A spatial rotation orientation estimation method applied to a uniform circular hydrophone array

Abstract

The invention discloses an airspace rotation azimuth estimation method applied to a uniform circular hydrophone array, and belongs to the technical field of sonar detection. The core technical content of the present invention is to divide the Heading angle provided by the azimuth and attitude instrument into two parts, and design the coarse and fine airspace rotation matrices according to the angles of the two parts, and perform real-time rotation compensation for the array data snapshot, so that the array data snapshot The target orientation information in the airspace is focused. The covariance matrix constructed by using the rotated data snapshots can be applied to the subspace azimuth estimation method to achieve high-resolution azimuth estimation for far-field targets. The invention can compensate in real time the relative change of the target orientation information in the array data snapshots caused by the rotating motion of the uniform circular hydrophone array, and can realize the high-resolution orientation estimation of the far-field target. The invention can be better applied to the working environment of the uniform circular hydrophone array, and has certain practical guiding value.

Description

technical field [0001] The invention relates to an airspace rotation azimuth estimation method applied to a uniform circular hydrophone array, and belongs to the technical field of sonar detection. Background technique [0002] Circular hydrophone arrays can provide omnidirectional, unambiguous azimuth information, and have approximately the same azimuth estimation accuracy and azimuth resolution in all directions, so they are widely used in azimuth estimation scenarios for underwater targets. middle. Classical orientation estimation methods based on subspace theory, such as Multiple Signal Classification (MUSIC) method, etc., the main idea is to use the covariance matrix to estimate the signal subspace and the noise subspace, and according to the positive difference between the two subspaces. Intersection obtains high-resolution orientation estimation results. When the signal-to-noise ratio (SNR) of the target is low, accumulating a large number of snapshots of array data...

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Problems solved by technology

[0003] The purpose of the present invention is to propose a method for estimating the spatial rotation orientation of a uniform circular hydrophone array, to solve the problem that the circular array will inevitably rotate due to the influence of water flow during the acquisition time of a large amount of data snapshots. In turn, the target orientation information in the received data snapshots is relatively time-varying. At this time, a large number of array data snapshots cannot be used to estimate the covariance matrix, which leads to the failure of the orientation estimation method based on the subspace theory.

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