Clutter rejection filters in color flow imaging: a theoretical approach

A general class of linear clutter rejection filters is described, covering the commonly used filter types including FIR/IIR filters with linear initialization, as well as regression filters, where the clutter component is estimated by least square curve fitting. The filter can be described by a complex valued matrix, and a frequency response is defined. However, in contrast to a time invariant filter, the general linear filter may create frequency components which are not present in the input signal. This produces bias in the velocity and velocity spread estimates. It is shown that the clutter filter effect on the autocorrelation estimates can be described by a frequency domain transfer function, but unlike time invariant filters, the transfer function is different for each temporal lag of the autocorrelation function. Using a two dimensional (axial and temporal dimension) model of the received signal, the bias in velocity and velocity spread is quantified, both for the autocorrelation algorithm and the time shift cross-correlation estimator. Theoretical expressions, as well as numerical examples are given.     

Clutter filters adapted to tissue motion in ultrasound color flow imaging

The quality of ultrasound color flow images is highly dependent on sufficient attenuation of the clutter signals originating from stationary and slowly moving tissue. Without sufficient clutter rejection, the detection of low velocity blood flow will be poor, and the velocity estimates will have a large bias. In some situations, e.g., when imaging the coronary arteries or when the operator moves the probe in search for small vessels, there is considerable movement of tissue. It has been suggested that clutter rejection can be improved by mixing down the signal with an estimate of the mean frequency prior to high pass filtering. In this paper, we compare this algorithm with several other adaptive clutter filtering algorithms using both experimental data and simulations. We found that realistic accelerations of the tissue have a large effect on the clutter rejection. The best results were obtained by mixing down the signal with non-constant phase increments estimated from the signal. This adapted the filter to a possibly accelerated tissue motion and produced a significant improvement in clutter rejection     

Adaptive clutter filtering based on sparse component analysis in ultrasound color flow imaging

An adaptive method based on the sparse component analysis is proposed for stronger clutter filtering in ultrasound color flow imaging (CFI). In the present method, the focal underdetermined system solver (FOCUSS) algorithm is employed, and the iteration of the algorithm is based on weighted norm minimization of the dependent variable with the weights being a function of the preceding iterative solutions. By finding the localized energy solution vector representing strong clutter components, the FOCUSS algorithm first extracts the clutter from the original signal. However, the different initialization of the basis function matrix has an impact on the filtering performance of FOCUSS algorithms. Thus, 2 FOCUSS clutter- filtering methods, the original and the modified, are obtained by initializing the basis function matrix using a predetermined set of monotone sinusoids and using the discrete Karhunen-Loeve transform (DKLT) and spatial averaging, respectively. Validation of 2 FOCUSS filtering methods has been performed through experimental tests, in which they were compared with several conventional clutter filters using simplistic simulated and gathered clinical data. The results demonstrate that 2 FOCUSS filtering methods can follow signal varying adaptively and perform clutter filtering effectively. Moreover, the modified method may obtain the further improved filtering performance and retain more blood flow information in regions close to vessel walls.     

Optimal velocity estimation in ultrasound color flow imaging in presence of clutter

In color flow imaging (CFI), the rejection of tissue clutter signal is treated separately from blood velocity estimation by high-pass filtering the received Doppler signal. The complete suppression of clutter is then difficult to achieve without affecting the subsequent velocity estimates. In this work, a different approach to velocity estimation is investigated, based on a statistical model of the signal from both clutter and blood. An analytic expression for the Cramer-Rao lower bound (CRLB) is developed, and used to determine the existence of an efficient maximum likelihood estimator (MLE) of blood velocity in CFI when assuming full knowledge of the clutter statistics. We further simulate and compare the performance of the MLE to that of the autocorrelation method (ACM) using finite-impulse response (FIR) and polynomial regression clutter filters. Two signal scenarios are simulated, representing a central and peripheral vessel. Simulations showed that, by including 3-9 (independent) spatial points, the MLE variance approached the CRLB in both scenarios. The ACM was approximately unbiased only for the central scenario in the clutter filter pass band, then with a variance of up to four times the CRLB. The ACM suffered from a severe bias in the filter transition region, and a significant performance gain was achieved here using the MLE. For practical use, the clutter properties must be estimated. We finally replaced the known clutter statistics with an estimate obtained from low-rank approximations of the received sample correlation matrix. Used in the model-based framework, this method came close to the performance of the MLE, and it may be an important step toward a practical model-based estimator, including tissue clutter with optimal performance.     

Performance of the adaptive generalised matched subspace constant false alarm rate detector in non-Gaussian noise: an experimental analysis

The authors deal with the performance analysis of an adaptive version of the generalised matched subspace detector (GMSD) in compound-Gaussian clutter with unknown covariance matrix. The original GMSD was proposed to detect subspace signals in compound-Gaussian noise with known covariance matrix and ensures the constant false alarm rate (CFAR) property. In real situations, this assumption is unrealistic, which means that the covariance matrix must be estimated from training data. The authors use a robust estimate of the covariance matrix called the fixed-point estimate, recently proposed in the literature. The performance of the obtained adaptive detector, in terms of CFAR behaviour and probability of detection, is evaluated in the presence of real sea clutter data, collected by the McMaster IPIX radar.     

Real-time adaptive clutter rejection filtering in color flow imaging using power method iterations

We propose a new algorithm for real-time, adaptive-clutter-rejection filtering in ultrasound color flow imaging (CFI) and related techniques. The algorithm is based on regression filtering using eigenvectors of the signal correlation matrix as a basis for representing clutter, a method that previously has been considered too computationally demanding for real-time processing in general CFI applications. The data acquisition and processing scheme introduced allows for a more localized sampling of the clutter statistics and, therefore, an improved clutter attenuation for lower filter orders. By using the iterative power method technique, the dominant eigenvalues and corresponding eigenvectors of the correlation matrix can be estimated efficiently, rendering real-time operation feasible on desktop computers. A new adaptive filter order algorithm is proposed that successfully estimates the proper dimension of the clutter basis, previously one of the major drawbacks of this clutter-rejection technique. The filter algorithm performance and computational demands has been compared to that of conventional clutter filters. Examples have been included which confirms that, by adapting the clutter-rejection filter to estimates of the clutter-signal statistics, improved attenuation of the clutter signal can be achieved in normal as well as more excessive cases of tissue movement and acceleration.     

A new high resolution color flow system using an eigendecomposition-based adaptive filter for clutter rejection

We present a new signal processing strategy for high frequency color flow mapping in moving tissue environments. A new application of an eigendecomposition-based clutter rejection filter is presented with modifications to deal with high blood-to-clutter ratios (BCR). Additionally, a new method for correcting blood velocity estimates with an estimated tissue motion profile is detailed. The performance of the clutter filter and velocity estimation strategies is quantified using a new swept-scan signal model. In vivo color flow images are presented to illustrate the potential of the system for mapping blood flow in the microcirculation with external tissue motion.     

A new high resolution color flow system using an eigendecomposition-based adaptive filter for clutter rejection

We present a new signal processing strategy for high frequency color flow mapping in moving tissue environments. A new application of an eigendecomposition-based clutter rejection filter is presented with modifications to deal with high blood-to-clutter ratios (BCR). Additionally, a new method for correcting blood velocity estimates with an estimated tissue motion profile is detailed. The performance of the clutter filter and velocity estimation strategies is quantified using a new swept-scan signal model. In vivo color flow images are presented to illustrate the potential of the system for mapping blood flow in the microcirculation with external tissue motion.     

Ultrasound doppler measurements of low velocity blood flow:limitations due to clutter signals from vibrating muscles

Skeletal muscles vibrate under sustained contraction, and generate low frequency side band clutter in the doppler signal. Both shivering in the hand of the operator and muscle vibrations in the patient itself give rise to the clutter. Clutter rejection filters are commonly used to remove the low frequency components, but the doppler signal from low velocity blood flow is then also lost. This paper describes a model for the pulsed wave (PW) doppler signal from vibrating muscles, reviews a model for the PW doppler signal from moving blood, and by comparing these models presents a theoretical minimum for detectable blood velocity in small vessels, being typically 6.4 mm/s for 6 MHz doppler. The limit has a nonlinear relation to the ultrasound frequency. The model also shows that the radial component of the muscle vibrations can be estimated from the phase of the doppler signal     

Estimation of mean frequency and variance of ultrasonic Doppler signal by using second-order autoregressive model

In order to estimate the mean frequency and variance of the diagnostic ultrasound Doppler signal in the presence of clutter noise, a new estimator using a second-order autoregressive (AR) model, called the AR estimator, is proposed. The sampled signal that contains information of both the Doppler signal and clutter is described by the second-order AR model with two poles. The mean frequency and variance of a unidirectional Doppler signal can be estimated, respectively, from the phase and the magnitude of the pole, with larger phase between the two poles. If the clutter is not completely rejected, all conventional estimators, including the autocorrelation (AC) estimator, result in erroneous estimations for the mean frequency and variance of the Doppler signal, whereas the AR estimator gives an accurate estimation. In the absence of clutter, however, the performance of both the AC and AR estimators are similar. If the blood flows in both directions in a sample volume and the clutter is rejected to the extent that it no longer obscures the Doppler signal, the proposed method can estimate simultaneously the mean frequencies and variances of both the forward and reverse blood flows. The performance of the proposed AR estimator was compared with that of the AC estimator by computer simulations and experiments, and it was found that when the number of available sampled data is small, the AR estimator does not require the use of a clutter filter, which simplifies Doppler signal detection.     

Two-dimensional pulse-to-pulse canceller of ground clutter in airborne radar

It is well known that in the airborne radar, the location of the ground clutter spectrum in the angle- Doppler space is dependent mainly on the platform velocity and radar parameters. The authors propose a two-dimensional pulse-to-pulse canceller (TDPC) that can make full use of such prior information. The more detailed formulations of the ground clutter model and the signal model are given in a matrix?vector form. The least-squares-typical cost function associated with the filter coefficient matrix of the TDPC is established on the basis of the ground clutter model and the signal model. Like the classical displaced phase centre antenna (DPCA) processing, the proposed TDPC is also a spatial-temporal suppressor of ground clutter and can decrease the ground clutter signals, even though the DPCA condition is not satisfied. The proposed TDPC can also be used as an efficient pre-filtering tool before the conventional moving target indication (MTI) processing and the classical adaptive processing. Moreover, if only the TDPC plus the conventional MTI is used, it takes less computational time than the adaptive canceller. Experimental results show that the proposed TDPC has the satisfactory ground clutter suppression capability by using both simulated data and measured data.     

脉冲多普勒引信杂波启动特性的计算机仿真

在下视工作过程中会时有发生地、海杂波,将会对引信低空的正常运作产生较大的负面影响。该文结合脉冲多普勒引信的特征,采用计算机仿真技术,构建相应的理论模型,多角度地分析影响杂波信号强度的因素,进而提出基于引信距离-多普勒分辨单元方法下所展开的杂波信号强度分析途径。通过实例计算机仿真研究,从两个不同情况对计算机仿真技术的内容进行了一定程度的验证。     

Isomorphism between pulsed-wave Doppler ultrasound anddirection-of-arrival estimation. I. Basic principles

Direction-of-arrival (DOA) estimation of signals is an important area of research in sonar and radar signal processing. Over the last few decades, numerous techniques have been developed for high-resolution DOA estimation. In this paper, we show that velocity measurement using pulsed-wave Doppler ultrasound and DOA estimation are isomorphic problems. We discuss a number of DOA methods and their potential application to flow velocity measurement using ultrasound. Wide-band DOA methods are of special interest because the pulses used for Doppler ultrasound are also wide band. These wide-band methods generally involve a preprocessing step to convert wideband signals to narrow band before applying high-resolution techniques. Application of DOA methods to Doppler ultrasound provides tools for high-resolution velocity measurement, identification of multiple velocity components within a sample volume, and clutter rejection     

A motion-based approach to abdominal clutter reduction

In ultrasound images, clutter is a noise artifact most easily observed in anechoic or hypoechoic regions. It appears as diffuse echoes overlying anatomical structures of diagnostic importance, obscuring tissue borders and reducing image contrast. A novel clutter reduction method for abdominal images is proposed, wherein the abdominal wall is displaced during successive-frame image acquisitions. A region of clutter distal to the abdominal wall was observed to move with the abdominal wall, and finite impulse response (FIR) and blind source separation (BSS) motion filters were implemented to reduce this clutter. The proposed clutter reduction method was tested in simulated and phantom data and applied to fundamental and harmonic in vivo bladder and liver images from 2 volunteers. Results show clutter reductions ranging from 0 to 18 dB in FIR-filtered images and 9 to 27 dB in BSS-filtered images. The contrast-to-noise ratio was improved by 21 to 68% and 44 to 108% in FIR- and BSS-filtered images, respectively. Improvements in contrast ranged from 4 to 12 dB. The method shows promise for reducing clutter in other abdominal images.     

稳健协方差矩阵重构波束形成算法

针对信号导向向量失配以及接收数据协方差矩阵存在误差会导致传统的自适应波束形成器产生能损失的问题,提出了一种基于干扰加噪声协方差矩阵重构的稳健波束形成算法.该算法通过对信源来波角度范围进行Capon谱估计得出重构信源协方差矩阵,并通过特征分解以及子空间性质得出信源的导向向量,然后利用重构所得信源导向向量计算出信源功率以及...     

Isomorphism between pulsed-wave Doppler ultrasound anddirection-of-arrival estimation. II. Experimental results

For pt. I see ibid., vol. 43, no. 5, p. 911-22 (1996). Pt. I presented the basic principles for applying high-resolution wide-band direction-of-arrival estimation techniques to pulsed-wave Doppler ultrasound. Such techniques provide high-resolution velocity profiles and enable the identification of multiple velocity components inside a sample volume. Another important application is the identification and rejection of wall clutter signals. A first and essential step in applying these techniques is to convert the wide-band echoes to narrow band. The 2D DFT projection method is used for this conversion. Two different narrow-band high-resolution methods are then applied to estimate the velocity distributions; the minimum variance (MV) and the multiple signal classification (MUSIC). Experimental results are presented to illustrate the potentials and limitations of applying wide-band DOA methods to different applications in pulsed-wave Doppler ultrasound     

A new time-domain narrowband velocity estimation technique for Doppler ultrasound flow imaging. II. Comparative performance assessment

For pt.I see ibid., vol.45, no.4, pp.939-54 (1998). The statistical performance of the new 2-D narrowband time-domain root-MUSIC blood velocity estimator described previously is evaluated using both simulated and flow phantom wideband (50% fractional bandwidth) ultrasonic data. Comparisons are made with the standard 1-D Kasai estimator and two other wideband strategies: the time domain correlator and the wideband point maximum likelihood estimator. A special case of the root-MUSIC, the "spatial" Kasai, is also considered. Simulation and flow phantom results indicate that the root-MUSIC blood velocity estimator displays a superior ability to reconstruct spatial blood velocity information under a wide range of operating conditions. The root-MUSIC mode velocity estimator can be extended to effectively remove the clutter component from the sample volume data. A bimodal velocity estimator is formed by processing the signal subspace spanned by the eigenvectors corresponding to the two largest eigenvalues of the Doppler correlation matrix. To test this scheme, in vivo common carotid flow complex Doppler data was obtained from a commercially available color flow imaging system. Velocity estimates were made using a reduced form of this data corresponding to higher frame rates. The extended root-MUSIC approach was found to produce superior results when compared to both 1- and 2-D Kasai-type estimators that used initialized clutter filters. The results obtained using simulated, flow phantom, and in vivo data suggest that increased sensitivity as well as effective clutter suppression can be achieved using the root-MUSIC technique, and this may be particularly important for wideband high frame rate imaging applications.     

基于EMD-SVD模型和SVM滚动轴承故障模式识别

针对滚动轴承振动信号的非平稳特性和在现实条件下难以获取大量故障样本的实际情况,提出一种经验模态分解、奇异值分解、Renyi熵和支持向量机相结合的故障诊断方法。运用经验模态分解方法对其去噪信号进行分析,利用互相关系数准则对固有模式分量进行筛选,再对所选分量重构相空间得到吸引子轨道矩阵;对矩阵进行奇异值分解求取奇异值,再计算这些奇异值的Renyi熵以组成故障特征向量,并将其作为支持向量机的输入以识别滚动轴承的故障类型。最后,利用实际滚动轴承试验数据的诊断与对比试验验证了该方法的有效性和泛化能力。     

一种声速-位置联合估计的水声导航定位方法

长基线水声导航定位方法利用各信标到水下航行器的信号传播时间和等效声速来估计水下航行器的位置,但各信标到水下航行器的等效声速估计存在误差,导致定位误差较大,且随着导航距离的增加,定位误差呈增长趋势。针对这一问题,提出了一种基于粒子滤波的水声导航定位方法,将等效声速和水下航行器的位置作为估计状态参量,通过测量信标信号到水下航行器的传播时间,建立粒子滤波模型对其位置进行估计,准确地估计并跟踪等效声速变化,从而提高定位精度,减小估计误差。仿真结果表明,在水下航行器初始位置未知的情况下,与常规方法相比,文中所提方法的定位精度提高了4倍左右。     

Adaptive spectral doppler estimation

In this paper, 2 adaptive spectral estimation techniques are analyzed for spectral Doppler ultrasound. The purpose is to minimize the observation window needed to estimate the spectrogram to provide a better temporal resolution and gain more flexibility when designing the data acquisition sequence. The methods can also provide better quality of the estimated power spectral density (PSD) of the blood signal. Adaptive spectral estimation techniques are known to provide good spectral resolution and contrast even when the observation window is very short. The 2 adaptive techniques are tested and compared with the averaged periodogram (Welch's method). The blood power spectral capon (BPC) method is based on a standard minimum variance technique adapted to account for both averaging over slow-time and depth. The blood amplitude and phase estimation technique (BAPES) is based on finding a set of matched filters (one for each velocity component of interest) and filtering the blood process over slow-time and averaging over depth to find the PSD. The methods are tested using various experiments and simulations. First, controlled flow-rig experiments with steady laminar flow are carried out. Simulations in Field II for pulsating flow resembling the femoral artery are also analyzed. The simulations are followed by in vivo measurement on the common carotid artery. In all simulations and experiments it was concluded that the adaptive methods display superior performance for short observation windows compared with the averaged periodogram. Computational costs and implementation details are also discussed.