基于频域互相关的机器鱼双曲线质心定位仿真  

Simulation of Hyperbolic Centroid Location of Robot Fish Based on Frequency Domain Cross Correlation

作　　者：刘力卿 王伟[1] 张弛[1] 马小光[2] LIU Li-qing;WANG Wei;ZHANG Chi;MA Xiao-guang(State Grid Tianjin Electric Power Research Institute,Tianjin 300384,China;Department of Electrical Engineering,Tianjin 300384,China)

机构地区：[1]国网天津市电力公司电力科学研究院,天津300384 [2]国网天津市电力公司设备管理部,天津300384

出　　处：《计算机仿真》2022年第10期414-419,共6页Computer Simulation

基　　金：国网天津市电力科技项目(KJ20-1-04)。

摘　　要：为了保证机器鱼能够到达指定检测位置、并且避免与变压器内部组件发生碰撞,机器鱼需要准确定位。针对变压器内部黑暗空间中机器鱼难以定位的问题,提出一种基于频域互相关的机器鱼双曲线质心定位方法。采用高斯脉冲信号模拟机器鱼发射的超声信号,然后采用快速傅里叶变换(FFT)将线性阵列接收的超声时域信号转化到频域,在频域内进行共轭相乘得到信号的互功率谱;然后将互功率谱进行傅里叶逆变换(IFFT)得到时域互相关函数,对互相关函数进行曲线峰值检测获得时间延迟和距离信息;最后通过双曲线算法和交点的质心计算获得机器鱼的准确定位。仿真对比分析了不同信噪比(10dB、0dB、-10dB)的定位性能,研究结果表明,上述方法能够准确获得机器鱼在变压器中的位置。In order to ensure that the robot fish can reach the specified detection position and avoid collision with the transformer internal components, the location of the robot fish needs to be accurately measured. Aiming at the problem that the robot fish is difficult to be located in the dark space inside the transformer, a location method based on frequency domain cross correlation and hyperbolic center is proposed. Gaussian pulse signal was used to simulate ultrasonic signal emitted by robotic fish. Then the ultrasonic time domain signal received by the linear array was converted to frequency domain by using fast Fourier transform. The cross-power spectrum of the signal was obtained by conjugate multiplication in the frequency domain. Then inverse Fourier transform(IFFT) of the cross-power spectrum was used to obtain the time-domain cross-correlation function, and curve peak detection of the cross-correlation function was performed to obtain the time delay and distance information. Finally, hyperbolic algorithm and centroid calculation of intersection point were used to obtain the accurate location of robot fish. The positioning performance of different SNRS(10 dB,0 dB and-10 dB) was compared and analyzed though simulation. The results show that this method can accurately obtain the position of the robot fish in the transformer.

关 键 词：机器鱼 超声阵列 频域互相关 双曲线定位 

分 类 号：TP277[自动化与计算机技术—检测技术与自动化装置]