QSF3—1型声学应答释放器的可靠性分析

本文就海洋监测系统中用到的一种仪器－ＱＳＦ３－１型声学应答释放器进行了可靠性分析。采用了迄今为止，在国外被公认的对复杂系统进行可靠性分析的最好方法－失效树分析法。详细地介绍了建树过程及各基本事件概率的计算方法，给出了ＱＳＦ３－１型声学应答释放器的可靠性指标。最后对提高释放器的可靠性途径进行了讨论。     

声学应答释放器关键技术的研究与实验

本文对声学应答释放器的关键技术进行了研究、设计与实验。该仪器具有接收、应答、释放三种功能,在海洋开发、海洋调查中得到广泛的应用。     

千米声学应答释放器释放动力计算

本文对QFS1—1型千米声学应答释放器的电机释放机构进行了力学分析,对释放阻力进行分类并说明其来源,指出降低阻力的途径,算出电机减速器能提供的释放动力。文中提供的计算方法,已被室内及海上的试验所证实。     

声学遥控信标释放器

本文介绍一种新型的声学遥控释放器,并就该仪器的特点、技术性能、主要参数设计及仪器操作使用方法等方面进行综合介绍。     

直接数字频率合成技术在声学释放器中的应用

直接数字频率合成技术(DDS)是一种新的频率合成方法,它具有转换时间短、相位变化连续、全数字可编程等优点.文中介绍了ADI公司生产的AD7008芯片作为频率信号源在声学释放器中的应用.     

一种简易的潜标辅助寻标定位系统

介绍一种自主研发的、结合GPS定位和水声测距于一体的潜标自动搜寻定位系统。系统由安装于搜索船只上的全球定位系统GPS接收机、水声释放器甲板单元、综合信号接收处理单元(由计算机组成),以及集成于潜标系统水声释放器上的水声应答系统组成。利用GPS定位原理,将GPS测得的定位信息,与水声测距技术相结合,实现潜标系统的空间定位,为潜标系统的可靠回收提供技术保障。     

千米潜标测流系统海上试验获得成功

海洋技术研究所研制的千米潜标测流系统,于今年四月初至五月底在南中国海(N19°,E113°30′附近)成功地进行了三次布放回收试验。试验共分三个航次进行,第一航次是在向阳红14号调查船上对本所研制的释放器进行可靠性试验,试验结果表明,释放器工作良好。     

声学滑翔机技术现状及发展趋势

声学滑翔机是一类搭载声学观测设备的自主式无人水下航行器,是无人水声观测设备中的重要组成部分。声学滑翔机可以在复杂恶劣的海洋环境下对一定海域进行全方位、全天候、长时间的持续监测。首先对声学滑翔机的国内外技术现状及在海洋中的应用进行总结,随后对声学滑翔机的关键技术进行了分析,重点论述了声学滑翔机声学设备搭载技术、减振降噪技术及小尺度阵信号处理技术,最后给出了声学滑翔机未来的发展趋势。     

声学综合定位系统实时数据采集及处理

本文主要介绍用 IBM/PC 及接口技术,实现声学综合定位系统实时数据采集及处理的软硬件的设计思想。应用超短基线原理的声学综合定位系统安装在船上,借助 IBM/PC 机的丰富的软件资源、实现水下目标(信标或释放器)的定位和导肮。     

质子旋进式海洋地磁日变站的设计与实现

目前国内在深远海地磁测量中普遍采用潜标加挂磁力仪的作业方式测量地磁日变,针对其布放、回收操作复杂且劳动强度大的缺点,设计了一套新的一体化便携式质子旋进式海洋地磁日变站。基于质子旋进式地磁测量的工作原理,采用多周期同步测量法和线性插值的过零数频算法提高了拉莫尔旋进信号的测频精度;在现有声学释放系统的基础上对声学应答和释放过程进行了改进,采用Goertzel算法提高了声学释放信号频率检测的计算效率和可靠性;将研制的仪器与国际商用仪器进行了陆地对比测试和海上实验。结果表明,研制的海洋地磁日变站性能指标满足海洋地磁测量数据的日变改正精度要求,可靠性高,而且海上操作便捷,可替代传统的海洋地磁日变测量的作业方式。     

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.     

A long‐range and high‐resolution underwater acoustic positioning system

Abstract

It is desired to track the location of an underwater data collecting platform using acoustic range data. A long‐range and high‐resolution acoustic system for underwater locating has been investigated. The system provides continuous and highly accurate tracking of a platform referenced to bottom‐mounted buoys. Each reference buoy contains an acoustic transponder, which is used to obtain ranging data from the transponder to the platform. The transponder has a signal source that is phase‐modulated by a maximal‐length binary sequence and a correlation processing unit to be capable of detecting received acoustic signals with high SNR in a noisy environment or in attenuation due to long‐range propagation, and to identify multipath acoustic signals. The acoustic system has been designed and sea tests tried. The results of that experiment have yielded capability of a submeter underwater acoustic positioning system.     

A study of increasing the precision of navigation position for submerged body

Currently, most submerged bodies use the long-baseline acoustic position system (LBL) to identify the navigation position for submerging. A precise navigation position is always the target pursued by underwater technology. The conventional long-baseline acoustic position systems normally use Kalman filter correction to handle the problem of positional errors. This article proposes a new modification, which is based on the periodically measured actual navigation distance, and associated with the three-dimensional geometrical relations between the transponder on the seabed and the navigation distance. This new modification employs the iterative approximation to modify the errors of the measured navigation position from the conventional long-baseline acoustic position system. In order to verify the availability of the modified model by the essay, the study uses the navigation position for an underwater surveying submerged body as the study object. After the numerical simulation analysis, the result shows that the modification was presented by the article can only use very few iterations to precisely modify the errors of the measured navigation position from the conventional long-baseline acoustic position system, which is highly applicable for positioning in long-term and long-distance submersion. Moreover, the modification method proposed by the paper can also help submersion positioning for the underwater vehicle, as well as the military submerged body.     

Precise positioning for near-bottom equipment using a relay transponder

The Marine Physical Laboratory of the Scripps Institution of Oceanography has developed an acoustic relay transponder for precise relative positioning of near-bottom instruments and geologic sampling devices. Although specifically designed to position equipment lowered on standard wire ropes without a need to maintain direct electrical contact with the surface ship, the relay transponder may be used to track free vehicles, such as deep submersibles, from the surface. The relay transponder is positioned relative to an array of bottom-anchored acoustic transponders. It is interrogated acoustically from the surface ship; it then sequentially interrogates the bottom transponders which, in turn, reply to the ship. From the measurement of the total travel time (ship to relay transponder to bottom transponder to ship) and assuming, or knowing, the sound velocity of the water, we obtain a relayed range measurement. These relayed ranges, used in conjunction with ship to bottom-transponder ranges, allow us to calculate the position of the relay transponder. A recent application of this technique is described in which several gravity core samples from the crest of the Horizon Guyot were positioned with respect to the detailed bathymetry and the geology within the area. The estimated error in positioning the samples is less than 20 m inside a navigational net extending over 100 km².Contribution of the Scripps Institution of Oceanography, new series.     

A high-resolution pulse-Doppler underwater acoustic navigation system

A high-resolution underwater acoustic pulse-Doppler navigation system has been developed and tested at sea. The system provides continuous, highly accurate tracking of underwater and ocean-surface platforms in a fixed 50-km²navigation net. Three reference buoys, moored 20 m from the ocean bottom, provide the navigation net used by shipboard processing equipment. Each reference buoy contains an acoustic transponder, used to obtain the acoustic travel times from the transponder to the platform, and a continuous-tone beacon, used to obtain the Doppler shift due to platform motion. The system is capable of determining the position of a platform with respect to the reference net with an error of 2-3 m. The relative position of the platform on a fix-to-fix basis can be determined within several centimeters over short time intervals (approx 10min).     

An Ocean Bottom Hydrophone instrument for seismic refraction experiments in the deep ocean

Tests of a new Ocean Bottom Hydrophone (obh) instrument have recently been completed at Woods Hole Oceanographic Institution. This instrument is designed to float 3 m above the seafloor at depths of up to 6100 m for periods of up to 10 days and continuously records the output of a single hydrophone on a four-channel 0.064 cm/s (1/40 in./s) analog magnetic tape recorder. This instrument has an acoustic transponder and release system and is designed primarily for multiple deployments as a fixed ocean bottom receiver for seismic refraction work.Contribution No. 4174 of the Woods Hole Oceanographic Institution.     

A digital event-recording ocean bottom seismometer capsule

The ocean bottom seismometer capsule contains a 1 Hz. vertical seismometer and triggerable or programmable digital recording system. The output of the seismometer is continuously digitized at a preselected rate of 64, 128, or 256 samples/sec. The digital data words are mixed with a time code and synchronization characters, serialized and passed through a 1536 sample shift register which acts as a delay line. The serial output bits are then encoded and recorded on a SONY TC800B tape recorder which is turned on when a seismic event occurs. The event trigger occurs when the seismic signal jumps to 8 times the time averaged input signal. A memory may be programmed to run the recorder on a schedule so that small amplitude signals from refraction shots are sure to be recorded. Data are recovered using the same recorder for playback and a decoder which provides an analog output for field data interpretation or a digital output for computer analysis. An acoustic transponder allows precise ranges between the capsule and ship to be determined. In addition, commands for the capsule to release or to transmit diagnostic data may be given from the surface ship. The capsule falls freely to the ocean bottom. After a predetermined time or when a release command is received, it is released from a 68 kg steel tripod and floats to the surface. A dual timer and explosive bolt system is used to increase recovery reliability.The first capsules were designed and constructed between October 1972 and October 1973. Good results were obtained from 38 out of 43 launchings made on six expeditions in 1974, 1975, and 1976. Four capsules have been lost.     

Accurate GPS measurement of the location and orientation of a floating platform

Abstract

This article describes the design and initial tests of the GPS portion of a system for making seafloor geodesy measurements. In the planned system, GPS antennas on a floating platform will be used to measure the location of an acoustic transducer, attached below the platform, which interrogates an array of transponders on the seafloor. Since the GPS antennas are necessarily some distance above the transducer, a short‐baseline GPS interferometer consisting of three antennas is used to measure the platform's orientation.

A preliminary test of several crucial elements of the system was performed at the Scripps Institution of Oceanography (SIO) in December 1989. The test involved a fixed antenna on the pier and a second antenna floating on a buoy about 80 m away. GPS measurements of the vertical component of this baseline, analyzed independently by two groups using different software, agree with each other and with an independent measurement within a centimeter.

The first test of an integrated GPS/acoustic system took place in the Santa Cruz Basin off the coast of southern California in May 1990. In this test a much larger buoy, designed and built at SIO, was equipped with three GPS antennas and an acoustic transducer that interrogated a transponder on the ocean floor. Preliminary analysis indicates that the horizontal position of the transponder can be determined with a precision of about a centimeter. Further analysis will be required to investigate the magnitude of systematic errors.     

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.