-
Notifications
You must be signed in to change notification settings - Fork 1
/
beamform_linear_coherent.m
executable file
·299 lines (244 loc) · 10.1 KB
/
beamform_linear_coherent.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
% 2016 06 16 Beamform from raw data, linear processing only, not triplet
% 2016 08 31 Modify to make file/folder adaptable for different runs
% 2016 09 07 Redo the beamforming and matched-filter processing to
% processed data COHERENTLY
% 2016 09 27 Modify from linear beamforming code to do cardioid
% beamforming
% 2017 01 14 Modify from beamform_cardioid_coherent (20170113 version)
clear
if isunix
addpath('~/internal_2tb/Dropbox/0_CODE/MATLAB/saveSameSize');
addpath(['~/internal_2tb/Dropbox/0_CODE/trex_fish/Triplet_processing_toolbox'])
base_save_path = '~/internal_2tb/trex/figs_results/';
base_data_path = '~/trex_data/TREX13_Reverberation_Package/TREX_FORA_DATA/';
else
addpath('F:\Dropbox\0_CODE\MATLAB\saveSameSize');
addpath('F:\Dropbox\0_CODE\trex_fish\Triplet_processing_toolbox')
base_save_path = 'F:\trex\figs_results';
base_data_path = '\\10.95.97.212\Data\TREX13_Reverberation_Package\TREX_FORA_DATA/';
end
%% Setting param and paths to read file
plot_opt = 0;
run_num = 131;
TripInUseDtChn = 3; % 1-triplet, 3-array
TripInUseChn0 = 91; % start channel NO.
TripInUseChn1 = 234; % end channel NO.
TripInUseChNum = length([TripInUseChn0:TripInUseDtChn:TripInUseChn1]);
t_start = 0; % start time within ping
t_end = 20; % end time within ping
beamform_angle = -87:87; % defined from broadside--for linear bf
%beamform_angle = [-177:-3 3:177]; % defined from endfire angle--for cardioid bf
cw = 1525; % sound speed
M2 = [30.0599; -85.6811]; % GPS location of the array
param.run_num = run_num;
param.TripInUseDtChn = TripInUseDtChn;
param.TripInUseChn0 = TripInUseChn0;
param.TripInUseChn1 = TripInUseChn1;
param.TripInUseChNum = TripInUseChNum;
param.t_start = t_start;
param.t_end = t_end;
param.cw = cw;
param.map_coord = M2;
param.beamform_angle = beamform_angle;
% Set processing heading
if run_num <= 53 % Fixed heading for different runs
process_heading = 219;
elseif run_num > 53 && run_num <= 62
process_heading = 333;
else
process_heading = 353;
end
% Set system and loading gain
if run_num>=41
gain_sys = 12;
else
gain_sys = 18;
end
gain_load = 46.95; % when FORA driven as triplet array
param.process_heading = process_heading;
param.gain_sys = gain_sys;
param.gain_load = gain_load;
% Set save folder
[~,script_name,~] = fileparts(mfilename('fullpath'));
save_path = fullfile(base_save_path, ...
sprintf('%s_run%03d',script_name,run_num));
if ~exist(save_path,'dir')
mkdir(save_path);
end
%% Set data path and read ECF
full_data_path = fullfile(base_data_path,sprintf('r%d',run_num));
ecf_file = dir([full_data_path,filesep,'*.ecf']);
[waveform_name,waveform_amp,Nrep,digit_timesec,delay_timems,allsignal_info] = ...
func_read_ECF(fullfile(full_data_path,ecf_file(1).name));
all_datafiles = dir([fullfile(full_data_path, '*.DAT')]); %% find all .dat files
if size(all_datafiles) ~= size(allsignal_info,1) %% make sure .dat match transmission
disp('Total number of pings does not match ECF file. Something is wrong.');
return;
end
data.full_data_path = full_data_path;
if plot_opt
fig_polar = figure('position',[150,80,900,700]);
end
want_file_idx = 150;
param.want_file_idx = want_file_idx;
for nsig = want_file_idx
% Get data filename and time
fname = strtok(all_datafiles(nsig).name,'.');
date_str = fname(end-9:end-7);
time_str = fname(end-5:end);
time_hh_local = mod(str2double(time_str(1:2))-5,24);
time_mm_local = str2double(time_str(3:4));
time_ss_local = str2double(time_str(5:6));
data.file_name = fname;
data.file_date = date_str; % julian day
data.file_time = time_str; % [HHMMSS]
data.time_hh_local = time_hh_local;
data.time_mm_local = time_mm_local;
data.time_ss_local = time_ss_local;
% Load data
% Read-in triplet data including acoustic data, heading, roll, time, and frequency
% Heading_T1,Heading_T2 from heading sensor but not used in processing.
% Fixed heading is used.
[Roll_T1,Roll_T2,Heading_T1,Heading_T2,GLAT,GLON,...
sample_freq,sample_time_ms,tot_data] = ...
func_load_raw_FORA_data(full_data_path, all_datafiles, nsig, t_start, t_end,...
TripInUseChn0,TripInUseDtChn,TripInUseChn1);
Nt = length(sample_time_ms);
t = sample_time_ms/1000; % time stamp of each sample [sec]
data.Roll_T1 = Roll_T1;
data.Roll_T2 = Roll_T2;
data.Heading_T1 = Heading_T1;
data.Heading_T2 = Heading_T2;
data.GLAT = GLAT;
data.GLON = GLON;
data.sample_freq = sample_freq;
data.t = t;
% Use info from the ECF file to recontruct, bandwidth, center freq,
% pulse length, and tapering.
[F1, F2, PL, Taper] = func_extract_signal_info(nsig, allsignal_info);
center_freq = (F1+F2)/2*1000;
full_bandwidth = (F2-F1)*1000;
tau = 1/full_bandwidth;
tx_sig.F1 = F1;
tx_sig.F2 = F2;
tx_sig.PL = PL;
tx_sig.Taper = Taper;
tx_sig.center_freq = center_freq;
tx_sig.full_bandwidth = full_bandwidth;
tx_sig.tau = tau;
% Get pulse compression template
% generate drive voltage, conjugate FFT for later compression and
% normalization the drive voltage peak to 1 (To LFM signals, peak
% is at the edges of pass and stop bands. This induces less than
% half dB in comparison with normalization using energy.)
drive_voltage_source = gen_theoretical_waveform(sample_freq, F1, F2, PL, Taper);
tx_sig.drive_voltage_source = drive_voltage_source;
% Get array geometry
[y_a,x_a,z_a] = Newfora_spv_trip(Roll_T2,Roll_T2,...
TripInUseChn0,TripInUseChn1,TripInUseDtChn);
array_coord = [x_a',y_a',z_a'];
del_y = y_a-mean(y_a);
param.array_coord = array_coord;
seg = tot_data.';
% fft
seg_fft = fft(seg);
seg_len = size(seg,1);
seg_len_half = floor((seg_len+1)/2);
dt = t(2)-t(1); % 1/fs
df = 1/(seg_len*dt);
freq_seg = [0:seg_len_half-1]*df;
seg_fft = seg_fft(1:seg_len_half,:);
% Distance stuff for cardioid beamforming
x_a_mean = mean(reshape(x_a,3,[]),1)';
y_a_mean = mean(reshape(y_a,3,[]),1)';
z_a_mean = mean(reshape(z_a,3,[]),1)';
dx = reshape(reshape(x_a,3,[])-repmat(x_a_mean',3,1),1,[]);
dy = reshape(reshape(y_a,3,[])-repmat(y_a_mean',3,1),1,[]);
dz = reshape(reshape(z_a,3,[])-repmat(z_a_mean',3,1),1,[]);
r = mean(sqrt(dx.^2+dy.^2+dz.^2));
% Beamforming [linear]
k_seg = 2*pi*freq_seg/cw;
seg_fft_beam = nan(seg_len_half,length(beamform_angle));
for iB=1:length(beamform_angle)
phase_delay = exp(1j*k_seg'*del_y*sin(beamform_angle(iB)/180*pi));
seg_fft_beam(:,iB) = sum(seg_fft.*phase_delay,2);
end
seg_fft_beam_pad = [seg_fft_beam;...
flipud(conj(seg_fft_beam(2:end,:)))];
beam_in_time = ifft(seg_fft_beam_pad);
% Pulse compression
tmp = conj(fft(drive_voltage_source, seg_len));
tmp = tmp(1:seg_len_half);
seg_fft_beam_mf = seg_fft_beam.*repmat(tmp.',1,size(seg_fft_beam,2));
seg_fft_beam_mf_pad = [seg_fft_beam_mf;...
flipud(conj(seg_fft_beam_mf(2:end,:)))];
beam_mf_in_time = ifft(seg_fft_beam_mf_pad);
mf_len = size(beam_mf_in_time,1);
data.beam_mf_in_time = beam_mf_in_time;
% Gain factors for beamforming and pulse compression
tmp_freq = (0:seg_len_half-1)*df;
[~,fcind] = min(abs(tmp_freq-center_freq));
gain_pc = 20*log10(abs(tmp(fcind))); % pulse compression gain
gain_beamform = 20*log10(size(seg,2)); % beamforming gain
param.gain_beamform = gain_beamform;
param.gain_pc = gain_pc;
% Adjust range to transmission start
[~,m_idx] = max(mean(beam_mf_in_time,2));
t_max = t(m_idx);
if t_max>1.5
cut_idx = find(t>2,1,'first');
rr_data = (t(1:mf_len)-2)*cw/2;
else
cut_idx = find(t>1,1,'first');
rr_data = (t(1:mf_len)-1)*cw/2;
end
data.cut_idx = cut_idx;
data.range_beam = rr_data;
% Get angle for plotting
polar_angle = -process_heading-beamform_angle;
[amesh,rmesh] = meshgrid(polar_angle/180*pi,rr_data(cut_idx:end)/1000);
[X,Y] = pol2cart(amesh,rmesh);
polar_angle_mir = -process_heading+180+beamform_angle;
[amesh_mir,rmesh_mir] = meshgrid(polar_angle_mir/180*pi,rr_data(cut_idx:end)/1000);
[X_mir,Y_mir] = pol2cart(amesh_mir,rmesh_mir);
data.polar_angle = polar_angle;
data.polar_angle_mir = polar_angle_mir;
% Save results
data = orderfields(data);
param = orderfields(param);
tx_sig = orderfields(tx_sig);
save_fname = sprintf('%s_run%03d_ping%04d',script_name,run_num,nsig); % data
save(fullfile(save_path,[save_fname,'.mat']),'param','tx_sig','data'); % figure
% Plotting
if plot_opt
% Get envelope
bf_env = nan(size(beam_mf_in_time));
for iA=1:size(beam_mf_in_time,2)
bf_env(:,iA) = abs(hilbert(beam_mf_in_time(:,iA)));
end
bf_env_cut = 20*log10(bf_env(cut_idx:end,:));
% load in bathymetry map and clutter objects
[Map_X,Map_Y,Map_Z,wrecgps] = func_load_map_targets(M2);
% Polar energy plot for this ping
figure(fig_polar)
cla
h1 = pcolor(X,Y,bf_env_cut); % plot echoes
set(h1,'edgecolor','none')
hold on
[c,h2]=contour(Map_X/1000,Map_Y/1000,Map_Z,[0:-2:-30],'k'); % plot map contour
clabel(c,h2,'fontsize',8,'linewidth',1,'Color','k');
colormap(jet)
colorbar
caxis([130 170])
axis equal
xlabel('Distance (km)');
ylabel('Distance (km)');
axis([-11 11 -11 11])
title(sprintf('Ping %04d, local time %02d:%02d:%02d',...
nsig,time_hh_local,time_mm_local,time_ss_local));
hold off
% Save plot
saveSameSize_100(gcf,'file',fullfile(save_path,[save_fname,'.png']),...
'format','png');
end
end % loop through all pings