target
  • Acoustic Tracking Method of Low Altitude and High Speed ​​Flying Target
  • Acoustic Tracking Method of Low Altitude and High Speed ​​Flying Target

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] Embodiment 1: The ultra-short baseline array of sound pressure sensors is used to estimate the trajectory of the high-speed and low-altitude flying target.

[0034] The formation of each ultra-short baseline array adopts a space cross array. In each ultra-short baseline array, the acoustic sensor located in the center of the space cross array is called the reference sensor, and the reference sensor is used as the coordinate origin to establish a spatial cross array rectangular coordinate system, and the other acoustic sensors are evenly distributed on the x-axis, y-axis and z-axis On the positive or negative half axis of the axis, these sensors are called edge sensors. At least one edge sensor is arranged on each coordinate axis. The distance between the edge sound sensor and the reference sensor on each coordinate axis, that is, the baseline length, is L. The number of ultra-short baseline arrays of sound pressure sensors should be greater than or equal to three.

[0...

Embodiment 2

[0057] Embodiment 2: When the ultra-short baseline array of sound pressure sensors is used for low-altitude target tracking, the time delay estimation accuracy of the ultra-short baseline array is determined according to the required angle measurement accuracy.

[0058] Assume that the incident wave direction vectors measured by ultrashort baseline arrays 1 and 2 are and use Expressed and The sine value of the included angle, the corresponding incident wave elevation angle and azimuth angle are respectively and The estimated pitch and azimuth angles of the target trajectory are Then these variables satisfy the relationship:

[0059]

[0060] assumed pitch angle Azimuth in The root mean square error of the target motion trajectory angle is analyzed below.

[0061] According to the principle of measurement error propagation, the root mean square error of pitch angle estimation can be expressed as:

[0062]

[0063] In the case that the time delay esti...

Embodiment 3

[0075] Embodiment 3: Using 4 or 10 ultra-short baseline arrays of sound pressure sensors in a limited space to estimate the trajectory of the target.

[0076] Assume that the layout space of the ultra-short baseline array is constrained within the range of -25≤x≤25, -10≤y≤10, 0≤z≤15, and the trajectory point of the target passing through the xoz plane is -25≤x≤25, In the range of 1≤z≤20, the pitch angle range of its motion direction is 30°≤θ≤120°. When the target is in a certain moving direction, the method of the present invention is used to estimate the moving track when the target passes through all points within the specified range of the xoz plane, and the average estimation error in the moving direction is calculated. Use the traversal method to search all points within the specified range of the xoz plane in sequence, and the search step is 0.1m. The length of the ultra-short baseline arrays used is 1m, and the direction-finding error and positioning error are simulate...

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Abstract

An acoustic tracking method for low-altitude and high-speed flying targets, suitable for subsonic low-altitude flying targets, the steps are: the method is realized by using at least three ultra-short baseline acoustic sensor arrays, and each ultra-short baseline array is composed of several acoustic sensors ; In each ultra-short baseline array, use the sound pressure or vibration velocity information of the strongest point of target noise received by each acoustic sensor to estimate the target noise incident wave direction vector, and calculate the estimated value of any two ultra-short baseline arrays The cross product of the target noise incident wave direction vector is the estimated value of the target trajectory direction vector; taking the center of an ultra-short baseline array as a point on the plane, calculate the target noise incident wave direction vector corresponding to the ultra-short baseline array and The cross-product vector of the estimated value of the target trajectory direction vector is used as the normal vector of the plane, thereby establishing the corresponding plane equation of the ultra-short baseline array; using this method to establish its corresponding plane equation for each ultra-short baseline array, and solve all The coordinates of the intersection point of the plane, the intersection point is the target motion trajectory point; the estimation of the target motion trajectory can be realized by using the estimated value of the direction vector of the target motion trajectory and the target motion trajectory point.

Description

technical field [0001] The invention belongs to the field of target tracking and measurement, and relates to sound measurement technology and sound source positioning technology, in particular to a method for tracking low-altitude flying targets by using sound sensors arranged in a limited space. Background technique [0002] Low-altitude flying targets are the blind spot of conventional radar detection technology. In recent years, passive acoustic detection methods for such targets have gradually become a research hotspot. At present, the research on low-altitude flying targets mainly focuses on low-speed targets such as helicopters and UAVs. The related positioning and tracking methods are mainly carried out in the time domain, frequency domain and spatial spectrum domain. The corresponding tracking methods can also be divided into time-based and tracking methods. There are three types of target positioning methods based on delay estimation, target motion parameter estimat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S15/66
CPCG01S15/66
Inventor 陈昭男王磊阎肖鹏杨东永隋鉴
Owner 中国人民解放军91550部队