Robust source localization in shallow water based on vector optimization

Owing to the multipath effect, the source localization in shallow water has been an area of active interest. However, most methods for source localization in shallow water are sensitive to the assumed model of the underwater environment and have poor robustness against the underwater channel uncertainty, which limit their further application in practical engineering. In this paper, a new method of source localization in shallow water, based on vector optimization concept, is described, which is highly robust against environmental factors affecting the localization, such as the channel depth, the bottom reflection coefficients, and so on. Through constructing the uncertainty set of the source vector errors and extracting the multi-path sound rays from the sea surface and bottom, the proposed method can accurately localize one or more sources in shallow water dominated by multipath propagation. It turns out that the natural formulation of our approach involves minimization of two quadratic functions subject to infinitely many nonconvex quadratic constraints. It shows that this problem (originally intractable) can be reformulated in a convex form as the so-called second-order cone program (SOCP) and solved efficiently by using the well-established interior point method, such as the software tool, SeDuMi. Computer simulations show better performance of the proposed method as compared with existing algorithms and establish a theoretical foundation for the practical engineering application.     

星载激光雷达卫星海面风场反演算法研究

The principal purpose of this paper is to extract entire sea surface wind＇s information from spaceborne lidar, and particularly to utilize a appropriate algorithm for removing the interference information due to white caps and subsurface water. Wind speeds are obtained through empirical relationship with sea surface mean square slopes. Wind directions are derived from relationship between wind speeds and wind directions im plied in CMOD5n geophysical models function （GMF）. Whitecaps backscattering signals were distinguished with the help of lidar depolarization ratio measurements and rectified by whitecaps coverage equation. Subsurface water backscattering signals were corrected by means of inverse distance weighted （IDW） from neighborhood non-singular data with optimal subsurface water backscattering calibration parameters. To verify the algorithm reliably, it selected NDBC＇s TAO buoy-laying area as survey region in camparison with buoys＇ wind field data and METOP satellite ASCAT of 25 km single orbit wind field data after temporal-spa tial matching. Validation results showed that the retrieval algorithm works well in terms of root mean square error （RMSE） less than 2m/s and wind direction＇s RMSE less than 21 degree.     

Uncertainty in the analysis of speed and powering trials

Full-scale speed trials of a ship have been questioned for the uncertainty of speed and power measurements especially when the sea conditions differ from the ideal calm water conditions. Such uncertainty has been investigated by utilizing ITTC standard speed/powering trial analysis procedure through Monte Carlo simulations. A case study was conducted for a set of sea trials with 12 sister ships for which sea trial data were available for a range of displacement, water depth, water temperature, wind speed and wave height values. Precision errors were observed as the most influential error source for the whole speed range, even though their effects were more substantial at low speeds. Beaufort scale was observed as the most important elementary error source indicating the need for the best weather conditions for the most reliable sea trail predictions.     

Buoy observations of the influence of swell on wind waves in the open ocean

The influence of longer (swell) on shorter, wind sea waves is examined using an extensive database of directional buoy measurements obtained from a heave-pitch-roll buoy moored in deep water in the South Atlantic. This data set is unique for such an investigation due to the ubiquitous presence of a young swell component propagating closely in direction and frequency with the wind sea, as well as a longer, opposing swell. Our results show, within the statistical limits of the regressions obtained from our analysis when compared to measurements in swell free environments, that there is no obvious influence of swell on wind sea growth. For operational purposes in ocean engineering this means that power-laws from fetch limited situations describing the wind sea growth can be applied in more realistic situations in the open sea when swell is present.     

Two-dimensional continuous wavelet transform of simulated spatial images of waves on a slowly varying topography

The wavelet transform (WT) is now recognized as a useful, flexible, and efficient technique to analyze intermittent, non-stationary and inhomogeneous signals as well as images which are obtained from experimental or in situ measurements. In this study, the two-dimensional continuous wavelet transform (2-D CWT) was introduced to analyze the spatial image of waves. The numerical algorithm of 2-D CWT was developed and testified in simulated wave field of regular and random waves. Some more simulated wave fields of various wave conditions and sea bed slopes were then assumed to verify the analytical accuracy of this new technique. The comparisons of estimations to theoretical values for several wave parameters show that the 2-D CWT is capable of identifying the directional spectra and wave properties in shallow water.     

Beamforming on seismic interface waves with an array of geophoneson the shallow sea floor

The problem of locating very low frequency sound sources in shallow water is made difficult by the interaction of propagating acoustic waves with the sea floor. Slow wave speeds and the attendant short wavelengths suggest that low frequency beamforming and source localization with sea floor geophones can be accomplished with relatively small arrays when compared with hydrophone arrays in the water column. To test the feasibility of this approach, experiments were carried out in the shallow water of the Malta Channel of the Straits of Sicily where the Scholte wave speed was some 10 to 20 times slower that the speed of sound in water. A linear array of ten vertically gimballed geophones was deployed and measurements were made on propagating seismic wave fields generated by explosive shots. The resulting directivities, beam patterns, and sidelobe characteristics are in excellent agreement with array theory, which suggests that coherent processing is a viable technique on which to base new applications for seismic arrays on the sea floor. Supporting materials on the geophysics of Scholte waves and calculations of the wave field at the site are presented     

象山港电厂温排水的实测和数值模拟研究

为了研究象山港电厂温排水的热污染问题,对其附近海域的潮流和水温扩散进行了实测研究,给出了该海域潮流及水温扩散的特征。同时利用近海潮流模式(ECOMSED)建立了象山港潮流三维数值模型,对研究海域的潮流和水温扩散进行了模拟,得到了大小潮涨、落憩时刻的温升场的扩散范围,对比分析发现数模结果与实测结果符合较好。     

Target parameter estimation using measurements acquired with a small number of sensors

A performance prediction procedure is developed and applied to the evaluation of a passive tracking technique intended primarily for the localization of targets in the near field or vicinity of the sensors. The analysis is sufficiently general to be applied to underwater and air acoustics, passive radar, and electromagnetic direction finding systems. Since near field applications are of primary concern, localization parameter identifiability with a single pair of omni-directional sensors is established with the aid of the Fisher Information Matrix (FIM). The Fisher Information Matrix is also used to determine upper bounds on localization performance, and the corresponding uncertainty ellipses associated with target position are evaluated for various tracking scenarios and types of measurements. Emphasis is placed on the use of measurements such as time difference of arrival and frequency difference of arrival obtained with two sensors, and frequency estimates obtained with a single sensor. It is shown that under certain conditions the time difference of arrival measurements yield full localization information, even though the conditioning can be marginal. Additional measurements, such as frequency, are shown to improve localization performance significantly. Bearing measurements obtained with a closely spaced cluster of a few sensors are also considered.     

Data Uncertainty Estimation in Matched-Field Geoacoustic Inversion

This paper examines a variety of approaches to treating unknown data uncertainties in matched-field geoacoustic inversion. Both optimal parameter estimation via misfit minimization and parameter uncertainty estimation via Gibbs sampling are considered. The misfit is based on the likelihood function for Gaussian-distributed errors, which requires specification of the data variance at each frequency. Unfortunately, independent knowledge of variance is rarely available due to unknown theory errors. Many applications of matched-field minimization implicitly assume that variance effects are uniform over frequency; however, this can be a poor assumption as theory errors generally vary with frequency. Parameter uncertainty estimation to date has used fixed maximum-likelihood (ML) variance estimates, which does not account for the variance uncertainty in estimating parameter uncertainties. This paper considers two new approaches to treating data uncertainty in matched-field inversion: Including variances explicitly as additional (nuisance) parameters in the inversion, and treating variances as implicit unknowns by constraining the misfit according to an ML variance formulation (this includes variance uncertainty without increasing the number of unknown parameters). All of the above approaches are compared for realistic synthetic test cases and for shallow-water acoustic data measured in the Mediterranean Sea as part of the PROpagation channel SIMulator experiment (PROSIM'97).     

An Operational Circulation Modeling System for the Gulf of Maine/Georges Bank Region—Part I: Basic Elements

The basic elements of a prototype operational data assimilation modeling system that can provide near-real-time information on the ocean water property and circulation environment in the Gulf of Maine (GOM)/Georges Bank (GB) region are described in this paper. This application of the Harvard Ocean Prediction System (HOPS, Harvard University, Cambridge, MA) model includes development of protocols for the following: 1) the production of model initial fields from an objective blending of climatological and feature model (FM) hydrographic data with fishing-boat-measured bottom temperature data, 2) the ldquowarm startrdquo of the model to produce reasonably realistic initial model fields, 3) converting real-time Fleet Numerical Meteorological and Oceanographic Center (FNMOC, Monterey, CA) model nowcast and forecast winds and/or National Data Buoy Center (NDBC, Stennis Space Center, MS) operational wind measurements to model wind stress forcing fields, and 4) the assimilation of satellite-derived sea surface temperature (SST). These protocols are shown herein to evolve the initial model fields, which were dominated by climatological data, toward more dynamically balanced, realistic fields. Thus, the model nowcasts, with the assimilation of one SST field, are well positioned to produce reasonably realistic ocean fields within a few model days (MDs).     

HY-1C卫星CZI载荷的黄海绿潮提取研究

海洋一号C（HY-1C）卫星是中国首颗海洋水色业务卫星,其搭载的海岸带成像仪（CZI）在近海海洋环境监测中正发挥越来越重要的作用;随着搭载有相同传感器的HY-1D卫星发射,双星组网观测,可形成3天2次的高频次、大范围对海观测能力,在海洋漂浮藻类、海洋溢油等目标探测方面具备优异的效能。高空间分辨率光学数据中包含了丰富的海洋环境信息,给特定目标的识别提取带来一定干扰。本研究面向HY-1C卫星CZI载荷开展中国近海漂浮藻类识别提取的业务化应用需求,发展基于藻类缩放指数与虚拟基线高度融合的海洋漂浮藻类识别提取算法,算法优选适用于无短波红外波段国产数据的虚拟基线高度指数来增强藻类信号,通过藻类缩放指数滑动窗口运算,有效剔除高空间分辨率光学数据中的复杂干扰信息,实现了基于CZI数据的海洋漂浮藻类高精度提取,且具有较好的计算运行效率。此外,结合准同步高分卫星16 m多光谱数据,开展CZI数据含藻像元的不确定性分析,发现CZI数据反演结果对近海小斑块漂浮藻类存在不可忽视的高估现象。研究还指出,光学数据用于漂浮藻类监测,其不确定性不仅来源于传感器的空间分辨率差异,还与海洋漂浮藻类形态特征的空间分异性有关。明晰海洋漂浮藻类的形态学空间分异特征,将有助于提高光学数据反演结果的精度,并阐明不确定性。     

High-precision array element localization for vertical line arraysin the Arctic Ocean

Array element localization (AEL) surveys are often required to accurately localize acoustic instruments (transponders or sensors) in the ocean. These are typically based on transmitting or recording acoustic signals from or at a set of well-known positions. A significant limiting factor in many AEL surveys is the uncertainty inherent in these “known” positions. In this paper, an inversion algorithm is developed which properly treats both transponder and sensor positions as unknowns, subject to available a priori information in the form of position estimates and uncertainties. The algorithm essentially consists of an iterative linearized inversion of the raytracing equations employing the method of regularization. The approach is applied to independently localize transponders and vertical line array (VLA) sensors that form part of a three-dimensional sensor array in the Arctic Ocean. Confidence limits estimated via Monte Carlo simulation indicate that transponders and sensors are localized to less than 1 m in three dimensions. The VLA sensor motion, monitored over a seven-week period, appears to be predominately driven by tidal currents and is consistent with historical current measurements for the region     

An approach for development of a ship routing algorithm for application in the North Indian Ocean region

This paper presents a general approach for the development of a ship weather routing algorithm for determining optimal route which is taken here as the minimum-time route. The optimization model is based on a form of Dijkstra's algorithm. The developed algorithm is versatile and is capable of considering nearly all realistic practical constraints that a ship faces during her voyage. The ‘weight’ functions and the routes are determined by considering both involuntary and voluntary speed reduction. The algorithm is investigated using various realistic wave data for the North Indian Ocean region obtained from a 3rd generation WAM model. Illustrative examples of minimum-time sea routes on Arabian Sea and Bay-of-Bengal have been determined and presented to demonstrate the capability of the algorithm in handling many practical constraints within its framework.     

Deep Sea AUV Navigation Using Multiple Acoustic Beacons

Navigation is a critical requirement for the operation of Autonomous Underwater Vehicles (AUVs). To estimate the vehicle position, we present an algorithm using an extended Kalman filter (EKF) to integrate dead-reckoning position with acoustic ranges from multiple beacons pre-deployed in the operating environment. Owing to high latency, variable sound speed multipath transmissions and unreliability in acoustic measurements, outlier recognition techniques are proposed as well. The navigation algorithm has been tested by the recorded data of deep sea AUV during field operations in a variety of environments. Our results show the improved performance over prior techniques based on position computation.     

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。     

Deterministic and Stochastic Predictions of Motion Dynamics of Cylindrical Mines Falling Through Water

A physics-based computational model has been developed that is capable of reliably predicting the motion of a 3-D mine-shaped object impacting the water surface from the air, and subsequently, dropping through the water toward the sea bottom. This deterministic model [mine's six-degree-of-freedom dynamics (MINE6D)] accounts for six-degree-of-freedom motions of the body including unsteady hydrodynamic interaction effects. MINE6D allows for physics-based modeling of other hydrodynamic effects due to water impact, viscous drag associated with flow separation and vortex shedding, air entrainment, and realistic flow environments. To demonstrate the efficacy of the model, we compare deterministic MINE6D predictions with tank drops tests and field measurements. MINE6D captures the myriad of complex 3-D motions of cylindrical mines observed in field and laboratory experiments. For relatively simple straight motions, it obtains quantitative comparisons with the field measurements for the kinematics of mines freely dropping in the water including water impact and air cavity effects. In practical applications, the environments are often quite irregular, and the releasing conditions are also with uncertainties. To provide some guidance in understanding and interpreting statistical characterizations of mine motions in practical environments, we perform Monte Carlo simulation using MINE6D. These statistical results are not only the essential input for stochastic bottom impact and burial predictions of mines but also useful for the design of mines.     

Environmental Effects of Waveguide Uncertainty on Coherent Aspects of Propagation, Scattering, and Reverberation

The robustness of the coherence of waveguide propagation to environmental uncertainty becomes an important consideration for systems that seek to exploit coherence for gain. Examples include matched field processing for passive localization and time reversal mirrors (TRMs) for active systems. Here, efficient normal mode representations of midfrequency time-domain propagation using the narrowband and adiabatic approximations are used to explore the deterioration of coherent active system predictability and performance in the presence sound-speed perturbations in the water column. Results show that for TRMs the reverberation level at the focal range is increased, and the scattering from an illuminated object is reduced for ensembles over oceanographic uncertainty. Results are obtained analytically as formal averages and are believed to represent a lower limit on the deterioration of TRM performance in the presence of environmental uncertainty for shallow-water waveguides.     

北极海冰密集度动态系点值ASI反演算法研究

海冰密集度是极区海冰监测的重要因素,使用AMSR-E (Advanced Microwave Scanning Radiometer for Earth Observing System) 89GHz数据ASI反演算法得到的海冰密集度是目前能够获得的分辨率最高的微波数据.在以前的算法中往往使用固定的系点值,本研究实现了动态系点值ASI (the Arctic Radiation And Turbulence Interaction Study (ARTIST) Sea Ice)算法,更重要的是在统计开阔水系点值的时候消除了云对系点值的影响,使得纯水系点值更接近真实状况.得到2010年平均的开阔水和海冰的系点值分别为50.8K和7.8K,通过每天的系点值得到的反演方程在低密集度区增大了海冰密集度,在高密集冰区减小了海冰密集度,从而在一定程度上改善了微波数据的反演准确度.通过和北极区域选取40幅不受云影响的MODIS 500m分辨率宽频大气层顶反照率(broadband TOA albedo)计算的海冰密集度进行了比较验证.结果显示,40个个例中,95%本文的平均差异比使用固定系点值算法产品的小,而且75%的均方根差异比使用固定系点值算法产品的小.     

基于天绘一号的匹配生长水体提取方法

以国产天绘一号01星多光谱4波段影像为数据源,针对大范围水体提取难度大的问题,提出基于归一化水体指数(NDWI)和单波段阈值法的匹配生长算法。采用NDWI水体指数法提取完整的海洋水体和内陆部分水体,将内陆部分水体与单波段阈值对应位置完整的水体做匹配,再通过连通区提取、掩膜运算获得完整的水体分割二值图。采用两景遥感影像(大连和芝罘)进行实验,并与经典水体提取算法进行对比分析。实验结果表明:该法总体精度在90%左右,Kappa系数在0.8左右,对经典提取算法有了显著改善。在大范围提取水体信息时效果较好,提取水体的同时能有效减少陆地阴影造成的干扰,在海陆边界处,陆地轮廓清晰,较好的将陆地和海洋分割开来。     

Absolute sea level variability of Arctic Ocean in 1993–2018 from satellite altimetry and tide gauge observations

Arctic absolute sea level variations were analyzed based on multi-mission satellite altimetry data and tide gauge observations for the period of 1993–2018. The range of linear absolute sea level trends were found ?2.00 mm/a to 6.88 mm/a excluding the central Arctic, positive trend rates were predominantly located in shallow water and coastal areas, and negative rates were located in high-latitude areas and Baffin Bay. Satellite-derived results show that the average secular absolute sea level trend was (2.53±0.42) mm/a in the Arctic region. Large differences were presented between satellite-derived and tide gauge results, which are mainly due to low satellite data coverage, uncertainties in tidal height processing and vertical land movement (VLM). The VLM rates at 11 global navigation satellite system stations around the Arctic Ocean were analyzed, among which 6 stations were tide gauge co-located, the results indicate that the absolute sea level trends after VLM corrected were of the same magnitude as satellite altimetry results. Accurately calculating VLM is the primary uncertainty in interpreting tide gauge measurements such that differences between tide gauge and satellite altimetry data are attributable generally to VLM.