Wave monitoring system and wave monitoring method

Abstract

To improve an identification performance of a wave source location, and enhance robustness.SOLUTION: A wave monitor system 10 comprises a master monitor device 100A and a slave monitor device 100B. The master monitor device 100A and the slave monitor device 100B include: a wave-reception array 130 that has a plurality of wave-reception elements 131 receiving waves arrayed; a frequency analysis unit 111 that performs a frequency analysis of a signal received by the wave-reception element 131, and outputs a frequency analysis result; and a first emphasis processing unit 112 that outputs a first emphasis processing result serving as an inner product of the frequency analysis result pertaining to the wave-reception element and a weight relating to a wave phase difference, with respect to the wave-reception element 131 disposed in the wave-reception array 130. The master monitor device 100A includes a second emphasis processing unit 114 that outputs a second emphasis processing result serving as an inner product of a plurality of first emphasis processing results and a weight relating to an envelope phase difference pertaining to an amplitude modulation component of the wave.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a wave monitoring system and a wave monitoring method for identifying the position of a wave source in air or water.

Background Art

[0002] In the field of monitoring using waves in air or water, techniques for identifying the direction and position of a wave source are known. For example, Patent Document 1 discloses a technique for identifying the direction and position of a wave source by calculating an array signal received by a receiving array in which a plurality of receiving elements are arranged.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, in the technique described in Patent Document 1, the position and direction of the wave source are identified using the wave phase difference generated by the relative positions of the assumed wave source position and each receiving element. Therefore, in order to prevent spatial folding distortion from occurring, it is necessary to make the array interval of the receiving elements 1 / 2 or less of the wavelength of the wave. In order to monitor a wide space under such conditions, it is necessary to arrange a large number of receiving elements with such an array interval to increase the size of the receiving array. For this reason, the device becomes complicated and the reliability decreases, which is a problem. In addition, there is also a problem that the power consumption increases. The present invention has been made in view of such a background, and an object thereof is to provide a wave monitoring system and a wave monitoring method that can improve the identification performance of the wave source position and enhance the robustness.

Means for Solving the Problems

[0005] To solve the above problems, a wave monitoring system according to the present invention includes a plurality of receiving arrays arranged in a monitoring space, which is a space for monitoring waves, and having a plurality of receiving elements arranged for receiving the waves; a frequency analysis unit that performs frequency analysis on the signals received by the receiving elements and outputs a frequency analysis result; for a receiving element arranged in one of the receiving arrays, a first enhancement processing unit that outputs a first enhancement processing result, which is an inner product of weights related to the frequency analysis result related to the receiving element and a wave phase difference generated by a relative position between an assumed wave source position, which is a position of an assumed wave source of the assumed wave; and a second enhancement processing unit that outputs a second enhancement processing result, which is an inner product of weights related to an envelope phase difference related to an amplitude modulation component of the wave generated by a relative position between the plurality of first enhancement processing results corresponding to each of the receiving arrays and the assumed wave source position and the receiving array. , an integration unit that integrates the second enhancement processing result in the range of time and frequency, It is provided with.

Effect of the Invention

[0006] According to the present invention, it is possible to provide a wave monitoring system and a wave monitoring method that can improve the performance of specifying the wave source position and enhance the robustness. Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

Brief Description of the Drawings

[0007] [Figure 1] It is a diagram showing the overall configuration of the wave monitoring system according to the present embodiment. [Figure 2] It is a functional block diagram of the slave monitoring device according to the present embodiment. [Figure 3] It is a functional block diagram of the master monitoring device according to the present embodiment. [Figure 4] It is a functional block diagram of the management device according to the present embodiment. [Figure 5] It is a flowchart of the monitoring process of the slave monitoring device according to the present embodiment. [Figure 6] It is a flowchart of the monitoring process of the master monitoring device according to the present embodiment. [Figure 7]This figure illustrates the arrangement of the monitoring device and wave receiving elements in the wave monitoring system according to this embodiment. [Figure 8] This graph shows the numerical analysis results for the monitoring device alone and the wave monitoring system according to this embodiment. [Modes for carrying out the invention]

[0008] ≪Overview of the Wave Monitoring System≫ The following describes a wave monitoring system in an embodiment for carrying out the present invention. The wave monitoring system identifies the position and direction of a wave source (sound source) in air or water. The wave monitoring system includes a slave monitoring device and a master monitoring device, each equipped with a wave receiving array. The slave monitoring device and the master monitoring device are arranged at approximately half the envelope wavelength of the amplitude modulation component of the wave. Hereinafter, the slave monitoring device and the master monitoring device will be collectively referred to as the monitoring device.

[0009] The monitoring device performs frequency analysis on the array signal received by the receiving array and performs an enhancement process by dot product it with weights related to the wave phase difference caused by the relative position of the assumed wave source and each receiving element. The slave monitoring device transmits the results of the enhancement process to the master monitoring device. The master monitoring device calculates the dot product of the enhancement results from the slave monitoring device and its own, and the weights related to the envelope phase difference of the wave amplitude modulation component caused by the relative position of the assumed wave source and the receiving array, and performs an enhancement process to identify the direction or position of the wave source.

[0010] In such a wave monitoring system, the monitoring device estimates the wave source position and direction using the wave phase difference, and the master monitoring device further estimates the wave source position and direction using the envelope phase difference. By combining and processing the array signals received by multiple monitoring devices, the ability to pinpoint the wave source position and robustness can be improved.

[0011] ≪Overall Configuration of the Wave Monitoring System≫ Figure 1 is a diagram showing the overall configuration of the wave monitoring system 10 according to this embodiment. The wave monitoring system 10 consists of a master monitoring device 100A (see Figure 3 below) and one or more slave monitoring devices 100B (see Figure 2 below) located in the monitoring space 510. The wave monitoring system 10 shown in Figure 1 includes one master monitoring device 100A and five slave monitoring devices 100B. The wave monitoring system 10 may also include a management device 200 that sets monitoring-related settings for the master monitoring device 100A and the slave monitoring devices 100B, and receives the estimated position or direction of the wave source 520 from the master monitoring device 100A. The master monitoring device 100A and the slave monitoring devices 100B are collectively referred to as the monitoring device 100.

[0012] At least two monitoring devices 100 are arranged in the monitoring space 510, and the spacing between them is approximately half the envelope wavelength λ of the amplitude modulation component in the wave emitted by the wave source 520. The arrangement of the multiple receiving elements 131 in the receiving array 130 (see Figures 2 and 3) provided in the monitoring device 100 can be any arrangement that allows for obtaining the wave phase difference generated by the relative position between the assumed wave source position 530, which is the assumed location of the wave source 520, and each receiving element 131, in addition to the Z-axis direction shown in Figure 1, such as the X-axis direction, the Y-axis direction, or a planar arrangement combining these. Furthermore, the spacing between the monitoring devices 100 can be any arrangement that allows for obtaining the envelope phase difference of the envelope wavelength λ generated by the relative position between the assumed wave source position 530 and each monitoring device 100, in addition to the X-axis direction shown in the figure, such as the Y-axis direction, the Z-axis direction, or a planar arrangement combining these.

[0013] As described above, the wave monitoring system 10 includes a master monitoring device 100A and one or more slave monitoring devices 100B. The master monitoring device 100A and the slave monitoring device 100B are arranged in a monitoring space which is a space for monitoring waves, and include a wave receiving array 130 which has a plurality of wave receiving elements arranged to receive the waves. The wave receiving array 130 (master monitoring device 100A and slave monitoring device 100B) is arranged at intervals of approximately half the envelope wavelength λ in the amplitude modulation component of the wave.

[0014] <<Configuration of the slave monitoring device>> Figure 2 is a functional block diagram of the slave monitoring device 100B according to this embodiment. The slave monitoring device 100B includes a receiving array 130 arranged in a plurality of receiving elements 131, which is placed in the monitoring space 510. The spacing Δ between the receiving elements 131 is 1 / 2 or less of the wavelength of the wave. The receiving elements 131 are, for example, hydrophones placed in the water which is the monitoring space 510. The monitoring space 510 may also be air, in which case the receiving elements 131 are microphones. The slave monitoring device 100B also includes a microprocessor and comprises a frequency analysis unit 111, a first enhancement processing unit 112, and a communication unit 118B.

[0015] ≪Slave Monitoring Device: Frequency Analysis Unit≫ The frequency analysis unit 111 performs frequency analysis on the signal (array signal) received by the receiving element 131 of the receiving array 130 to obtain a signal in the frequency domain. The frequency analysis unit 111 performs, for example, a fast Fourier transform. Hereinafter, we assume that there are N slave monitoring devices 100B, and each slave monitoring device 100B is equipped with M receiving elements 131. Let j=1,...,N be the index of the slave monitoring device 100B, and i=1,...,M be the index of the receiving element 131, and the received signal is p ij (t) is shown. lj The start time of analysis for the j-th slave monitoring device 100B is T W If we let be the length of the analysis window, W(t) be the analysis window function, and ω be the angular frequency, then the frequency analysis result P output by the frequency analysis unit 111 is ij (ω,T lj ) is shown by equation (1).

[0016]

number

[0017] As described above, the slave monitoring device 100B includes a frequency analysis unit 111 that frequency-analyzes the signal received by the receiving element 131 and outputs the frequency analysis result.

[0018] ≪Slave Monitoring Device: First Emphasis Processing Unit≫ The first emphasis processing unit 112 performs emphasis processing by calculating the inner product of weights related to the frequency analysis result, the assumed wave source position 530, and the wave phase difference generated by the relative position between each receiving element 131. ij Let w(ω) be the weight related to the wave phase difference generated by the relative position between the assumed wave source position 530 and the i-th receiving element 131 in the j-th slave monitoring device 100B, and let * be an operator for taking the complex conjugate. Then, Q(ω,T) is the first emphasis processing result output by the first emphasis processing unit 112. j (ω,T lj ) is represented by Equation (2).

[0019]

Equation

[0020] As described above, the slave monitoring device 100B includes a first emphasis processing unit that outputs, for each receiving element 13 arranged in the receiving array 130, the first emphasis processing result, which is the inner product of weights related to the frequency analysis result related to the receiving element and the wave phase difference generated by the relative position between the assumed wave source position 530, which is the position of the assumed wave source 520 of the wave, and the receiving element.

[0021] ≪Slave Monitoring Device: Communication Unit≫ The communication unit 118B transmits Q(ω,T), which is the first emphasis processing result, to the master monitoring device 100A. Also, the communication unit 118B receives the parameter information related to w(ω) from the management device 200 and outputs (sets) it to the first emphasis processing unit 112. j (ω,T lj ) to the master monitoring device 100A. Also, the communication unit 118B receives the parameter information related to w(ω) from the management device 200 and outputs (sets) it to the first emphasis processing unit 112. ij (ω) to the first emphasis processing unit 112.

[0022] As described above, the slave monitoring device 100B includes a slave communication unit (communication unit 118B) that transmits the first enhanced processing result to the master monitoring device 100A.

[0023] <<Configuration of the Master Monitoring Device>> Figure 3 is a functional block diagram of the master monitoring device 100A according to this embodiment. The master monitoring device 100A includes a receiving array 130, similar to the slave monitoring device 100B. The master monitoring device 100A also includes a microprocessor and comprises a frequency analysis unit 111, a first enhancement processing unit 112, a synchronization unit 113, a second enhancement processing unit 114, an integration unit 115, and a communication unit 118A. The frequency analysis unit 111 and the first enhancement processing unit 112 are the same as those in the slave monitoring device 100B. The first enhancement processing unit 112 outputs the first enhancement processing result to the synchronization unit 113, not to the communication unit 118B.

[0024] As described above, the master monitoring device 100A comprises a wave receiving array 130, a frequency analysis unit 111, and a first enhancement processing unit 112.

[0025] The synchronization unit 113, the second enhancement processing unit 114, the integration unit 115, and the communication unit 118A are described below. In the following description, the master monitoring device 100A will be described with index j set to 0. In other words, the 0th monitoring device 100 is the master monitoring device 100A, and the jth (j=1,...,N) monitoring device 100 is the jth slave monitoring device 100B. For example, the result of the first enhancement processing in the master monitoring device 100A is Q0(ω,T l0 ) is written. The first enhanced processing result of the master monitoring device 100A and the slave monitoring device 100B is Q j (ω,T lj Let's denote it as (j=0,1,…,N).

[0026] ≪Master Monitoring Device: Synchronization Unit≫ The synchronization unit 113 processes the first synchronized processing result of the master monitoring device 100A and the slave monitoring device 100B, which is Q. j (ω,T lj )(j=0,1,…,N) analysis start time (Tlj The synchronization unit 113 synchronizes the first enhancement processing results from the same analysis start time, taking into account a predetermined error, and outputs them to the second enhancement processing unit 114. j (ω,T lj )(j=1,…,N) is the result of the first enhancement processing transmitted by the slave monitoring device 100B, and is the result of the first enhancement processing received by the communication unit 118A (described later) and output to the synchronization unit 113. Q j (ω,T lj ) is time-synchronized, so below Q j (ω,T l Let's denote it as (j=0,1,…,N).

[0027] ≪Master Monitoring Device: Second Acceleration Processing Unit≫ The second enhancement processing unit 114 processes the Q, which is the result of the first enhancement processing output by the synchronization unit 113. j (ω,T l The dot product of the weights relating to the envelope phase difference of the envelope wavelength λ for the amplitude modulation component in the wave radiated by the wave source 520, which is generated by the relative positions of the assumed wave source position 530 and the receiving array 130 provided by each monitoring device 100, is calculated, and an enhancement process based on the envelope phase difference is performed, and the result of the second enhancement process is output to the integration unit 115. Specifically, Δω is the angular frequency corresponding to the envelope wavelength of the amplitude modulation component, W is calculated. j If (Δω) is the weight related to the envelope phase difference caused by the relative position between the assumed wave source position 530 and the receiving array 130 provided in the j-th monitoring device 100, then the second enhancement processing result B(ω,T) output by the second enhancement processing unit 114 is l The expression is given by equation (3). The second enhancement processing unit 114 utilizes the fact that the amplitude modulation component of Δω at angular frequency ω appears in the frequency domain as redundancy of ω±Δω / 2, and performs enhancement processing using envelope phase difference.

[0028]

number

[0029] As described above, the master monitoring device 100A includes a second enhancement processing unit 114 that outputs a first enhancement processing result corresponding to each of the multiple receiving arrays 130, and a second enhancement processing result which is the inner product of the weights relating to the envelope phase difference related to the amplitude modulation component of the wave generated by the relative position between the assumed wave source position 530 and the receiving array 130.

[0030] ≪Master Monitoring Device: Integrator≫ The integral unit 115 is the result of the second enhancement process, B(ω,T l The function is integrated with respect to time and frequency, and the integral result SB is output to the communication unit 118A. For details, the frequency range of the wave is ω L ~ω U Let the time range be T L ~T U Therefore, the integral result SB is given by equation (4). This integral result indicates the probability that the wave source 520 is located at the assumed wave source position 530.

[0031]

number

[0032] If the monitored wave source 520 is Gaussian noise, then B(ω,T l Since the signal follows a Reyleigh distribution, the detection threshold for the wave source increases. However, by taking an integral sum incoherent over the time and frequency range using equation (4) and converting it to a SB, the SB becomes a Chi-squared distribution, which makes it possible to lower the detection threshold for the wave source.

[0033] ≪Master Monitoring Device: Communications Section≫ The communication unit 118A receives the first enhancement processing result from the slave monitoring device 100B and outputs it to the synchronization unit 113. The communication unit 118A also transmits the integration result SB to the management device 200. In addition, the communication unit 118A receives w from the management device 200. i0 (ω) or W j The parameter information related to (Δω) is received and output (set) to the first enhancement processing unit 112 and the second enhancement processing unit 114.

[0034] As described above, the master monitoring device 100A includes a master communication unit (communication unit 118A) that receives the first enhancement processing result transmitted by the slave monitoring device 100B.

[0035] ≪Configuration of the control device≫ Figure 4 is a functional block diagram of the management device 200 according to this embodiment. The management device 200 is a computer and comprises a control unit 210 and an input / output unit 280. User interface devices such as a display, keyboard, and mouse are connected to the input / output unit 280. The input / output unit 280 is equipped with a communication device and is capable of sending and receiving data with the monitoring device 100. A media drive may also be connected to the input / output unit 280, enabling data exchange using a recording medium.

[0036] The control unit 210 includes a CPU (Central Processing Unit) and is equipped with a setting unit 211 and a display control unit 212. The setting unit 211 transmits parameter information related to monitoring to the monitoring device 100. For example, the setting unit 211 transmits w for each of the one or more pre-set or specified assumed wave source positions 530. ij (ω) or W j The parameter information related to (Δω) is calculated and transmitted to the monitoring device 100. The display control unit 212 outputs the integral result SB (see equation (4)), which is received from the master monitoring device 100A, to the display connected to the input / output unit 280. For example, the display control unit 212 displays the integral result (the probability that the wave source 520 exists) related to a specified number of assumed wave source locations 530.

[0037] <<Slave monitoring device monitoring process>> Figure 5 is a flowchart of the monitoring process of the slave monitoring device 100B according to this embodiment. In parallel with the repeated processing of steps S11 to S14, the communication unit 118B receives a message from the management device 200. ij The first enhancement processing unit 112 receives parameter information related to (ω) and outputs (sets) it.

[0038] In step S11, the frequency analysis unit 111 analyzes the signal p received from the receiving array 130. ij (t) is received. In step S12, the frequency analysis unit 111 performs p ij A frequency analysis of (t) is performed (see equation (1)) and the result P ij (ω,T lj The output is sent to the first enhancement processing unit 112.

[0039] In step S13, the first emphasis processing unit 112 performs P ij (ω,T lj The inner product of () and the weight related to the wave phase difference is calculated and the enhancement process is performed (see equation (2)) to obtain the first enhancement result Q j (ω,T lj ) is output to the communication unit 118B. In step S14, the communication unit 118B receives the first enhancement processing result Q j (ω,T lj ) is sent to the master monitoring device 100A.

[0040] ≪Monitoring process of the master monitoring device≫ Figure 6 is a flowchart of the monitoring process of the master monitoring device 100A according to this embodiment. In parallel with the repeated processing of steps S21 to S27, the master monitoring device 100A receives a communication from the management device 200 via the communication unit 118A. i0 (ω) or W j The system receives parameter information related to (Δω) and outputs (sets) it to the first enhancement processing unit 112 and the second enhancement processing unit 114.

[0041] Steps S21 to S23 are the same as steps S11 to S13. However, in step S13, the first enhancement processing unit 112 processes the first enhancement processing result Q0(ω,T l0 ) is output to the synchronization unit 113. In step S24, the synchronization unit 113 communicates the first enhancement processing result Q via the communication unit 118A. j (ω,T ljThe synchronization unit 113 then receives Q, which is the first synchronization processing result of the master monitoring device 100A and the slave monitoring device 100B. j (ω,T lj )(j=0,1,…,N) analysis start time (T lj The second enhancement processing unit 114 outputs the result after synchronizing the signals.

[0042] In step S25, the second enhancement processing unit 114 performs Q j (ω,T l The dot product of (j=0,1,…,N) and the weight related to the envelope phase difference is calculated and the enhancement process is performed (see equation (3)) to obtain the second enhancement result B(ω,T l The integral is output to the integration unit 115. In step S26, the integral unit 115 is B(ω,T l The absolute value of ) is integrated with respect to frequency and time (see equation (4)) and output to the communication unit 118A. In step S27, the communication unit 118A transmits the integration result SB to the management device 200.

[0043] Numerical analysis of wave monitoring systems An example of numerical analysis of the wave monitoring system 10 is shown below. The monitoring space 510 is underwater (seawater), and the wave velocity is 1500 m / s. Figure 7 is a diagram illustrating the arrangement of the monitoring device 100 and the wave receiving element 131 of the wave monitoring system 10 according to this embodiment. Black circles represent the wave receiving element 131, and dotted rectangles represent the monitoring device 100 (and the wave receiving array 130 provided therein). Five monitoring devices 100 are arranged at 75 m intervals from a distance of 0 m to 300 m. Each monitoring device 100 is equipped with a wave receiving array 130 in which eight wave receiving elements 131 are arranged in the positive and negative height directions at 1.875 m intervals centered at a height of 0 m.

[0044] A point source, designated as wave source 520, radiates a 400Hz sine wave with amplitude modulation of 10Hz and a modulation degree of 1.5Hz. This point source is installed at a distance of 600m and a reference height of 0m, and the wave is received by five monitoring devices 100. The wavelength of the 400Hz sine wave is 3.75m at a wave velocity of 1500m / s, and half of the wavelength matches the spacing between the receiving elements 131. The envelope wavelength λ of the 10Hz amplitude modulation component is 150m, and half of its wavelength matches the spacing between the monitoring devices 100. The first amplified processing results of the monitoring devices 100 are aggregated in the master monitoring device 100A, enabling amplified processing using the envelope phase difference, and allowing for further amplified processing results from the monitoring devices 100 individually.

[0045] Figure 8 is a graph showing the numerical analysis results for the monitoring device 100 alone and the wave monitoring system 10 according to this embodiment. The dotted line graph shows the numerical analysis results of beam pattern 581 at the master monitoring device 100A alone (see monitoring processing for the monitoring device alone and equation (5) described later) at a distance of 300m (see Figure 7). The solid line graph shows the numerical analysis results of beam pattern 582 in the wave monitoring system 10 equipped with five monitoring devices 100. The horizontal axis of the graph represents the angular difference between the direction of the assumed wave source position and the direction of the wave source, and the vertical axis represents the ratio of the integral result with respect to the angular difference (see equations (4) and (5)). A sharper peak indicates higher detection accuracy of the wave source 520.

[0046] As shown in Figure 8, the beam pattern 582 obtained by the coordinated operation of the five monitoring devices 100 (enhanced processing using envelope phase difference) is sharper than the beam pattern 581 obtained by the master monitoring device 100A alone. This demonstrates that monitoring by the wave monitoring system 10 is more effective than monitoring by the monitoring device 100 alone in identifying the wave source location and in increasing robustness against noise such as pressure changes due to ocean currents and waves caused by wind.

[0047] <<Modification: Monitoring process using the monitoring device alone>> In the wave monitoring system 10 described above, the second enhancement processing unit 114 enhances the first enhancement processing results of the master monitoring device 100A and the slave monitoring device 100B using the envelope phase difference. The slave monitoring device 100B alone may also integrate the first enhancement processing results with respect to frequency and time. Specifically, the integral result SQ shown in equation (5) in the j-th slave monitoring device 100B is used. j The j-th detection result may be calculated and transmitted to the management device 200, so that the management device 200 can display the results for each of the slave monitoring devices 100B.

[0048]

number

[0049] Modification: Functional dispersion The functional distribution of the master monitoring device 100A, slave monitoring devices 100B, and management device 200 in the wave monitoring system 10 illustrated in this embodiment is not limited to the above-described form, and can be configured by functionally or physically distributing and integrating them in any unit within a range that can achieve similar effects and functions. For example, the monitoring device 100 transmits the signal received by the receiving array 130 to the management device 200, and the management device 200 may be equipped with a frequency analysis unit 111, a first enhancement processing unit 112, a synchronization unit 113, a second enhancement processing unit 114, and an integration unit 115 to process the received signal. Alternatively, all monitoring devices 100 may be slave monitoring devices 100B, and the management device 200 may be equipped with a synchronization unit 113, a second enhancement processing unit 114, and an integration unit 115, performing enhancement processing by envelope phase difference and integration by frequency and time.

[0050] As described above, the wave monitoring system 10 comprises a plurality of wave receiving arrays 130, a frequency analysis unit 111, a first enhancement processing unit 112, and a second enhancement processing unit 114. The wave monitoring system 10 also includes an integration unit 115 that integrates the second enhancement processing result over a time and frequency range.

[0051] <<Other variations>> Although several embodiments of the present invention have been described above, these embodiments are merely illustrative and do not limit the technical scope of the present invention. The present invention can take various other embodiments, and furthermore, various modifications such as omissions and substitutions can be made without departing from the spirit of the present invention. These embodiments and their variations are included in the scope and spirit of the invention as described herein, and are included in the scope of the invention and its equivalents as described in the claims. [Explanation of Symbols]

[0052] 10 Wave Monitoring System 100 Monitoring equipment 100A Master Monitoring Device 100B Slave Monitoring Device 111 Frequency Analysis Section 112 First Enhancement Processing Unit 113 Classmates 114 Second Enhancement Processing Unit 115 Integral part 118A Communications Department (Master Communications Department) 118B Communications Unit (Slave Communications Unit) 130 Receiving Array 131 Wave receiver 510 Surveillance space 520 Wave Source 530 Assumed wave source location

Claims

1. A plurality of wave receiving arrays are arranged in a monitoring space, which is a space for monitoring waves, and each array has multiple wave receiving elements that receive the waves. The frequency analysis unit analyzes the signal received by the receiving element and outputs the frequency analysis result, A first enhancement processing unit outputs, for each wave receiving element arranged in one wave receiving array, the frequency analysis result for the wave receiving element and a first enhancement processing result which is the dot product of the weights relating to the wave phase difference caused by the assumed wave source position, which is the position of the assumed wave source, and the relative position of the wave receiving element. A second enhancement processing unit outputs a first enhancement processing result corresponding to each of the plurality of receiving arrays, and a second enhancement processing result which is the dot product of the weights relating to the envelope phase difference of the amplitude modulation component of the wave caused by the relative position of the assumed wave source position and the receiving array, The system comprises an integration unit that integrates the second enhancement processing result over a time and frequency range. Wave monitoring system.

2. The receiving array is arranged at intervals of approximately half the envelope wavelength in the amplitude modulation component of the wave. Wave monitoring system according to claim 1.

3. Includes a master monitoring device and one or more slave monitoring devices, The slave monitoring device is The system comprises the receiving array, the frequency analysis unit, the first enhancement processing unit, and a slave communication unit that transmits the first enhancement processing result to the master monitoring device. The master monitoring device is The system comprises the receiving array, the frequency analysis unit, the first enhancement processing unit, the master communication unit that receives the first enhancement processing result transmitted by the slave monitoring device, the second enhancement processing unit, and the integration unit. Wave monitoring system according to claim 1.

4. A wave monitoring method for a wave monitoring system, The wave monitoring system is It comprises multiple wave receiving arrays, each of which is arranged in a monitoring space that monitors waves and has multiple wave receiving elements that receive the waves. Wave monitoring system, The steps include: performing frequency analysis on the signal received by the receiving element and outputting the frequency analysis result; Steps include outputting, for each receiving element arranged in one of the receiving arrays, the frequency analysis result for the receiving element and a first weighted processing result which is the inner product of weights relating to the wave phase difference caused by the relative position between the assumed wave source position, which is the position of the assumed wave source, and the receiving element; The steps include outputting a first enhancement processing result corresponding to each of the plurality of receiving arrays, and a second enhancement processing result which is the dot product of weights relating to the envelope phase difference of the amplitude modulation component of the wave caused by the relative position of the assumed wave source position and the receiving array, The steps of integrating the second enhancement result over time and frequency are performed. Wave monitoring method.

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