Least square direction finding method based on time difference of arrival of sound signals

Abstract

The invention provides a least square direction finding method based on the time difference of arrival of sound signals. The basic idea is that an absolute value type cost function is adopted when a Lagrange multiplier is solved so as to enable the Lagrange multiplier to have a clear expression; the standard sound velocity is adopted to replace the measured sound velocity when the Lagrange multiplier is calculated, so that the whole direction finding process is independent of the sound velocity; and rough direction estimation for a sound source is acquired by adopting a linear least square direction finding technology to serve as a judgment basis when the Lagrange multiplier is calculated. Compared with the prior art, the beneficial effects lie in that the direction finding method providedby the invention is better than the traditional estimation method in terms of the accuracy of azimuth angle and pitch angle estimation and is more excellent in accuracy of pitch angle estimation.

Description

technical field [0001] The invention relates to the technical field of ground target acoustic measurement and positioning, in particular to a least square direction finding method based on the time difference of arrival of sound signals. Background technique [0002] Military operations often need to determine the location of the opponent's weapon launch system or the bombing point of the opponent. A common method is to collect this instantaneous pulsed sound wave signal, form an array of sound sensors (commonly known as microphones) deployed at different positions, detect the arrival time difference of the sound wave to the sensor, and use a localization algorithm to estimate the position of the sound source. Recently, some gunshot positioning systems based on the time difference of arrival of sound signals have been developed at home and abroad. Similar sound detection systems have important application backgrounds in anti-terrorist security, battlefield detection and othe...

AI Technical Summary

Problems solved by technology

The advantage of this method is that it is simple and easy to operate, but it ignores that in the presence of measurement noise, there is a nonlinear constraint relationship among the three components of the DOA estimate, and the constraint between the direction variables is not considered. direction finding accuracy

[0009] (3) According to the geometric constraint relationship determined by the triangular cosine theorem between different sensors and the estimated position of the signal source, a nonlinear constraint positioning optimization model is constructed, which is transformed into an unconstrained optimization problem through the Lagrangian method, and sequential The quadratic programming method is used to solve the Lagrangian multipliers and error quantities, and the Hessian matrix needs to be calculated, and the calculation process is relatively complicated

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