Flight path estimation using frequency measurements from a wideaperture acoustic array

A narrowband technique based on the acoustical Doppler effect is proposed for estimating the trajectory of a turbo-prop aircraft in level flight with constant velocity as it transits over a ground-based passive acoustic sensor array. The basic principle is to measure the temporal variation of the instantaneous frequency (IF) of the acoustic signal received by each sensor and then to minimize the sum of the squared deviations of the IF estimates from their predicted values over a sufficiently long period of time for all sensors. The technique provides estimates of the propeller blade rate and the five source motion parameters that describe the aircraft trajectory. The six dimensional minimization problem is reduced to a five dimensional maximization problem, which is solved numerically using the quasi-Newton method. A simple method is described that provides the initial parameter estimates required for the numerical maximization. The effectiveness of the motion parameter estimation technique is verified using real acoustic data recorded from a wide aperture microphone array during various transits of a turbo-prop aircraft     

Acoustic node calibration using a moving source

Acoustic nodes, each containing an array of microphones, can track targets in x-y space from their received acoustic signals, if the node positions and orientations are known exactly. However, it is not always possible to deploy the nodes precisely, so a calibration phase is needed to estimate the position and the orientation of each node before doing any tracking or localization. An acoustic node can be calibrated from sources of opportunity such as beacons or a moving source. We derive and compare several calibration methods for the case where the node can hear a moving source whose position can be reported back to the node. Since calibration from a moving source is, in effect, the dual of a tracking problem; methods derived for acoustic target trackers are used to obtain robust and high resolution acoustic calibration processes. For example, two direction-of-arrival-based calibration methods can be formulated based on combining angle estimates, geometry, and the motion dynamics of the moving source. In addition, a maximum likelihood (ML) solution is presented using a narrowband acoustic observation model, along with a Newton-based search algorithm that speeds up the calculation the likelihood surface. The Cramer-Rao lower bound (CRLB) on the node position estimates is also derived to show that the effect of position errors for the moving source on the estimated node position is much less severe than the variance in angle estimates from the microphone array. The performance of the calibration algorithms is demonstrated on synthetic and field data.     

On the Design of a Large Aperture Radar for Target Imaging

This paper describes the design, construction, and performance of an experimental radar, in which an electronically scanned X-band array is employed as the receiving antenna. Backscatter from targets uniformly illuminated from a separate transmitting antenna is intercepted by 128 horn antennas, unequally spaced over a nine-foot circular aperture. The received signals are processed electronically to provide a complete scan of a 30X30 degree field every ten milliseconds. Resulting target images were displayed on a cathode ray tube and recorded on 16-mm motion picture film, for varying conditions of target motion using monochromatic and frequency-modulated X-band illumination. Sequences of motion picture frames obtained from a rotating copper cone are presented, which demonstrate significant changes in the image and side-lobe interference patterns for small changes in target aspect angle. Side-lobe interference effects were reduced by integrating many antenna scans as the target rotated; a clear image of a foil letter R is presented that demonstrated this result. The main objective of this work was to test this radar technique as an approach to target recognition.     

New approach for target locations in the presence of wall ambiguities

A technique for target location estimation in through-the-wall radar imaging applications is presented. The algorithm corrects for the shifts in target positions due to ambiguities in the wall thickness and dielectric constant. We consider uniform walls and perform imaging using wideband beamforming, with the antennas placed against the wall. Behind-the-wall images are obtained using different structures of transmit and receive arrays. For each array structure, a trajectory of the shifts in the target locations is generated assuming different wall parameters. The target position is estimated as the intersection of the corresponding trajectories. The paper shows that for unknown wall thickness or dielectric constant, the point of intersection is the true target position. In the case when both parameters are unknown, the estimated target location is in close proximity to the target true position. It is demonstrated that the performance of the proposed technique is rather insensitive to the target location behind the wall and to various array structures.     

轴流风扇/压气机管道周向声模态的测量

利用管道内部周向均匀分布的麦克风阵列对某单级风扇在高背景噪声和较大硬壁反射条件下的管道周向声模态进行了实验测量.利用与参考信号互相关(CC)模态分解技术和传统的方均根(RMS)模态分解技术得到了主要的周向声模态振幅.通过与Tyler和Sofrin的理论分析对比,发现在高背景噪声和较大硬壁反射条件下,两种模态分解技术都能获得较为理想的模态分解结果;并且发现CC模态分解技术获得的模态振幅较低,初步分析这是由于和RMS模态分解技术相比,CC模态分解技术可以降低随机噪声对模态振幅分解结果的影响.此外,周向麦克风个数大于所要分解周向声模态阶数的4倍时,使用CC模态分解技术获得的模态振幅误差可以控制在1dB之内.      

声纳浮标阵目标搜索优化布放算法

为提高声纳浮标阵的目标搜索效率,文章首先建立目标运动模型和累积搜索概率的计算方法,然后提出了基于多点随机搜索、分区分支界定和遗传算法的浮标阵优化布放方法。仿真结果表明：这3种优化方法均优于传统布放方法,多点随机搜索算法性能最差但适合短时间制定布放策略;分区分支界定算法适合优化较少参数的浮标阵形,保证能找到最优点;对于较...     

基于平面图形的典型浮标规划算法

针对海上应召反潜、检查反潜等常规任务场景以及新型浮标的使用,本文提出了基于折线阵、多直线阵和方形覆盖阵共三种平面图形的典型浮标规划算法,通过优化设置参数和改进规划阵形生成不同的浮标布阵方案。仿真表明该三种图形种类丰富,广泛适用于目标搜索阶段,满足应召反潜、检查反潜等常规反潜任务场景的使用需求,相比于传统规划阵形,具有更高的目标搜索概率。     

基于声矢量传感器阵列的鲁棒H∞空气流动 速度估计算法

 研究了基于声矢量传感器阵列的空气流动速度测量问题。首先,根据声波在气流中的传播原理,求得声场中质点振速与空气流动速度的关系表达式,建立基于声矢量传感器线性阵列的测量模型。在此基础上,根据各个阵元输出信号之间的相位差,提出了基于鲁棒H_∞滤波的空气流动速度估计算法,该算法通过各个阵元的信息迭代估计出空气流动速度。然后从理论上讨论了算法的初值选取,并分析了算法对随机扰动的鲁棒性。最后,计算机仿真表明该算法具有良好的鲁棒性和容错性。     

基于短时谱分析的SISAR运动参数估计及侧影像定标

针对解目标运动参数、多普勒频率和角度之间的非线性方程运算量大且极易陷入局部极值的问题,提出一种估计阴影逆合成孔径雷达(SISAR)目标运动参数的新方法.该方法通过短时谱分析与抽取叠代相结合,提高了估计精度,减少了运算量.在对目标侧影像进行定标时,利用恢复的侧影轮廓中线相位的差分均值消除目标相对于雷达的非线性转动引起的附加相位,获得几乎不受目标运动参数影响的侧影轮廓中线的高度和长度.仿真验证了所提方法的可行性.     

环形阵列超声换能器的全聚焦成像方法及其应用

在检测高衰减的大厚度构件时,相控阵超声声束在非聚焦区域的声能量损失严重,采用线阵或矩阵超声换能器的检测精度和最大检测深度常难以满足要求。首先,建立了合成声束三维声场分布模型,分析了不同阵列超声换能器的空间声场能量分布特点,发现环阵超声换能器在相同聚焦深度处的声场特性更好,同时具有阵元数量少、声束焦斑沿轴线中心完全对称等特点。然后,建立了一种采用环阵超声换能器的全聚焦方法（TFM,Total Focusing Method）,并基于试样群速度测量结果对各向异性材料中的聚焦算法进行了优化。在这种方法中将所采集到的全矩阵数据沿换能器中心轴线进行重建,可实现沿深度方向的逐点无穷聚焦。最后,利用所研制的阵列超声C扫描自动检测系统对预埋有缺陷的3D打印钛合金试样进行了对比检测实验,结果表明采用全聚焦成像算法的环阵超声换能器能实现55 mm试样内部直径0.8 mm、深度5.0 mm平底孔和横孔缺陷的精确检测,相对于常规的动态聚焦算法有更高的检测信噪比和定量精度。     

Bearings-only target motion analysis with acoustic propagation models of uncertain fidelity

The augmented bearings-only target motion analysis (TMA) problem arises when the bearing measurements of the classical bearings-only TMA problem are augmented with received signal-to-noise ratio (SNR) measurements. A combined acoustic propagation and sensor (CAPS) performance prediction model specifying the conditional density of the SNR measurements is assumed given; however, mismatch may exist between the CAPS model and the real world. We present a novel "missing data" formulation of the augmented bearings-only TMA problem using an empirical maximum a posteriori (EMAP) method for target parameter estimation, and show that it provides a natural and straightforward technique for mitigating CAPS model mismatch. The EMAP approach leads to an iteratively reweighted, linear least-squares algorithm for solving both the augmented bearings-only TMA problem and the classical (nonaugmented) bearings-only TMA problem. Examples are provided.     

机动目标的逆合成孔径雷达成像

 逆合成孔径雷达(ISAR)和合成孔径雷达 (SAR)都是利用目标 (场景)与雷达的相对运动,提高横向分辨率,实现对目标 (场景 )的成像。SAR的运动方是雷达平台,可控制作平稳飞行,且用仪器测校其偏离误差;ISAR的运动方通常是非合作目标,运动不受控制,且难以精确测量。当目标作机动飞行时,以目标作固定基准,雷达等效地在空间形成流形复杂的逆合成孔径 (阵列 ),对这种情况下成像的问题进行了系统的研究。     

Accurate solution of proportional navigation for maneuveringtargets

An accurate solution is presented of the nonlinear differential equations describing motion under proportional navigation when the target is laterally maneuvering. A quasilinearization (QL) approach is used, followed by a perturbation technique to obtain closed-form solutions for trajectory parameters. An explicit expression for the pursuer lateral acceleration is derived and shown to contain contributions due to initial heading error and target maneuver, with a coupling between the two effects. The solution is shown to be a substantial and consistent generalization or an earlier accurate solution for nonmaneuvering targets and also of classical linear solutions for maneuvering targets. The generalized QL solution presented provides very accurate estimates of pursuer lateral acceleration over a much broader range of engagement geometries and target maneuvers than presently available closed-form solutions     

Inertial parameter estimation and control of non-cooperative target with unilateral contact constraint

In this paper, the relative sliding motion between the target and the manipulator’s end-effector is considered and characterized as a unilateral contact constraint. A new possible solution is presented to estimate the inertial parameters of a non-cooperative target while the relative sliding motion exists. First, the detailed analysis of the dynamical model is presented, and a parameter-explicit linear time-varying model is obtained. Then, an extended state observer is constructed based on the new model, which can effectively estimate the unknown inertial parameters of the target when relative sliding motion exists. As the modified reactionless controller requires the knowledge of inertial parameters, a hybrid post-capture control scheme is also established based on the switch law between different controllers. The correctness and efficiency of the proposed algorithm are validated by numerical simulation, which proves a potential framework for the non-cooperative target post-capture operation.     

声激发控制边界层转捩实验研究

本文对声激发控制边界层转捩问题在低湍流风洞中进行了实验研究。展向一排九只小发声器装在表面带小孔的平板模型内。用液晶膜技术显示边界层状态,根据表面热膜信号确定强迫边界层转捩所需输入发声器的最小功率(转捩阈值)。实验结果表明:边界层转捩位置可以用内声激发扰动控制。能迫使层流边界层转捩的声扰动频率范围远比模型试验的Tollmien-Schlichting波频率范围宽。转捩阈值出现最小值的有利输入频率与发声器本身的频率特性有关。应用低脉冲比的声扰动对控制边界层转捩更为有效。多发声器之间的相互干扰对转捩阈值的影响大多数情况下是有利的,然而实验中也发现有声扰动相互抵消的不利情况。     

水下声呐探测系统信息支持下的直接攻潜作战仿真

在水下声呐系统目标指示条件下,进行直接鱼雷攻潜是1种创新型战法.针对直接空投鱼雷攻潜作战问题,将水声环境信息引入鱼雷目标识别过程,建立了更为逼真的模拟法效能评估模型.仿真分析了目标定位精度,投雷参数、鱼雷搜索参数等各关键因素对攻潜作战效果的影响,提出了在水下声呐基阵目标指示直接攻潜作战时,应重点关注的若干问题.     

Crossarray Beamforming with a Parametric Receiving Array and a Line Array

A beamforming technique involving cross correlation of the outputs of two directional arrays is investigated. The performance characteristics of the crossarray system are determined and related to the characteristics of the two individual arrays. It is found that the crossarray beam pattern is the average (in decibels) of the beam patterns of the individual arrays, and that the crossarray gain (rejection of spatially distributed noise) is 1.5 dB greater than the average (in decibels) of the individual array gains. The most interesting applications for this system may be those where the two arrays are quite different, as in the case of a parametric acoustic receiving array (PARRAY) and a broadside line array.     

基于非合作目标的运动平台导航误差估计

针对运动平台位置测量通常精度不高的问题,文章基于非合作目标的运动平台导航误差估计方法,将平台的导航误差建立为随时间一阶变化的模型,求解平台的运动参数,并使用线性模型拟合不同目标相对于不同平台的位置测量。通过对比参考平台与其他平台对相同目标运动参数估计的差异,求解平台的导航误差参数,并对平台运动参数进行校正。数值仿真证明了算法的有效性,并分析了测量次数对导航误差估计精度和目标定位精度的影响。     

Application of Recursive Estimation and Kalman Filtering to Doppler Tracking

The techniques of recursive estimation and Kalman filtering are applied to the problem of estimation of space vehicle orbits and trajectories using only measurements of the Doppler shifts in radio signals transmitted by or reflected from the target. Two approaches are described. One is a global fit technique in which the parameters of an assumed trajectory model are estimated. The second is a pointwise mapping technique in which the trajectory estimate is extrapolated as the target tracking data is received. The paper provides a tutorial illustration of the direct application of recursive optimization techniques to a class of engineering problems.     

有源对消隐身系统设计研究

针对有源对消隐身要求的系统延时短、反应速度快、信号参数测量和对消波幅相控制精度高的特点,设计了一个基于相控阵技术、数字射频存储器(DRFM)和现场可编程门阵列(FPGA)的有源对消系统。为了解决目标雷达散射截面计算量太大、不能有流水线延迟和难以实现实时计算等问题,采用离线计算的方法,预先建立目标的全向雷达散射截面(RCS)数据库、杂波数据库和噪声数据库,由FPGA根据测得的雷达信号参数在数据库中查找到相应的目标回波数据,实时调整对消波的幅度和相位,使对方的雷达接收机始终处于合成方向图的零点。最后通过仿真计算验证了该设计方案的有效性。