Position Correction Using Echoes From a Navigation Fix for Synthetic Aperture Sonar Imaging

In synthetic aperture sonar (SAS), the platform position must be known sufficiently accurately for signals to be added coherently along the synthetic aperture. Often, the onboard navigation system is insufficiently accurate by itself, so corrections are needed. A well-known method is the displaced phase center antenna (DPCA) procedure for correcting platform position using seabed echoes. DPCA methods have the advantage of insensitivity to changing interference patterns, moving specular reflection, and changing occlusion, with aspect. However, when seabed echoes are unusable, either because they are too weak, or because they are corrupted by multipath, the seabed DCPA method may fail. Therefore, we present an alternative DPCA method using sonar echoes from a suitable navigation fix, based on an object detected after standard beamforming. In our proposed system, look angle is obtained by tracking the centroid of the rectified image of the fix object. When the standard DPCA correction equations are modified for a fixed reflector, it turns out that they provide incremental range and look-angle errors, precisely the values required when the target itself is used as the navigation fix. Moreover, the values obtained are then self-compensating for errors in estimating seabed depth or forward motion of the platform. The navigation fix is selected by bracketing in range, and beamforming overlapping subsets of the receiver array. In this paper, we present experimental results at transmitter frequencies of 25 and 100 kHz where our method enabled well-focused SAS images to be generated with little recourse to other navigation information. Hence, SAS can be carried out, even when a sophisticated inertial navigation system (INS) is not available.      

Two-way time spreading and path loss in shallow water at 20-40 kHz

Two-way time spreading and path-loss measurements were collected in water 100 m deep, off the coast of Nova Scotia. Data were collected at frequencies of 20-22 kHz, 27-29 kHz, and 35-37 kHz using linear FM pulses 0.160 s in duration. The source-receiver was an anchored, high-frequency active sonar, and the target was a free-drifting echo repeater. Sonar and target positions were recorded using a portable tracking range. In the paper, two-way time spreading and path loss measurements are compared with modeled estimates obtained using an enhanced version of the generic sonar model (GSM). The GSM estimates of time spreading due to multipath propagation compare favorably with the experimental data. The model indicates that the path loss for individual eigenrays was extremely sensitive to fluctuations in the sound-speed profile. This led to substantial variation in the model output depending on the choice of profile. In place of the model, an empirical estimate of path loss was computed from the data. We obtained a two-way spreading loss of 2[18.4log₁₀(R)] where R is the range from sonar to target. The data were also used to compute the standard deviation of the received echo intensity at each frequency. The standard deviation was computed two different ways. First it was computed using the peak echo level from each of the pulses at a given frequency. Then, it was computed from the total energy received from each of the pings. At all frequencies, the standard deviation was 1-2 dB lower when computed from the total received energy     

Underwater target detection using multichannel subband adaptivefiltering and high-order correlation schemes

In this paper, new pre- and post-processing schemes are developed to process shallow-water sonar data to improve the accuracy of target detection. A multichannel subband adaptive filtering is applied to preprocess the data in order to isolate the potential target returns from the acoustic backscattered signals and improve the signal-to-reverberation ratio. This is done by estimating the time delays associated with the reflections in different subbands. The preprocessed results are then beamformed to generate an image for each ping of the sonar. The testing results on both the simulated and real data revealed the efficiency of this scheme in time-delay estimation and its capability in removing most of the competing reverberations and noise. To improve detection rate while significantly minimizing the incident of false detections, a high-order correlation (HOC) method for postprocessing the beamformed images is then developed. This method determines the consistency in occurrence of the target returns in several consecutive pings. The application of the HOC process to the real beamformed sonar data showed the ability of this method for removing the clutter and at the same time boosting the target returns in several consecutive pings. The algorithm is simple, fast, and easy to implement     

Planar SAS for Sea Bottom and Subbottom Imaging: Concept Validation in Tank

The paper deals with a new concept of imaging technique based on planar synthetic aperture sonar (P-SAS). P-SAS processing takes advantage of the overlap of both ping-to-ping and track to track footprints to improve the imaging resolution in both directions. After describing the method, its implementation is discussed. The exact implementation [three-dimensional (3-D)] is defined and an approximated and faster approach [2timestwo-dimensional (2-D)] is then proposed. The gain in computation time and the possible loss in performances (resolutions, echo amplitude) are investigated by simulating a simple point target. The point spread function is studied in details. The new concept is finally validated by tank experiments (scale about 100) for both proud and buried target imaging     

Accuracy of the spatial representation of the seafloor with bathymetric sidescan sonars

When isobath maps of the seafloor are constructed with a bathymetric sidescan sonar system the position of each sounding is derived from estimates of range and elevation. The location of each pixel forming the acoustic backscatter image is calculated from the same estimates. The accuracy of the resulting maps depends on the acoustic array geometry, on the performances of the acoustic signal processing, and on knowledge of other parameters including: the platform's navigation, the sonar transducer's attitude, and the sound rays' trajectory between the sonar and the seafloor. The relative importance of these factors in the estimation of target location is assesed. The effects of the platform motions (e.g. roll, pitch, yaw, sway, surge and heave) and of the uncertainties in the elevation angle measurements are analyzed in detail. The variances associated with the representation (orientation and depth) of a plane, rectangular patch of the seafloor are evaluated, depending on the geometry of the patch. The inverse problem is addressed. Its solution gives the lateral dimensions of the spatial filter that must be applied to the bathymetric data to obtain specified accuracies of the slopes and depths. The uncertainty in the estimate of elevation angle, mostly due to the acoustic noise, is found to bring the main error contribution in across-track slope estimates. It can also be critical for along-track slope estimates, overshadowing error contributions due to the platform's attitude. Numerical examples are presented.On leave at the Naval Research Laboratory, Code 7420, Washington D.C. 20375-5350, U.S.A.     

Quadtree-guided 3-D interpolation of irregular sonar data sets

Bottom-penetrating sonar can be used to visualize large areas, for example by normal logging and printing of collected pings. In many applications, it is necessary to obtain an impression of three-dimensional (3-D) structures, but this is not easy because of the irregular spatial sampling due to coarse ship trajectories. Normally, the ping map and the ping data, cover only a very small part of a region of interest. In this paper, we describe a new method for interpolating irregularly spaced sonar data. The basic idea is to use a two-dimensional quadtree of the ping map in order to guide the 3-D interpolation process: since gaps between pings become smaller at higher tree levels, the volume can be filled by marking neighborhood relations in the quadtree and interpolating available pings when they become neighbors. Different marking schemes and their central processing unit times are compared. In the interpolation process, we apply cross correlations of ping data in order to construct continuity of sloping reflections. Our results show that excellent results can be obtained on real sonar data sets, even for volumes filled for less than 7%, for which processing times are reasonable even for large areas, and that the interpolated data can be used for volumetric interactive visualization.     

Maneuvering performance of high-speed ships with effect of roll motion

Equations of yaw, sway, roll and rudder motions are formulated to represent realistic maneuvering behavior of high-speed ships such as destroyers. Important coupling terms between yaw, sway, roll and rudder were included on the basis of recent captive model test results of a high-speed ship. A series of computer runs was made by using equations of yaw, sway, roll and rudder motions. Results indicate substantial coupling effects between yaw, roll, and rudder, which introduce changes in maneuvering characteristics and reduce course stability in high-speed operation. These effects together with relatively small GM (which is typical for certain high-speed ships) produce large rolling motions in a seaway as frequently observed in actual operations. Results of digital simulations and captive model tests clearly indicate the major contributing factors to such excessive rolling motions at sea.     

Coupled heave and pitch motions of planing hulls at non-zero heel angle

Current paper presents a mathematical model based on 2D-asymmetric wedge water entry to model heave and pitch motions of planing hulls at non-zero heel angles. Vertical and horizontal forces as well as heeling moment due to asymmetric water entry are computed using momentum theory in conjunction with added mass of impact velocity in vertical and horizontal directions. The proposed model is able to compute sway and yaw forces, roll moment, as well as heave and pitch motions in calm water and regular waves. Validity of the proposed model is verified by comparing the results against existing experimental data in both symmetric and asymmetric conditions. Ultimately, different parametric studies are conducted to examine the effects of non-zero heel angle on dynamic vertical motions. The resulting sway and yaw forces due to asymmetric motion are also derived and effects of heel angle on these side forces are investigated.     

System-based investigation on 4-DOF ship maneuvering with hydrodynamic derivatives determined by RANS simulation of captive model tests

For the non-negligible roll-coupling effect on ship maneuvering motion, a system-based method is used to investigate 4-DOF ship maneuvering motion in calm water for the ONR tumblehome model. A 4-DOF MMG model is employed to describe ship maneuvering motion including surge, sway, roll, and yaw. Simulations of circular motion test, static drift and heel tests are performed by solving the Reynolds-averaged Navier-Stokes (RANS) equations, after a convergence study quantifying the necessary grid spacing and time step to resolve the flow field adequately. The local flow field is analyzed for the selected cases, and the global hydrodynamic forces acting on the ship model are compared with the available experiment data. Hydrodynamic derivatives relating to sway velocity, yaw rate, and heel angle are computed from the computed force/moment data using least square method, showing good agreement with those obtained from EFD data overall. In order to investigate further the validity of these derivatives, turning circle and zigzag tests are simulated by using the 4-DOF MMG model with these derivatives. The trajectories and the time histories of the kinematic variables show satisfactory agreement with the data of free-running model tests, indicating that the system-based method coupled with CFD simulation has promising capability to predict the 4-DOF ship maneuvering motion for the unconventional vessel.     

A processing requirement and resolution capability comparison ofside-scan and synthetic-aperture sonars

The processing requirements and resolution capabilities of both side-look sonar (SLS) and synthetic-aperture sonar (SAS) systems are outlined. Side-look sonar is presented as a real-beam imaging technique along with expressions for relevant system- and image-related parameters. Synthetic-aperture sonar is discussed, and the limitations imposed by the speed of sound in the ocean environment are identified. A specific side-look system (SeaMARC I) is presented under two configurations and comparable SAS designs are proposed. Based on the examples provided by the SeaMARC I system and the hypothetical SAS designs, it is shown that single-beam SAS systems can be designed to achieve area coverage rates comparable to single-beam side-scan systems, yet with improved azimuth resolution     

The Impact of Multipath on High-Resolution SAS Image Statistics

As with traditional sonar, synthetic aperture sonar (SAS) is susceptible to multipath contamination, reducing the quality and also modifying the statistics of the image. Such multipath contaminants may either be environmentally induced, as is often the case when attempting to image ranges greater than the water depth resulting in returns from the boundaries, or may be induced by the system's supporting structure itself. A clear understanding of such statistical impact is necessary to advance synthetic aperture formation algorithms and for predicting system performance. Broadband acoustic data suitable for SAS processing collected with a rail-mounted mobile-tower as part of the U.S. Office of Naval Research (ONR)-funded Sediment Acoustics eXperiment 2004 (SAX04) are analyzed in this paper. Analysis focused on both system structure and environmentally induced multipath using the $K$ -distribution shape parameter as a metric. High-resolution sonar imagery often exhibited significantly non-Rayleigh, heavy-tailed envelope statistics, characterized by a low equivalent $K$-distribution shape parameter. Analysis showed a clear and significant increase in the estimated shape parameter in the presence of multipath, representing a trend toward a Rayleigh-distributed envelope. A model for reverberation is presented to provide bounds of the statistical impact using observable image intensity level increases in synthetic-aperture-formed images caused by multipath contamination. This model further shows potential for statistical impact when multipath arrivals are of similar level as the direct path even when not observable in the image (e.g., within 10 dB).      

Relative Height Estimation by Cross-Correlating Ground-Range Synthetic Aperture Sonar Images

The relative height of the seafloor can be estimated by using two vertically displaced receivers. In this paper, we propose techniques to improve the accuracy of the estimated height. Our results are based on the use of synthetic aperture sonar (SAS) imaging, which implies coherent addition of complex images acquired from a moving platform. The SAS processing improves the along-track (or azimuth) resolution, as well as the signal-to-noise ratio (SNR), which in turn improves the estimated height accuracy. We show that the shift of the effective center frequency induced by coherent, frequency-dependent scattering affect the time-delay estimates from complex cross correlations, and we propose a correction technique for broadband signals with uneven magnitude spectra. To reduce the effect of geometrical decorrelation and increase the coherence between the images, we beamform the sonar images onto an a priori estimate of the seafloor height before correlating. We develop a mathematical model for the imaging geometry. Finally, we demonstrate our proposed estimators by providing relative seafloor height estimates from real aperture and SAS images, obtained during the InSAS-2000 experiment at Elba Island in Italy. In particular, we demonstrate that the SAS image quality is significantly improved by inclusion of the height estimates as a priori information.     

Azimuthal ambiguities in synthetic aperture sonar and syntheticaperture radar imagery

It is shown that azimuthal ambiguities are not eliminated by the nulls of a sonar (or radar) beam pattern and have a definite influence on image quality. In synthetic aperture systems that are strongly limited in spatial sampling, particularly in ocean borne synthetic aperture sonar (SAS) and spaceborne synthetic aperture radar (SAR), azimuthal ambiguities will corrupt the images unless special measures are taken. These azimuthal aliases may be reduced by emphasizing the centermost portion of the available synthetic aperture length, and deemphasizing the endmost portions. This minimizes the effects from synthetic array elements that most strongly contribute to aliases     

Comparisons of high-frequency acoustic fluctuations with ocean-temperature and sea-surface fluctuations in shallow water

Dynamic ocean processes produce small thermal variations that induce spatial and temporal variability in the ocean's index of refraction and in the spatial scale along an acoustic propagation path. This paper reports measurements and analysis of thermal microstructure effects on ping-to-ping amplitude and phase variability of shallow-water direct-path acoustic propagation in the 20-200 kHz frequency range. These measurements were conducted during a joint experiment conducted by the Naval Research Laboratory and the North Atlantic Treaty Organization Supreme Allied Commander Atlantic (SACLANT) Undersea Research Centre, La Spezia, Italy, in 8 m of water off American Beach, located between Pisa and Livorno, Italy. Experimental observations are compared with predictions for isotropic and anisotropic turbulence, as well as for sea-surface swell. Measured phase and log-amplitude variances coincide with predictions and are relatively insensitive to weak water-column stability. The sea-surface swell dominates phase variances for this data and turbulence dominates log-amplitude variances. These results provide a reasonable lower limit on high-frequency ping-to-ping amplitude and on phase variability produced by benign shallow-water thermal fluctuations.     

Measurement of sound transmission and signal gain in the complex Strait of Korea

The experiment, The Acoustic Characterization Test III, was conducted in the oceanographically complex Strait of Korea to accurately measure the sound transmission under known environmental conditions. Geoacoustic profiles derived from geophysical measurements, measured bathymetry, and sound-speed profiles were the basis for range dependent parabolic equation (PE) calculations. Agreement between measured and calculated transmission loss was obtained with an attenuation profile in the near water-sediment interface layer with a dependence on frequency to the 1.8 power consistent with measurements in other sand-silt areas. Since the environment was oceanographically complex and the shipping noise levels were high, the coherency of the sound transmission was estimated using relative signal gain (RSG). RSG was taken as the difference between the gain calculated with PE and measured with the array and at longer ranges and higher frequencies was found to be approximately -2 dB with a signal gain coefficient of variation of 5%. This RSG degradation, attributed to the random signal phase fluctuations resulting from scattering from the surfaces and volume of the waveguide, yielded using a Gaussian coherence function a spatial coherence length of 30/spl lambda/ @ 400 Hz-40 km. In addition, high resolution imaging of five targets with two bottom mounted arrays illustrate the achievable performance of low-to-mid frequency active sonar in this environment.     

Analysis of Phase Error Effects on Stripmap SAS

It is often of interest to consider how uncompensated platform motion can degrade the ideal point scatterer response (PSR) of a synthetic aperture sonar (SAS). This information can be used to shape the design of the sonar itself as well as that of the platform carrying it. Also, knowledge of how certain types of motion affect a SAS image can reduce the time spent in troubleshooting motion estimation and compensation schemes. In the field of spotlight-mode synthetic aperture radar (SAR), the effects of phase errors across the synthetic aperture are well documented (for example, Chapter 5 of Carrara , 1995). The counterpart problem for the stripmap mode is less well developed in the literature. This paper explores the effects of uncompensated phase errors on stripmap imagery and shows that, under certain conditions, they are similar to those for spotlight mode processing.      

Numerical analysis and validation of weakly nonlinear ship motions and structural loads on a modern containership

This paper aims to validate a numerical seakeeping code based on a 3D Rankine panel method by comparing its results with experimental data. Particularly, the motion response and hull-girder loads on a real modern ship, a 6500 TEU containership, are considered in this validation study. The method of solution is a 3D Rankine panel method which adopts B-spline basis function in the time domain. The numerical code is based on the weakly nonlinear scheme which considers nonlinear Froude-Krylov and restoring forces. The main focus of this study is given to investigate the nonlinear characteristics of wave-induced loads, and to validate this present scheme for industrial use in the range of low Froude number. The comparisons show that the nonlinear motions and hull-girder loads, computed by the present numerical code, have good overall agreements with experimental results. It is found that, for the better accuracy of computational results, particularly at extreme waves in oblique seas, the careful treatment of soft-spring (or compatible) system is recommended to the control of non-restoring motions such as surge, sway, and yaw.     

Digital preprocessing techniques for GLORIA II sonar images

Image processing techniques are discussed that correct distortions in GLORIA II side scan sonar imagery including water column offset, slant-range distortion, multiple returns, aspect ratio, speckle noise, striping, and cross-track power drop-off. The software operates within NASA's ELAS image processing system and is applied to the original 12-bit GLORIA II data. Procedures are discussed for generating large scale mosaics and three-dimensional overlays with sea floor bathymetry. The results are shown in four sonographs acquired off the southern coast of California.     

Synthetic Aperture Sonar: A Review of Current Status

This is a review paper that surveys past work in, and the recent status of, active synthetic aperture sonar (SAS). It covers the early historical development of SAS with its provenance in synthetic aperture radar (SAR) and flows through into what work has been published in the open literature up to early 2007. The list of references is sufficiently complete to include most past and recent SAS publications in the open refereed literature.      

Buried Sphere Detection Using a Synthetic Aperture Sonar

This paper presents observations of a buried sphere detected with a low-frequency (5–35-kHz) synthetic aperture sonar (SAS). These detections were made with good signal-to-noise ratios (SNRs) at both above and below the critical grazing angle. The raw data for the below-critical-grazing angle detection shows that the acoustic penetration is skewed by the 29$^{circ}$ offset of the ripple field relative to the sonar path. This observed skew is in agreement with T-matrix calculations carried out to model penetration into the bottom via ripple diffraction. Additionally, measured SNRs over different frequency bands are compared to predictions made using both first- and second-order perturbation theory for ripple diffraction. Both the data and the models indicate a peak detection region around 25 kHz for the environmental conditions present during the test. These results confirm that ripple diffraction can play a critical role in long range (subcritical angle) buried target detection.