RESUMO
Direction-of-arrival (DoA) estimation is an important part in sonar signal processing, providing a reliable foundation for tasks, such as underwater object detection and tracking. Although the deep learning model has powerful data fitting capabilities, accurately estimating the orientation of multiple targets with a single model remains a challenging task. To address this challenge, we enhance the permutation invariant training (PIT) technique and propose two different types of methods: multi-group classification with PIT (MC-PIT) and multi-group regression with PIT (MR-PIT). These two frame-level PIT schemes utilize a single model for both training and testing in multi-target scenarios. Furthermore, we evaluate the performance of MR-PIT and MC-PIT with different network backbones and demonstrate that the frame-level PIT has excellent portability. Compared with the model trained with the general multi-label strategy, simulation experiments show that our proposed methods have better multi-target DoA estimation performance. Finally, when the array configuration of simulated and recorded data are consistent, the model with frame-level PIT can achieve good performance on recorded data even only trained on simulation data.