VLF source localization with a freely drifting acoustic sensorarray

The source localization and tracking capability of the freely drifting Swallow float volumetric array is demonstrated with the matched-field processing (MFP) technique using the 14-Hz CW data collected during a 1989 float experiment conducted in the northeast Pacific. Initial MFP of the experimental data revealed difficulties in estimating the source depth and range while the source azimuth estimate was quite successful. The main cause of the MFP performance degradation was incomplete knowledge of the environment. An environment adaptation technique using a global optimization algorithm was developed to alleviate the environmental mismatch problem, allowing the ocean-acoustic environment to be adapted to the acoustic data in a matched-field sense. Using the adapted environment, the 14-Hz source was successfully localized and tracked in azimuth and range within a region of interest using the MFP technique at a later time interval. Two types of environmental parameters were considered, i.e., sound speed and modal wave number. While both approaches yield similar results, the modal wave number adaptation implementation is more computationally efficient     

On the problem of the computation of spectra of small-scale inhomogeneities in hydrophysical fields of the ocean

A novel form of correlation window employed to calculate the spectral density of a random process using a Fourier transform of the correlation function is proposed. It is shown that, concerning its metrologic characteristics, the value of the spectral density obtained does not yield the best autoregression estimates. A fast recurrent estimational algorithm is suggested to increase the efficiency of the calculational procedure.Translated by M. M. Trufanov.     

Matched field inversion for geoacoustic model parameters usingadaptive simulated annealing

A method is described for the estimation of geoacoustic model parameters by the inversion of acoustic field data using a nonlinear optimization procedure based on simulated annealing. The cost function used by the algorithm is the Bartlett matched-field processor (MFP), which related the measured acoustic field with replica fields calculated by the SAFARI fast field program. Model parameters are perturbed randomly, and the algorithm searches the multidimensional parameter space of geoacoustic models to determine the parameter set that optimizes the output of the MFP. Convergence is driven by adaptively guiding the search to regions of the parameter space associated with above-average values of the MFP. The performance of the algorithm is demonstrated for a vertical line array in a shallow water enviornment where the bottom consists of homogeneous elastic solid layers. Simulated data are used to determine the limits on estimation performance due to error in experimental geometry and to noise contamination. The results indicate that reasonable estimates are obtained for moderate conditions of noise and uncertainty in experimental geometry     

Measurement of seabed topography by multibeam sonar using CFFT

A precise ocean bottom map for ocean surveying and dredging is desired. Especially in dredging, it is essential to know the seabed topography in real time without being affected by scatterers (for example floating sand and mud) in the seawater during work. To meet these requirements, the multi-narrow-beam sonar system (MBSS) has been developed. The MBSS forms beams with the use of the complex fast Fourier transform (CFFT) algorithm. In the MBSS, arithmetic mean processing is employed to eliminate echo from scatterers and the measurement error due to the oblique incident angle is reduced by peak value detection processing. By using these processes, an ocean bottom map can be accurately obtained. It is both theoretically and experimentally shown that the distribution of echo intensity from scatterers is approximated by the Rayleigh probability density function. The arithmetic mean of four to eight successively received echoes from scatterers reduces the variance of the echo intensity distribution by 6 to 12 dB.     

Oceanic gravity by analytical inversion of Hotine's formula

An analytical inversion of the Hotine formula is developed using fast Fourier transform techniques. Detailed mathematical derivations are used to explain the concepts behind the inverse transformation. Three modifications of the analytical inversion of the Hotine formula are compared and tested using both synthetic data from the OSU91A geopotential model and real GEOSAT altimetry data from the Exact Repeat Mission. The stability of this inverse Hotine approach is investigated using simulated data, and numerical tests are done to quantify the stability of this approach. The approach seems to be numerically stable without employing any stabilization technique. Estimated gravity information from GEOSTAT altimetry data is compared to marine gravity data from shipboard measurements in the Orphan Knoll area. The standard deviations and mean values of the differences between satellite and marine gravity disturbances are 8.2 and 2.9 mGal for the planar approximation, 9.2 and 3.7 mGal for the spherical approximation, and 9.5 and 1.9 mGal for the Molodenskii‐like approximation, respectively, indicating that latitude‐dependent errors affect the latter two approximations. Such errors could be eliminated by performing the calculations by the rigorous one‐dimensional fast Fourier transform (FFT) technique, and any data noise could be filtered out by utilizing covariance knowledge about the input geoid undulations and their errors. Simulation studies also showed that the accuracy of the techniques (for all approximations) can reach a root‐mean‐square (RMS) level of only a few mGal when proper treatment of FFT edge effects is employed and a rather wide area of results is disregarded around the edges.     

A piecewise matched-field tracking algorithm

Matched-field tracking (MFT) algorithms have been successfully applied to both simulated and measured data to determine the most likely positions of a sound source that is localized ambiguously by a matched-field processing (MFP) system. They have been used to track sources moving linearly or on a circular path at constant speed and heading. The input to the trackers is a set of ambiguity surfaces, contiguous in time, generated by MFP. These algorithms assume that the track start and end times are known a priori; this restriction is removed in the piecewise MFT algorithm (PTA). The PTA was applied to narrow-band measured data collected during the PACIFIC SHELF 93 trial to successfully identify the significant source track segments     

Analysis and simulation of wave records through fast Hartley transform

The Hartley transform, a real-valued alternative to the complex Fourier transform, is presented as an efficient tool for the analysis and synthesis of ocean surface wave records. Basic theoretical properties of this real-valued transform are briefly reviewed. Similarities and differences between Fourier and Hartley integral transforms, as well as computational benefits and disadvantages between numerical algorithms used to evaluate their discrete versions, are presented. The fast Hartley transform algorithm is used to simulate stationary Gaussian time series of the sea surface elevation and to estimate the spectral density function, the Hilbert transform and the envelope function of wave records.     

FFT-based joint bearing estimation

The least-squares estimate for the joint estimation of M directions-of-arrival in an array-processing scenario is rederived in a way that makes explicit use of the discrete Fourier transform. It is shown that the M-dimensional search algorithm can be made orders of magnitude faster than the traditional search algorithm. This new approach is compared via simulation with conventional narrowband beamforming.     

Hartley变换在海洋工程中的应用研究

Hartley变换是一种基于谐函数的实变换,具有Fourier变换的特性,在海洋工程中使用Fourier变换的大部分应用都可以通过Hartley变换实现,并且快速Hartley变换的计算效率是快速Fourier变换的2倍,并易于实现,所以Hartley变换可以在许多应用中代替Fourier变换。详细介绍了Hartley变换在海洋工程领域的应用,包括:波谱分析、波浪分离、PIV(粒子图像测速法)技术和微分方程的Hartley域变换,举例说明了Hartley变换在节约计算空间和提高计算效率上具备的优越性。     

A New Method for Matched Field Localization Based on Two-Hydrophone

The conventional matched field processing (MFP) uses large vertical arrays to locate an underwater acoustic target. However, the use of large vertical arrays increases equipment and computational cost, and causes some problems such as element failures, and array tilting to degrade the localization performance. In this paper, the matched field localization method using two-hydrophone is proposed for underwater acoustic pulse signals with an unknown emitted signal waveform. Using the received signal of hydrophones and the ocean channel pulse response which can be calculated from an acoustic propagation model, the spectral matrix of the emitted signal for different source locations can be estimated by employing the method of frequency domain least squares. The resulting spectral matrix of the emitted signal for every grid region is then multiplied by the ocean channel frequency response matrix to generate the spectral matrix of replica signal. Finally, the matched field localization using two-hydrophone for underwater acoustic pulse signals of an unknown emitted signal waveform can be estimated by comparing the difference between the spectral matrixes of the received signal and the replica signal. The simulated results from a shallow water environment for broadband signals demonstrate the significant localization performance of the proposed method. In addition, the localization accuracy in five different cases are analyzed by the simulation trial, and the results show that the proposed method has a sharp peak and low sidelobes, overcoming the problem of high sidelobes in the conventional MFP due to lack of the number of elements.     

Localization of autonomous underwater vehicles by floating acoustic buoys: a set-membership approach

This paper addresses localization of autonomous underwater vehicles (AUVs) from acoustic time-of-flight measurements received by a field of surface floating buoys. It is assumed that measurements are corrupted by unknown-but-bounded errors, with known bounds. The localization problem is tackled in a set-membership framework and an algorithm is presented, which produces as output the set of admissible AUV positions in a three-dimensional (3-D) space. The algorithm is tailored for a shallow water situation (water depth less than 500 m), and accounts for realistic variations of the sound speed profile in sea water. The approach is validated by simulations in which uncertainty models have been obtained from field data at sea. Localization performance of the algorithm are shown comparable with those previously reported in the literature by other approaches who assume knowledge of the statistics of measurement uncertainties. Moreover, guaranteed uncertainty regions associated to nominal position estimates are provided. The proposed algorithms can be used as a viable alternative to more traditional approaches in realistic at-sea conditions.     

高程异常模型的已知点框架约束

在确保GPS/水准点成果可靠的前提下,用其对重力法计算所得的高程异常模型进行框架约束,以削弱重力系统与高程和坐标系统间的系统差,实现系统转换,提高最终模型的精度。通过对不同离散数据网格化方法的比较,给出相对计算快捷、精度高的框架约束方法。     

The application of Hartley transform to ocean engineering

The Hartley transform is a real integral transform based on harmonic functions and hassome characteristics similar to the Fourier transform. Most applications in ocean engineering requiring the Fourier transform can also be performed by the Hartley transform. The fast Hartley transform is twice faster and more convenient to handle than the corresponding fast Fourier transform, so it is a real valued alternative to the complex Fourier transform in many applications. The use of the Hartley transform in ocean engineering is presented in detail in this paper, including wave spectral analysis, separation of waves, cross-correlation in PIV technique and expression of equation in the Hartley domain. The examples in the paper show deeply the advantage and efficiency of the Hartley transform over the Fourier transform.     

基于小型三维阵列的瞬态声源快速被动定位方法

重物在落水和着底过程中都会产生瞬态声信号,这类信号可被运用于浅水区域水下目标定位。 针对浅水区域目标定位的问题,提出了一种基于小型立体五元基阵的瞬态声源快速被动定位算法。 在分析重物落水信号特征的基础上,选取合适的广义互相关加权函数求得传声器之间的声程差,运用快速最小二乘搜索算法进行声源定位。 结果表明:运用 5 传声器阵列可以同时兼顾定位精度和鲁棒性,且满足实时性要求,该方法可运用于浅水区域瞬态声源定位等领域。     

Three- dimensional vector modeling and restoration of flat finite wave tank radiometric measurements

In this paper, a three-dimensional Fourier transform inversion method describing the interaction between water surface emitted radiation from a flat finite wave tank and antenna radiation characteristics is reported. The transform technique represents the scanning of the antenna mathematically as a correlation. Computation time is reduced by using the efficient and economical fast Fourier transform algorithm. To verify the inversion method, computations have been made and compared with known data and other available results. The technique has been used to restore data of the finite wave tank system and other available antenna temperature measurements made at the Cape Cod Canal. The restored brightness temperatures serve as better representations of the emitted radiation than the measured antenna temperatures.     

Estimation and detection issues in matched-field processing

A conceptual framework in which the model-based, space-time acoustic signal processing procedure known as matched field processing (MFP) can be handled in a consistent manner is established. A framework for strong-signal MFP based on standard statistical estimation theory, in which MFP is regarded as essentially an estimation problem in the strong-signal regime, is developed. In the weak-signal case, the necessary requirement of detection dictates that MFP then be considered a joint detection-estimation task. It is demonstrated that, generally, MFP is essentially a space-time processing problem rather than simply an array processing (spatial processing only) procedure. An overview of the processing schemes used to date in MFP is given, showing how these methods relate to the optimal space-time structure. Weak-signal detection and estimation scenarios relevant to MFP are then noted. Present methods for dealing with the inherent instability of MFP algorithms (mismatch) are discussed. The current status of MFP is summarized, and recommendations for future research are made     

一类信号恢复问题的投影迭代硬阈值算法

本文给出了基于L₀模求解该问题的非凸模型,借助于稀疏正则化方法来克服问题的不适定性。该模型利用紧小波框架对信号进行稀疏逼近,并利用L₀模度量稀疏性。提出了求解该模型的投影迭代硬阈值算法,并证明了算法的全局收敛性。该算法每一步都有闭式解,计算过程简洁高效。数值实验表明,方法在重建信号的视觉质量和量化指标方面均优于所对比的pFISTA方法。     

波浪冲击过程流场变化特性试验研究

利用瞬态全场测量技术———粒子图像测速(PIV)技术,研究了波浪对透空式建筑物上部结构冲击过程的流场变化特性。通过对采集到的CCD图像互相关分析,直观地显示了波浪冲击作用发生时结构物底面的流场状态,得到瞬间全场流体水质点速度矢量,并且应用概率分析法研究了冲击压力峰值与波浪水质点运动速度之间的关系。     

Water waves generated by an impulsive bed upthrust of a rectangular block

A theoretical and digital simulation on waves generated by an impulsive bed upthrust of a rectangular block with various ratios of length/width is presented. The two-dimensional fast Fourier transform (FFT) algorithm is used to obtain the water surface profile near the generation region. The three-dimensional pictures were constructed from an array of 256 × 256 pixel by using image processing. Comparison of the present three-dimensional results, with previously published two-dimensional results, indicates that for large length/width ratios, the water surface profile is quite similar at certain locations for a small time after the impulsive bed motion is completed. Generally, the water surface profiles deviate significantly from the two-dimensional results.     

Fast computation of the transient motions of moving vessels in irregular ocean waves

A fast time-domain method is developed in this paper for the real-time prediction of the six degree of freedom motions of a vessel traveling in an irregular seaway in infinitely deep water. The fully coupled unsteady ship motion problem is solved by time-stepping the linearized boundary conditions on both the free surface and body surface. A velocity-based boundary integral method is then used to solve the Laplace equation at every time step for the fluid kinematics, while a scalar integral equation is solved for the total fluid pressure. The boundary integral equations are applied to both the physical fluid domain outside the body and a fictitious fluid region inside the body, enabling use of the fast Fourier transform method to evaluate the free surface integrals. The computational efficiency of the scheme is further improved through use of the method of images to eliminate source singularities on the free surface while retaining vortex/dipole singularities that decay more rapidly in space. The resulting numerical algorithm runs 2–3 times faster than real time on a standard desktop computer. Numerical predictions are compared to prior published results for the transient motions of a hemisphere and laboratory measurements of the motions of a free running vessel in oblique waves with good agreement.