Full-duplex underwater acoustic communication self-interference suppression method and device, equipment and storage medium

Abstract

The invention provides a full-duplex underwater acoustic communication self-interference suppression method, device and equipment and a storage medium, and the method comprises the steps: determining the channel characteristics from a first receiving end to a second receiving end according to a first signal and a second signal, and enabling local receiving ends to comprise the first receiving end and the second receiving end, the distance between the first receiving end and the local transmitting end is smaller than the distance between the second receiving end and the local transmitting end, the first signal is a receiving signal of the first receiving end, and the second signal is a receiving signal of the second receiving end; performing convolution on the first signal and the channel characteristics from the first receiving end to the second receiving end to obtain a third signal; and subtracting the third signal from the second signal to obtain a residual signal, and extracting a far-end communication signal from the residual signal. According to the invention, the accuracy and stability of communication between the two parties can be ensured while the self-interference signal is eliminated.

Description

Technical Field

[0001] This application relates to the field of underwater acoustic communication technology, and particularly to a full-duplex underwater acoustic communication self-interference suppression method, device, equipment, and storage medium. Background Art

[0002] In-band full-duplex underwater acoustic communication technology is widely used in underwater engineering due to its ability of two-way real-time communication. It is one of the necessary technologies for forming a dynamic underwater network and an important step to achieve efficient and stable underwater communication. During the communication between two parties, the local high-power transmission signal (also known as the self-interference signal) will seriously affect the reception of the remote communication signal, resulting in the failure of the communication system and a significant increase in the bit error rate.

[0003] By analyzing the characteristics of the self-interference signal, using methods such as adaptive filters to reconstruct the self-interference signal, and finally eliminating it from the received signal is one of the most popular research directions for the self-interference cancellation process in in-band full-duplex underwater acoustic communication.

[0004] Existing technologies usually adopt self-interference cancellation technologies such as spatial domain, analog domain, or digital domain. In the underwater acoustic channel, the methods in the traditional radio field (such as antenna polarization, antenna orthogonality, etc.) are no longer applicable. The self-interference cancellation performance in the spatial domain is limited and affected by the current environment (such as the number of array elements, sea surface fluctuations, sea breeze, etc.). The analog domain self-interference cancellation technologies are mostly circuit simulations, software simulations, etc., lacking the joint debugging design of a solution based on physical objects and a hardware system. The digital domain-assisted analog self-interference cancellation technology cannot solve the problem of nonlinear distortion of the attenuation device and the problem of limited system cancellation ability in the presence of remote communication signals. In view of this, in in-band full-duplex underwater acoustic communication, how to ensure the accuracy and stability of the communication between the two parties while eliminating the self-interference signal is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a full-duplex underwater acoustic communication self-interference suppression method, device, equipment, and storage medium, which can ensure the accuracy and stability of the communication between the two parties while eliminating the self-interference signal.

[0006] In a first aspect, an embodiment of this application provides a full-duplex underwater acoustic communication self-interference suppression method, and the full-duplex underwater acoustic communication self-interference suppression method includes:

[0007] Determine the channel characteristics from the first receiving end to the second receiving end according to the first signal and the second signal, where the local receiving end includes a first receiving end and a second receiving end, the distance between the first receiving end and the local transmitting end is less than the distance between the second receiving end and the local transmitting end, the first signal is the received signal of the first receiving end, and the second signal is the received signal of the second receiving end;

[0008] Convolve the first signal and the channel characteristics from the first receiving end to the second receiving end to obtain a third signal;

[0009] Subtract the third signal from the second signal to obtain a residual signal, so as to extract the far-end communication signal from the residual signal.

[0010] Further, in one embodiment, the step of determining the channel characteristics from the first receiving end to the second receiving end according to the first signal and the second signal includes:

[0011] Use the second signal as the desired signal and the first signal as the reference signal, and input the desired signal and the reference signal into an adaptive filter;

[0012] Use the weight coefficients output by the adaptive filter as the channel characteristics from the first receiving end to the second receiving end.

[0013] Further, in one embodiment, the step of subtracting the third signal from the second signal to obtain a residual signal includes:

[0014] Perform time translation on any one of the third signal and the second signal and then subtract them to obtain a residual signal.

[0015] Further, in one embodiment, the step of subtracting the third signal from the second signal to obtain a residual signal includes:

[0016] Shift the third signal to the right by a preset time on the time axis to obtain a fourth signal, where the preset time is equal to the ratio of the distance between the first receiving end and the second receiving end to the speed of sound in water;

[0017] Subtract the fourth signal from the second signal to obtain a residual signal.

[0018] Further, in one embodiment, the distance between the first receiving end and the second receiving end is set with reference to the sampling rate and the center frequency.

[0019] Further, in one embodiment, when the sampling rate is 96 kHz and the center frequency is 12 kHz, the distance between the first receiving end and the second receiving end is set in the range of 6.25 cm - 31.25 cm.

[0020] Further, in one embodiment, the full-duplex underwater acoustic communication self-interference suppression method further includes:

[0021] Conduct experiments based on the known far-end communication signal, and determine the spectral gain effect according to the far-end communication signal extracted from the residual signal and the known far-end communication signal;

[0022] If the spectral gain effect does not meet the requirements, adjust the distance between the first receiving end and the second receiving end.

[0023] In a second aspect, an embodiment of the present application further provides a full-duplex underwater acoustic communication self-interference suppression device, and the full-duplex underwater acoustic communication self-interference suppression device includes:

[0024] A channel estimation module, configured to determine the channel characteristics from the first receiving end to the second receiving end according to the first signal and the second signal, where the local receiving end includes a first receiving end and a second receiving end, the distance between the first receiving end and the local transmitting end is less than the distance between the second receiving end and the local transmitting end, the first signal is the received signal of the first receiving end, and the second signal is the received signal of the second receiving end;

[0025] A signal convolution module, configured to perform convolution on the first signal and the channel characteristics from the first receiving end to the second receiving end to obtain a third signal;

[0026] A signal subtraction module, configured to subtract the third signal from the second signal to obtain a residual signal, so as to extract a remote communication signal from the residual signal.

[0027] In a third aspect, an embodiment of the present application further provides a full-duplex underwater acoustic communication self-interference suppression device, and the full-duplex underwater acoustic communication self-interference suppression device includes a processor, a memory, and a full-duplex underwater acoustic communication self-interference suppression program stored on the memory and executable by the processor. When the full-duplex underwater acoustic communication self-interference suppression program is executed by the processor, the steps of the above full-duplex underwater acoustic communication self-interference suppression method are implemented.

[0028] In a fourth aspect, an embodiment of the present application further provides a storage medium, and a full-duplex underwater acoustic communication self-interference suppression program is stored on the storage medium. When the full-duplex underwater acoustic communication self-interference suppression program is executed by a processor, the steps of the above full-duplex underwater acoustic communication self-interference suppression method are implemented.

[0029] In the present application, two receiving ends are locally deployed, the received signal of the receiving end closer to the local transmitting end is used as a reference signal, and the self-interference signal in the received signal of the farther receiving end is suppressed through a joint perception method of the channel difference between the two receiving ends. The interference cancellation model will be dynamically adjusted according to the received signals of the two receiving ends, improving the self-interference cancellation performance and reducing the bit error rate of the remote communication signal. Through the present application, it is possible to ensure the accuracy and stability of both parties' communication while eliminating the self-interference signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic flow chart of a full-duplex underwater acoustic communication self-interference suppression method in an embodiment of the present application;

[0031] Figure 2 is a schematic principle diagram of a full-duplex underwater acoustic communication self-interference suppression method in an embodiment of the present application;

[0032] Figure 3 Schematic diagram for comparing the self-interference cancellation results of multiple schemes when there is no remote communication signal in the simulation experiment;

[0033] Figure 4 Schematic diagram for comparing the self-interference cancellation results of multiple schemes when there is a remote communication signal in the simulation experiment;

[0034] Figure 5 Schematic diagram for comparing the bit error rates of the self-interference cancellation results of multiple schemes in the simulation experiment;

[0035] Figure 6 Schematic diagram for comparing the self-interference cancellation results of multiple schemes when there is a remote communication signal in the real experiment;

[0036] Figure 7 Schematic diagram of the functional modules of the full-duplex underwater acoustic communication self-interference suppression device in an embodiment of the present application;

[0037] Figure 8 Schematic diagram of the hardware structure of the full-duplex underwater acoustic communication self-interference suppression device involved in the solution of the embodiment of the present application. Detailed implementation manners

[0038] In order to enable those skilled in the art of the present technology to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0039] First, some technical terms in the present application are explained to facilitate the understanding of the present application by those skilled in the art.

[0040] Full-duplex communication: Data can be transmitted in two directions simultaneously, that is, both parties in the communication can send and receive data at the same time. It has high communication efficiency, can perform two-way data transmission simultaneously, makes full use of the channel resources, and can transmit more data in the same time. It is suitable for scenarios with high requirements for data transmission real-time performance and large communication data volume.

[0041] Half-duplex communication: Data can be transmitted in two directions, but can only be transmitted in one direction at the same moment. The device is relatively simple and has a low cost. It is suitable for scenarios with low requirements for data transmission real-time performance and small communication data volume.

[0042] Self-interference signal: In a communication system, due to the simultaneous operation of the device's own transmitting and receiving functions, the signal transmitted by the transmitting end generates an interference signal at the receiving end. There is a self-interference signal in full-duplex communication, and there is no self-interference signal in half-duplex communication.

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the following will further describe the embodiments of this application in detail with reference to the accompanying drawings.

[0044] In a first aspect, an embodiment of this application provides a method for suppressing self-interference in full-duplex underwater acoustic communication.

[0045] Figure 1 The flowchart of the method for suppressing self-interference in full-duplex underwater acoustic communication according to an embodiment of this application is shown.

[0046] Referring to Figure 1 , in one embodiment, the method for suppressing self-interference in full-duplex underwater acoustic communication includes the following steps:

[0047] S1. Determine the channel characteristics from the first receiving end to the second receiving end according to the first signal and the second signal, where the local receiving end includes the first receiving end and the second receiving end, the distance between the first receiving end and the local transmitting end is less than the distance between the second receiving end and the local transmitting end, the first signal is the received signal of the first receiving end, and the second signal is the received signal of the second receiving end.

[0048] Figure 2 The schematic diagram of the principle of the method for suppressing self-interference in full-duplex underwater acoustic communication according to an embodiment of this application is shown.

[0049] Referring to Figure 2 , in in-band full-duplex underwater acoustic communication transmission, the local and the remote end transmit signals on the same frequency band simultaneously, and the remote communication signal is submerged by the strong and time-varying local self-interference signal. Under the design of two receiving ends (hydrophones) receiving, the receiving end y1 closer to the local transmitting end is defined as the first receiving end, the receiving end y2 farther from the local receiving end is defined as the second receiving end, the received signal y1(t) of the first receiving end is defined as the first signal, the received signal y2(t) of the second receiving end is defined as the second signal, and the first signal and the second signal can be respectively expressed as:

[0050]

[0051] where c represents the speed of sound in water, d1 represents the distance between the sound source x1 and the first receiving end y1, d2 represents the distance between the sound source x2 and the second receiving end y2, Δd represents the distance between the first receiving end y1 and the second receiving end y2, h1(t) represents the channel characteristics from the sound source x1 to the first receiving end y1, h2(t) represents the channel characteristics from the sound source x2 to the second receiving end y2, h1to2 (t) represents the channel characteristic from the first receiving end y1 to the second receiving end y2, h 2to1 (t) represents the channel characteristic from the second receiving end y2 to the first receiving end y1, η1(t) represents the Gaussian noise received by the first receiving end y1, and η2(t) represents the Gaussian noise received by the second receiving end y2.

[0052] Since the self-interference signal from the sound source x1 is stronger than the far-end communication signal from the sound source x2, the first signal and the second signal can be simplified in mathematical form, expressed as:

[0053]

[0054] Among them,

[0055]

[0056] It can be seen that by appropriately processing the first signal and the second signal, an estimation result of the channel characteristic from the first receiving end to the second receiving end can be obtained

[0057] S2. Convolve the first signal and the channel characteristic from the first receiving end to the second receiving end to obtain a third signal.

[0058] Specifically, by convolving the first signal and the channel characteristic from the first receiving end to the second receiving end, an estimation result of the second signal can be obtained. Define the estimation result of the second signal as the third signal, and the formula is expressed as:

[0059]

[0060] S3. Subtract the third signal from the second signal to obtain a residual signal, so as to extract the far-end communication signal from the residual signal.

[0061] Specifically, the main component of the residual signal is the far-end communication signal. The far-end communication signal can be obtained by removing the noise from the residual signal. The formula proof process is as follows:

[0062]

[0063] Among them, is the noise-related term,

[0064] δ(t) is the unit impulse function. By reasonably setting Δd to ensure that within the time delay range caused by Δd, the channel impulse response is default unchanged, we get

[0065]

[0066] Therefore, only the terms related to x2 and the terms related to noise remain in the final representation of e(t). The terms related to x2 are the remote communication signals.

[0067] It should be noted that during the process of formula proof, the third signal is time-shifted before signal subtraction to align the time of the terms related to x1, facilitating the combination of the terms related to x1. In the actual signal processing process, time-shifting is not necessary.

[0068] Thus, in this embodiment, two receivers are locally deployed. The received signal of the receiver closer to the local transmitter is used as the reference signal. Through the joint sensing method of the channel difference between the two receivers, the self-interference signal in the received signal of the farther receiver is suppressed. The interference cancellation model will be dynamically adjusted with the received signals of the two receivers, improving the self-interference cancellation performance and reducing the bit error rate of the remote communication signal. Through this embodiment, it is possible to ensure the accuracy and stability of both parties' communication while eliminating the self-interference signal.

[0069] In addition, since no local interference signal is used in this embodiment, good self-interference cancellation performance can be ensured in both scenarios where the local interference signal is known and unknown.

[0070] Further, in one embodiment, step S1 specifically includes:

[0071] Taking the second signal as the desired signal and the first signal as the reference signal, inputting the desired signal and the reference signal into an adaptive filter;

[0072] Taking the weight coefficient output by the adaptive filter as the channel characteristic from the first receiver to the second receiver.

[0073] Specifically, the core of the adaptive filter is the adaptive algorithm, which can adjust the weight coefficient according to the error between the reference signal and the desired signal. Common adaptive algorithms include the least mean square (LMS) algorithm, the recursive least squares (RLS) algorithm, etc. Taking the LMS algorithm as an example, it is based on the principle of the stochastic gradient method. By continuously estimating the error between the reference signal and the desired signal and adjusting the weight coefficient according to this error, the output of the filter gradually approaches the desired signal. Specifically, in each iteration, according to the current reference signal and error, the weight coefficient is updated according to a certain step size, gradually reducing the error until satisfactory performance is achieved.

[0074] Further, in one embodiment, step S3 specifically includes:

[0075] Performing time-shifting on either the third signal or the second signal and then subtracting them to obtain the residual signal.

[0076] Further, in one embodiment, step S3 specifically includes:

[0077] Shift the third signal to the right on the time axis by a preset time to obtain a fourth signal, where the preset time is equal to the ratio of the distance between the first receiving end and the second receiving end to the speed of sound in water;

[0078] Subtract the fourth signal from the second signal to obtain a residual signal.

[0079] Further, in one embodiment, the distance between the first receiving end and the second receiving end is set with reference to the sampling rate and the center frequency.

[0080] It can be understood that one of the prerequisites for the validity of the foregoing formula proof is that the distance Δd between the first receiving end and the second receiving end is reasonably set.

[0081] In this embodiment, it is specified that Δd needs to be set with reference to the sampling rate and the center frequency, which helps to reasonably set Δd and ensure the reliability of the solution.

[0082] Further, in one embodiment, when the sampling rate is 96 kHz and the center frequency is 12 kHz, the distance between the first receiving end and the second receiving end is set in the range of 6.25 cm - 31.25 cm.

[0083] Calculated according to the sound speed of 1500 m / s, the time delay caused by Δd in this embodiment is in the range of 4.2e-5 to 2.1e-4 s. After experiments, it is proved that the channel impulse response is basically unchanged within this time delay range.

[0084] Further, in one embodiment, the full-duplex underwater acoustic communication self-interference suppression method further includes:

[0085] Conduct experiments based on known far-end communication signals, and determine the spectrum gain effect according to the far-end communication signals extracted from the residual signals and the known far-end communication signals;

[0086] If the spectrum gain effect does not meet the requirements, adjust the distance between the first receiving end and the second receiving end.

[0087] In this embodiment, before officially adopting this solution to obtain unknown far-end communication signals, it is necessary to conduct simulation experiments or real experiments to verify whether the current distance between the first receiving end and the second receiving end is reasonably set. During the experiment, the far-end communication signal is known and can be used to judge the spectrum gain effect, and then decide whether to adjust the current distance.

[0088] The inventors of this application compared the self-interference cancellation effects of various solutions including this solution through simulation experiments and real experiments. The experimental results show that the self-interference cancellation effect of this solution is significantly better than that of the existing solutions. The specific analysis is as follows:

[0089] Figure 3 It shows a comparison schematic diagram of the self-interference cancellation results of multiple schemes without a remote communication signal in the simulation test.

[0090] Referring to Figure 3 , without a remote communication signal, the ideal self-interference cancellation result should only contain background noise. The traditional LMS algorithm only cancels the interference signal in the frequency range of 8 - 15 kHz, and the rest is basically the same as the original received signal. The LMS algorithm with power amplifier reference has a significantly higher power than the background noise in the frequency range of 17 - 25 kHz, and the rest is basically the same as the background noise. The dual-hydrophone algorithm (this scheme) is basically the same as the background noise in the full frequency range.

[0091] Figure 4 It shows a comparison schematic diagram of the self-interference cancellation results of multiple schemes with a remote communication signal in the simulation test.

[0092] Referring to Figure 4 , with a remote communication signal, the ideal self-interference cancellation result should contain background noise and the remote communication signal. There is no waveform similar to the remote communication signal in the self-interference cancellation result of the traditional LMS algorithm. There are waveforms similar to the remote communication signal in the self-interference cancellation results of both the LMS algorithm with power amplifier reference and the dual-hydrophone algorithm, and the signal-to-noise ratio of the dual-hydrophone algorithm is higher.

[0093] Figure 5 It shows a comparison schematic diagram of the bit error rates of the self-interference cancellation results of multiple schemes in the simulation test.

[0094] Referring to Figure 5 , at the same bit error rate, the signal-to-noise ratio of the traditional LMS algorithm is the lowest. The signal-to-noise ratio of the LMS algorithm with power amplifier reference (LMS-PA algorithm) is slightly higher than that of the traditional LMS algorithm. The signal-to-noise ratio of the dual-hydrophone algorithm is the highest in full-duplex communication and is close to that of half-duplex communication.

[0095] Figure 6 It shows a comparison schematic diagram of the self-interference cancellation results of multiple schemes with a remote communication signal in the real test.

[0096] Referring to Figure 6 , there is no waveform similar to the remote communication signal in the self-interference cancellation results of both the traditional LMS algorithm and the LMS algorithm with power amplifier reference. There is a waveform similar to the remote communication signal in the self-interference cancellation result of the dual-hydrophone algorithm.

[0097] In a second aspect, the embodiments of the present application further provide a full-duplex underwater acoustic communication self-interference suppression device.

[0098] Figure 7 It shows a schematic diagram of the functional modules of the full-duplex underwater acoustic communication self-interference suppression device in an embodiment of the present application.

[0099] Referring to Figure 7 , in one embodiment, the full-duplex underwater acoustic communication self-interference suppression device includes:

[0100] A channel estimation module 10, configured to determine the channel characteristics from the first receiver to the second receiver according to the first signal and the second signal, where the local receiver includes a first receiver and a second receiver, the distance between the first receiver and the local transmitter is less than the distance between the second receiver and the local transmitter, the first signal is the received signal of the first receiver, and the second signal is the received signal of the second receiver;

[0101] A signal convolution module 20, configured to convolve the first signal and the channel characteristics from the first receiver to the second receiver to obtain a third signal;

[0102] A signal subtraction module 30, configured to subtract the third signal from the second signal to obtain a residual signal, so as to extract the remote communication signal from the residual signal.

[0103] Further, in one embodiment, the channel estimation module 10 is configured to:

[0104] Use the second signal as the desired signal and the first signal as the reference signal, and input the desired signal and the reference signal into an adaptive filter;

[0105] Use the weight coefficient output by the adaptive filter as the channel characteristics from the first receiver to the second receiver.

[0106] Further, in one embodiment, the signal subtraction module 30 is configured to:

[0107] Perform time translation on any one of the third signal and the second signal and then subtract them to obtain a residual signal.

[0108] Further, in one embodiment, the signal subtraction module 30 is configured to:

[0109] Shift the third signal to the right by a preset time on the time axis to obtain a fourth signal, where the preset time is equal to the ratio of the distance between the first receiver and the second receiver to the sound speed in water;

[0110] Subtract the fourth signal from the second signal to obtain a residual signal.

[0111] Further, in one embodiment, the distance between the first receiver and the second receiver is set with reference to the sampling rate and the center frequency.

[0112] Further, in one embodiment, when the sampling rate is 96 kHz and the center frequency is 12 kHz, the distance between the first receiver and the second receiver is set in the range of 6.25 cm - 31.25 cm.

[0113] Further, in one embodiment, the full-duplex underwater acoustic communication self-interference suppression device further includes a distance adjustment module 40, which is used for:

[0114] Conducting experiments based on known remote communication signals, and determining the spectrum gain effect according to the remote communication signals extracted from the residual signals and the known remote communication signals;

[0115] If the spectrum gain effect does not meet the requirements, then adjust the distance between the first receiving end and the second receiving end.

[0116] Among them, the function implementation of each module in the above full-duplex underwater acoustic communication self-interference suppression device corresponds to each step in the above embodiment of the full-duplex underwater acoustic communication self-interference suppression method, and its function and implementation process will not be elaborated here one by one.

[0117] In a third aspect, an embodiment of the present application provides a full-duplex underwater acoustic communication self-interference suppression device. The full-duplex underwater acoustic communication self-interference suppression device can be a device with data processing functions such as a personal computer (PC), a laptop computer, a server, etc.

[0118] Figure 8 The hardware structure diagram of the full-duplex underwater acoustic communication self-interference suppression device involved in the solution of the embodiment of the present application is shown.

[0119] Referring to Figure 8 , in the embodiment of the present application, the full-duplex underwater acoustic communication self-interference suppression device may include a processor, a memory, a communication interface, and a communication bus.

[0120] Among them, the communication bus can be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0121] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces, etc., which are used to implement the interconnection of components inside the full-duplex underwater acoustic communication self-interference suppression device, and interfaces for interconnecting the full-duplex underwater acoustic communication self-interference suppression device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device can be a display screen (Display), a keyboard (Keyboard), etc.

[0122] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0123] The processor can be a general-purpose processor, which can call the full-duplex underwater acoustic communication self-interference suppression program stored in the memory and execute the full-duplex underwater acoustic communication self-interference suppression method provided by the embodiments of the present application. For example, the general-purpose processor can be a central processing unit (CPU). Among them, the method executed when the full-duplex underwater acoustic communication self-interference suppression program is called can refer to the various embodiments of the full-duplex underwater acoustic communication self-interference suppression method of the present application, which will not be elaborated here.

[0124] Those skilled in the art can understand that Figure 8 the hardware structure shown in

[0125] In a fourth aspect, the embodiments of the present application further provide a storage medium.

[0126] The full-duplex underwater acoustic communication self-interference suppression program is stored on the storage medium of the present application. When the full-duplex underwater acoustic communication self-interference suppression program is executed by a processor, the steps of the full-duplex underwater acoustic communication self-interference suppression method as described above are implemented.

[0127] Among them, the method implemented when the full-duplex underwater acoustic communication self-interference suppression program is executed can refer to the various embodiments of the full-duplex underwater acoustic communication self-interference suppression method of the present application, which will not be elaborated here.

[0128] It should be noted that the serial numbers of the above embodiments of the present application are only for description and do not represent the superiority or inferiority of the embodiments.

[0129] In the description of the specification, claims and the above-mentioned drawings of this application, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products or devices. The descriptions such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second" and "third" are of different types.

[0130] In the description of the embodiments of this application, words such as "exemplary", "for example" or "for instance" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary", "for example" or "for instance" is intended to present relevant concepts in a specific manner.

[0131] In the description of the embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B; "and / or" in the text is merely a description of the relationship between associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "a plurality of" means two or more than two.

[0132] In some processes described in the embodiments of this application, there are a plurality of operations or steps that appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of this application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0133] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to enable a terminal device to execute the methods described in the various embodiments of this application.

[0134] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present application.

Claims

1. A method for suppressing self-interference in full-duplex underwater acoustic communication, characterized in that: The full-duplex underwater acoustic communication self-interference suppression method comprises: Determine a channel characteristic from the first receiving end to the second receiving end according to the first signal and the second signal, wherein the local receiving end includes the first receiving end and the second receiving end, the distance between the first receiving end and the local transmitting end is smaller than the distance between the second receiving end and the local transmitting end, the first signal is a receiving signal of the first receiving end, and the second signal is a receiving signal of the second receiving end; Convolving the first signal with a channel characteristic from the first receiving end to the second receiving end to obtain a third signal; The third signal is subtracted from the second signal to obtain a residual signal, so as to extract the far-end communication signal from the residual signal.

2. The method for suppressing self-interference in full-duplex underwater acoustic communication according to claim 1, characterized in that: The step of determining the channel characteristic from the first receiving end to the second receiving end according to the first signal and the second signal comprises: Using the second signal as the expected signal and the first signal as the reference signal, inputting the expected signal and the reference signal into an adaptive filter; The weight coefficient output by the adaptive filter is used as the channel characteristic from the first receiving end to the second receiving end.

3. The method for suppressing self-interference in full-duplex underwater acoustic communication according to claim 1, characterized in that: The step of subtracting the third signal from the second signal to obtain a residual signal comprises: Any one of the third signal and the second signal is time-shifted and then subtracted to obtain a residual signal.

4. The method for suppressing self-interference in full-duplex underwater acoustic communication according to claim 1, characterized in that: The step of subtracting the third signal from the second signal to obtain a residual signal comprises: Shifting the third signal rightward on the time axis by a preset time to obtain a fourth signal, wherein the preset time is equal to the ratio of the distance between the first receiving end and the second receiving end to the speed of sound in water; The fourth signal is subtracted from the second signal to obtain a residual signal.

5. The method for suppressing self-interference in full-duplex underwater acoustic communication according to claim 1, characterized in that: The distance between the first receiving end and the second receiving end is set with reference to the sampling rate and the center frequency.

6. The method for suppressing self-interference in full-duplex underwater acoustic communication according to claim 1, characterized in that: When the sampling rate is 96 kHz and the center frequency is 12 kHz, the distance between the first receiving end and the second receiving end is set within the range of 6.25 cm-31.25 cm.

7. The method for suppressing self-interference in full-duplex underwater acoustic communication according to claim 1, characterized in that: The full-duplex underwater acoustic communication self-interference suppression method also includes: Conducting an experiment based on a known remote communication signal, and determining a spectrum gain effect according to the remote communication signal extracted from the residual signal and the known remote communication signal; If the spectrum gain effect does not meet the requirement, the distance between the first receiving end and the second receiving end is adjusted.

8. A full-duplex underwater acoustic communication self-interference suppression device, characterized in that: The full-duplex underwater acoustic communication self-interference suppression device comprises: a channel estimation module, configured to determine a channel characteristic from a first receiving end to a second receiving end according to a first signal and a second signal, wherein the local receiving end includes the first receiving end and the second receiving end, the distance between the first receiving end and the local transmitting end is smaller than the distance between the second receiving end and the local transmitting end, the first signal is a receiving signal of the first receiving end, and the second signal is a receiving signal of the second receiving end; A signal convolution module, used for convolving the first signal and the channel characteristic from the first receiving end to the second receiving end to obtain a third signal; The signal subtraction module is used to subtract the third signal from the second signal to obtain a residual signal, so as to extract the remote communication signal from the residual signal.

9. A full-duplex underwater acoustic communication self-interference suppression device, characterized in that: The full-duplex underwater acoustic communication self-interference suppression device includes a processor, a memory, and a full-duplex underwater acoustic communication self-interference suppression program stored in the memory and executable by the processor, wherein when the full-duplex underwater acoustic communication self-interference suppression program is executed by the processor, the steps of the full-duplex underwater acoustic communication self-interference suppression method as described in any one of claims 1 to 7 are implemented.

10. A storage medium, characterized in that: The storage medium stores a full-duplex underwater acoustic communication self-interference suppression program, wherein when the full-duplex underwater acoustic communication self-interference suppression program is executed by the processor, the steps of the full-duplex underwater acoustic communication self-interference suppression method as described in any one of claims 1 to 7 are implemented.

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