多波束测深系统最优声速公式的确定

本文对现有的7种声速经验公式，根据其不同的适用范围，不同的水文环境，计算出各自不同的声速和声速变率，并对这些数据进行统计分析，得出了适合不同水层的最优声速公式，该结论在浅水区被验证是正确的。     

Correction for effects of temperature and pressure on sound speed in shallow seafloor sediments

Abstract

Three types of sediments were selected to measure their sound speed under changing temperature and pressure conditions in laboratory. The effects of temperature and pressure on sound speed in sediments and their trends were analyzed. The results showed that, with increasing temperature and pressure, the sound speed exhibits an increasing trend in all selected sediments. For each sample, the ratio of the sound speed in sediments to that in seawater almost remained unchanged at different pressures and temperatures, with a maximum fluctuation of 1.09% for temperature dependence and 0.68% pressure dependence. Combining the analysis of experimental results and sound speed correction procedure given by Hamilton, specific correction formulas of sound speed for temperature and pressure were presented. The laboratory-measured sound speed in the experiment and the sound speed obtained in the South Yellow Sea were corrected to reduce the effects of temperature and pressure using the correction formulas. The results show that the correction formulas with constant sound speed ratio are effective for correcting the sound speed measurement errors caused by changes in temperature and pressure. As a further consideration, the effects of the fluctuation of sound speed ratio on sound speed correction were analyzed.     

Acoustic Ray Tracing Comparisons in the Context of Geodetic Precise off-shore Positioning Experiments

The GNSS-Acoustics (GNSS-A) method couples acoustics with GNSS to allow the precise localization of a seafloor reference in a global frame. This method can extend on-shore GNSS networks and allows the monitoring of hazardous oceanic tectonic phenomena. The goal of this study is to test the influence of both acoustics ray tracing techniques and spatial heterogeneities of acoustic wave speed on positioning accuracy. We test three different ray tracing methods: the eikonal method (3D sound speed field), the Snell-Descartes method (2D sound speed profile), and an equivalent sound speed method. We also compare the processing execution time. The eikonal method is compatible with the Snell-Descartes method (by up to 10 ppm in term of propagation time difference) but takes approximately a thousand times longer to run. We used the 3D eikonal ray tracing to characterize the influence of a lateral sound speed gradient on acoustic ray propagation and positioning accuracy. For a deep water (? 3,000 m) situation, frequent in subduction zones such as the Lesser Antilles, not accounting for lateral sound speed gradients can induce an error of up to 5 cm in the horizontal positioning of a seafloor transponder, even when the GNSS-A measurements are made over the barycenter of a seafloor transponder array.     

三种常用声速算法的比较

在近几年的西太平洋调查中使用了SV Plus声速测量仪,共获取了46个站点的声速剖面,并基于同步观测的CTD数据,利用3种常用的声速算法计算了这些站点的声速剖面。所有这些站点的测深度均超过1500m,而且调查时间为3个不同的季节。CTD数据计算得到的声速剖面与声速测量仪器观测的声速剖面的比较表明,在三种算法中,Chen和Millero算法在积分平均意义上是最好的。当定点比较时,在水深大于800m或者小于200m的范围内,Wilson算法较好;在其他水深范围内,Chen和Millero的算法的计算结果和实际测量结果较为一致。     

基于二次多项式拟合的超短基线声线修正方法

超短基线定位解算中的距离观测值是指换能器与水下应答器之间的直线距离,而海水声速的不均匀分布导致声波在海水中的实际传播路径为连续弯曲的曲线,需要结合实测声速剖面进行声线修正。根据声速在分层介质中的传播特性,本文提出了一种基于二次多项式拟合的声线跟踪算法,采用线性插值方法对声速剖面数据进行合理加密并按等深度进行分层,设定每层声速梯度是不断变化的,用二次多项式拟合声速,基于运动学原理建立了完整的数学解算模型。仿真结果表明,该方法修正后的水下目标分布具有明显的收敛性,且优于等梯度声线跟踪算法和等效声速剖面法,显著提高了超短基线水声定位系统的定位精度。     

水声定位系统中迭代适应点分层的声线修正算法

水声定位系统中, 声线弯曲是造成定位误差大的主要原因, 本文针对该问题提出了一种迭代适应点分层(IAPL)的声线修正算法, 将声速剖面筛选分层修正声线。首先搭建水声定位模型, 通过拟合目标海域的监测数据, 得到声速高次函数; 其次探究声线弯曲时目标位置与掠射角的关联性, 由此构造出声线插值函数并求解路径参数; 最后提出划分原则, 精简声速剖面分层。仿真结果表明, 所提算法定位误差较低, 分层精简率均维持在48.04%的水平, 使计算量平均下降可达50.27%, 能够最大程度保留声速剖面的原始特征, 减少分层数量, 提高计算效率。     

声速剖面EOF表示对多波束水深数据的影响研究

基于实测数据,将测区内声速剖面进行EOF表示,进而采用常梯度分层声线跟踪法对EOF表示的声速剖面和实测声速剖面进行比对,统计有效波束比。比对结果表明:采用EOF表示的声速剖面进行的水深数据改正能够满足多波束水深测量的精度指标要求,论证了采用EOF方法表示多波束勘测水深声速剖面场的有效性。     

基于长基线系统深海采矿ROV精确定位

对于深海采矿集矿机ROV的定位,采用传统的长基线水声定位系统通常存在较大误差。对此提出了一种新的算法模型,首先通过比较集矿机测量位置与前一次修正位置的几何关系,对当前集矿机的位置进行修正,然后利用新的集矿机位置修正声速的数值,并得出重新修正后的集矿机测量位置。这样反复的多重迭代使得在某一时刻集矿机ROV的测量位置逐步趋近其理想位置,实现长基线系统的水声精确的三维立体定位。通过数值仿真分析,结果显示与传统的长基线水声定位方法相比,通过该方法获得的集矿机行驶轨迹能更好地趋近其理想行驶曲线,表明该算法的有效性。     

Research on the sediment acoustic properties based on a water coupled laboratory measurement system

Abstract

The high-frequency acoustic properties of seafloor sediments are very significant in seafloor study and underwater acoustic study field. In order to measure the sound speed and the attenuation for the small-scale sediment cores more accurately, this study developed a water coupled acoustic laboratory measurement system based on Richardson-Briggs technique. This method used the correlation comparison of waveforms received in sediment core and in identical reference tubes filled with water to measure sound speed and attenuation. The sound speed and attenuation of a clayey silt sediment sample were measured using the water coupled acoustic laboratory measurement system. This frequency dependence of the sound speed and attenuation showed that the clayey silt sediment has a weak positive sound speed dispersion, while the attenuation increases with a strong positive gradient within the measurement frequency range. This study also noted that the measured sound speed ratio match well with the empirical equations from literature. The measured attenuation factor data can fall in the Hamilton’s empirical prediction range.     

海洋声速剖面的自动聚类研究

以海区30'网格方区多年月平均统计的声速剖面作为原始数据集,提取声速剖面的表层、主跃层和深海等温层分层结构特征,把我国近海及其邻近海域预分为Ⅰ,Ⅱ和Ⅲ类区。对Ⅱ,Ⅲ类区声速剖面,应用有序样本聚类算法分别进行表层分离。根据各类区的表层声速剖面数据,通过归一化处理和Akima差值采样得到梯度剖面,建立起按月归一化后的声速剖面分层梯度样本集,并应用系统聚类法和SOFM神经网络方法分别进行聚类分析,再根据分类结果并结合各类型海区的声学特点,得到各类型海区声速剖面的典型类型。通过对大量历史数据的分析结果表明,该方法为自动分类海洋声速剖面提供了一条有效路径,弥补了长期以来海洋声速剖面主要依靠人工分类的不足。     

Sound speed dispersion characteristics of three types of shallow sediments in the southern yellow sea

To accurately characterize sound speed dispersion of shallow sediments in the Southern Yellow Sea, three types of sediments, i.e., silt, clayey silt, and silty clay, were selected to measure the sound speeds at 25–250?kHz. Over the frequency range, the sound speeds vary approximately from 1,536 to 1,565?m?s^?1 in silt sediment, from 1,511 to 1,527?m?s^?1 in clayey silt sediment, and from 1,456 to 1,466?m?s^?1 in silty clay sediment. The sound speed exhibits a slow increase with frequency in a nearly linear gradient, but these three types of sediments have different sound speed dispersion characteristics. The silt sediment with relatively coarse grains has the most significant sound speed dispersion, while the sound speed dispersions of the two others are relatively weak. Comparison between the measured dispersions and the model predictions shows that the grain-shearing model can match the measured data at most of frequencies. Nevertheless, when the grain bulk modulus was assigned 3.2?×?10¹⁰?Pa according to relevant references, the Biot–Stoll model predictions were higher than the measured values at high frequencies; when it was assigned a relatively small value of 2.8?×?10¹⁰?Pa, the model predictions achieved optimal matching with the measured values.     

原位测量技术在黄海沉积声学调查中的应用

介绍了最新研制的基于液压驱动贯入的自容式海底沉积声学原位测量系统及其在南黄海中部海底沉积声学调查中的应用。该系统可以实现对海底沉积物声速和声衰减系数进行原位测量,通过液压驱动装置将四根声学探杆匀速贯入到海底沉积物中,减少了对沉积物的扰动,可按照预设的工作参数在海底全自动工作,无需甲板上人员实时控制,采集的声波信号自容式存储于存储单元。系统工作水深为500 m,测量深度为1 m,测量频率为30 kHz,采样频率为10 MHz。使用该系统在南黄海中部获得了40个站位不同类型沉积物的声学特性原位测量数据,并使用CTD剖面仪对该系统声速测量进行了标定,相对误差均小于0.5%,表明该系统测量数据准确、可靠。     

Precise Positioning of Underwater Static Objects without Sound Speed Profile

A new method of positioning underwater static objects is presented based on Global Positioning System (GPS) acoustics. It adopts a model in which the ranging errors follow a quadratic relation with the travel time of acoustic signals. A least squares technique is used to estimate the effective sound speed. The precise location of an object can then be made. The simulation shows that the method is capable of determining the three-dimensional position with an accuracy of 5 cm in a water depth of 500 m. The operating time is respectively 5–10 minutes in 50–100 m depth and 20–30 minutes in 500 m depth.     

多频海底声学原位测试系统研制和试用

海底沉积物的声学特性(最重要的是声速和声衰减)以及它们与物理(包括土力学)特性之间的关系是沉积物声学中两个重要的研究项目.介绍了新研制的实时监控多频海底声学原位测试系统.该系统可测量浅表层沉积物的声速.探测频率为8,10,12,15 kHz,可根据实际情况选择发射波形、接收增益和采样长度,采样率为0.5~2.0 MHz,工作水深为300 m.系统具有倾斜传感器、8通道扩充等功能.用该系统在杭州湾测得了四种频率的沉积物原位声速.     

模糊ISODATA聚类算法在声速剖面自动分类中的应用

依据中国海浅海区30′按月历史统计声速剖面数据,通过归一化处理和Akima差值采样得到梯度剖面,建立起各方区按月归化后的声速剖面分层梯度样本集,并采用模糊ISODATA聚类算法对声速剖面进行聚类分析.通过对分类结果和类内总方差和的分析表明,聚类参数m值在1.1～2.1之间,并以最远邻系统聚类法结果为初始类中心的模糊分类效果较好.应用该方法对海洋中的声速剖面进行自动分类和区划对海洋环境的战术应用意义重大.     

Optimal localization of a seafloor transponder in shallow water using acoustic ranging and GPS observations

This study utilized circular and straight-line survey patterns for acoustic ranging to determine the position of a seafloor transponder and mean sound speed of the water column. To reduce the considerable computational burden and eliminate the risk of arriving at a local minimum on least-squares inversion, the position of a seafloor transponder was estimated by utilizing optimization approaches. Based on the implicit function theorem, the Jacobian for this inverse problem was derived to investigate the constraints of employing circular and straight-line survey patterns to estimate the position of a transponder. Both cases, with and without knowledge of the vertical sound speed profile, were considered. A transponder positioning experiment was conducted at sea to collect acoustic and GPS observations. With significant uncertainties inherent in GPS measurements and the use of a commercial acoustic transponder not designed for precise ranging, experimental results indicate that the transponder position can be estimated accurately on the order of decimeters. Moreover, the mean sound speed of the water column estimated by the proposed optimization scheme is in agreement with that derived from conductivity, temperature, and density (CTD) measurements.     

Acoustic wave scattering from a rough seabed over a sediment layer with generalized-exponential density and inverse-square sound speed profiles

This paper considers acoustic plane wave scattering from a rough seabed on a transition sediment layer overlying an elastic sea basement. The transition sediment layer is assumed to be fluid-like, with density and sound speed distributions behaving as generalized-exponential and inverse-square functions, respectively. This specific class of density and sound speed profiles deserves special attentions not only because it is geologically realistic, but also renders analytical solutions to the Helmholtz equation, making it particularly useful in the study of ocean and seabed acoustics. Based upon a boundary perturbation approach, the computational algorithm for the spatial spectrum in terms of the power spectral density of the scattered field has been developed and implemented. The results have shown that, while the coherent field mainly depends upon the gross structure of the seabed roughness, e.g., RMS roughness, the scattered field is significantly affected by the details of the roughness distributions specialized by the roughness power spectrum and the spatial correlation length of the rough surface. The dependence of the power spectral density of the scattered field on the various types of sediment stratifications, including the constant and the k²-linear sound speed distributions, is also included in the analysis.     

Analysis of the influences of physical parameters on sediment sound speed

Based on the core samples collected in different geological tectonic units in the southern South China Sea, the double parameter equations between sediment sound speed and physical parameters were developed. According to the double parameter equations, the influences of physical parameters (porosity, mean grain size, wet bulk density, and clay content) on sediment sound speed were analyzed. To analyze the sensitivity of each parameter in the double parameter equations, the error norm method was introduced. The most influencing physical parameters with relative order were analyzed using the error norm method. These results show that porosity has a major influence on the sound speed, and the most influential physical parameters on sound speed are as follows: porosity > wet bulk density > clay content > mean grain size.     

Effects of disturbance of seawater excited by internal wave on GNSS-acoustic positioning

Traditional Global Navigation Satellite System-Acoustic (GNSS-A) positioning assumes the Layered Model in the sound speed structure, and any of horizontal perturbation of seawater degrades its accuracy. However, the use of the Gradient Model analytically demonstrated that the horizontal gradient of the sound speed structure and displacement can simultaneously be solved using multiple transponders for each of ping. We applied this technique to our observed data and found it unsuitable for real data. We confirmed that a horizontal perturbation with wavelength shorter than the horizontal extent of the transponder array significantly violates the linear approximation in the Gradient Model. Our vertical 2D numerical simulation of internal waves (IWs) forced by tidal oscillation showed that such small-scale IWs could effectively be generated by nonlinear cascade from large-scale IWs of the major tidal constituents. In addition, a small-scale IW in deep water typically has a period of 3–4 h, which degrades positioning accuracy significantly, whereas an IW of much shorter period in shallow water has less effect after removal of the fluctuation by time averaging within a typical observation period. Apparent array position obtained in the synthetic test based on the simulated IW-derived sound speed structure showed features quite similar to that observed in real surveys. To incorporate such deeper perturbation, we proposed a Disturbance Model using dual sea surface platforms, that can solve time-varying perturbation in the vicinity of each transponder.

     

顾及声速误差的USBL/SINS紧组合导航算法研究

采用水下超短基线定位系统和捷联惯导系统组合对水下潜器进行导航时,未知的声速误差会严重影响组合导航的精度。顾及超短基线定位系统的噪声水平、阵列上接收单元的误差特性以及和捷联惯导系统在导航性能的互补性,基于平面波近似原理,建立了SINS/USBL紧组合系统的状态方程和量测方程,并对未改正的声速误差在线估计,提出一种超短基线定位系统和捷联惯导系统紧组合算法。新算法可以将非高斯的未知声速误差进行建模后进行估计,有效提高了捷联惯导系统的误差估计性能。仿真实验结果表明,新算法能有效估计未知声速误差,滤波收敛后的精度明显优于松组合方案,具有很强的实用性。