一种综合修正线阵声呐基阵误差的方法

线阵声呐的基阵误差包括基元物理相位误差和相邻基元之间的间隔误差，本文提出了一种综合修正以上两种误差实用方法，利用该方法可以有效地提高线阵声呐系统的波束定位精度，并通过一个具体的实例进行了验证。     

二维前视声纳阵列的幅相误差计算方法

二维前视声纳是一种基于二维阵列的采用空间谱估计技术探测前方目标和海底地形的声学设备。传统的基于特征根的波达方向估计方法需要阵列协方差矩阵以及一个精确阵列几何形状、幅度、相位等信息。但是由于声纳阵制造工艺的原因,实际的声纳阵各阵元具有一定的幅度不一致性和相位不一致性,影响了波达方向估计的性能。文中提出了一种利用阵列协方差矩阵的特性和自校正方法来对二维阵列的幅相误差进行联合计算的方法,它可以估计出每个阵元的幅相误差随入射角变化的曲线,改善波达方向估计的性能。     

一种图像声呐的数据采集、处理与显示系统

介绍了一种由DSP和IBMPC计算机构成的二维图像声呐的数据采集、处理与显示系统。重点讨论了硬件构成、采集过程与WINDOWS操作环境下的图像显示技术。系统具有结构紧凑、操作灵活、功能丰富与可扩展性强等特点。     

A Simplified Subspace Fitting Method for Estimating Shape of a Towed Array

Although the existing array shape estimation methods using reference sources demonstrate good performance, most of the methods require at least two reference sources 2RS in known locations and the reference sources must be in far field. This communication proposes a simplified subspace fitting method that uses only a single reference source 1RS. In the proposed method, the horizontal and vertical positions of each sensor are modeled by applying fixed intersensor spacing and sensor angles, so that the unknown parameters of the cost function are reduced. Furthermore, the Cramer–Rao lower bound (CRLB) is investigated for the proposed method. The results of the numerical experiments indicate that the proposed method is practical for estimating the shape of a towed array.      

一种基于方位估计的双站被动声呐航迹关联方法

当探测区域存在多个目标时,双站被动声呐测向系统通过目标方位线交叉定位会产生多个交点,对被动声呐的测量方位进行关联即是剔除虚假交点,选择真实交点。在两被动声呐对目标方位保持连续跟踪的条件下,提出了一种利用方位预关联形成关联航迹对目标的位置和方位值进行估计,根据估计值与传感器实测方位值的偏差大小来判定预关联正确性的决策规则,结合海上实验数据仿真验证了方法的有效性。     

A Statistical Analysis of the Detection Performance of a Broadband Splitbeam Passive Sonar

An operational passive sonar is required to detect signals from sources, which are subject to spatial and temporal coherence losses via modifications by the ocean environment. Furthermore, these signals are to be detected in the presence of frequency-dependent correlated noise fields. For a system which employs splitbeam cross-correlation processing, the spatial and spectral properties of the signal and noise are of significant import. Therefore, the exact probability density and cumulative distribution functions of the N-sampled correlator outputs of a splitbeam broadband passive sonar are derived for the case of Gaussian inputs which are described by arbitrary cross-spectral density matrices. The validity of approximating the exact probability density function (pdf) as a Gaussian distribution is investigated. The effect of signal coherence loss and noise correlation on the detection performance is considered and the associated processing loss is expressed as a degradation factor within the detection threshold equation     

一种多波束声呐回波信号时延的实时特征窗分析方法

本文介绍了一种多波束声呐回波信号时延的实时分析方法。通过实时提取信号的幅度及形状的综合特征计算出信号的时延。该方法具有较强的抗干扰能力,算法快速、准确,适合于多波束声呐系统的回波信号实时分析处理。     

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.      

在C#中结合OpenGL索引顶点数组的海浪动态仿真

基于海浪谱的线性叠加法来源于对真实海面长期观察所得的统计模型,在海浪仿真领域被广泛使用。研究了通过CsGL类库在C#中使用OpenGL进行海浪建模和仿真的技术,使用P-M海浪谱对海面进行反演,通过OpenGL的索引顶点数组和视点相关判别,高效逼真地实现了海浪的动态仿真。     

埕岛极浅海油田高速高效开发配套技术

针对埕岛油田复杂的自然地理和气候条件,生产中配套应用了适合浅海油田开发的油藏工程、钻采工艺、海工工程、油水井监测、自动化控制及油藏生产管理综合调整等技术,使一个浅海边际油田开发获得了较高的效益,并形成了独具特色的海上油田高速高效开发配套技术。     

用客观分析生成中国近海及邻近海域温度盐度格点数据集

利用LEVITUS方法对中国近海及邻近海域历史观测的温度和盐度资料进行客观分析,生成累年各月标准层1/2°×1/2°的格点数据集.文中选择给出一些深度标准层次上的平面等值线图.并用该方法分析船舶观测SST数据,将其分析结果应用于中国近海海表面温度短期数值预报的变分伴随资料同化试验中,表明资料的客观分析对海洋数值模拟和预报的重要性.     

一种分层海底反向散射模型

In order to predict the bottom backscattering strength more accurately, the stratified structure of the seafloor is considered. The seafloor is viewed as an elastic half-space basement covered by a fluid sediment layer with finite thickness. On the basis of calculating acoustic field in the water, the sediment layer, and the basement, four kinds of scattering mechanisms are taken into account, including roughness scattering from the water-sediment interface, volume scattering from the sediment layer, roughness scattering from the sediment-basement interface,and volume scattering from the basement. Then a backscattering model for a stratified seafloor applying to low frequency(0.1–10 kHz) is established. The simulation results show that the roughness scattering from the sediment-basement interface and the volume scattering from the basement are more prominent at relative low frequency(below 1.0 kHz). While with the increase of the frequency, the contribution of them to total bottom scattering gradually becomes weak. And the results ultimately approach to the predictions of the high-frequency(10–100 kHz) bottom scattering model. When the sound speed and attenuation of the shear wave in the basement gradually decrease, the prediction of the model tends to that of the full fluid model, which validates the backscattering model for the stratified seafloor in another aspect.     

A Variable Buoyancy Control System for a Large AUV

A large autonomous undersea vehicle (AUV), the Seahorse, has been designed, constructed, and tested by the Applied Research Laboratory at Pennsylvania State University (ARL/PSU, University Park, PA) for the U.S. Naval Oceanographic Office (NAVOCEANO, Stennis Space Center, MS). The vehicle is required to launch in shallow water (<10 m) and to hover without propulsion. Additionally, due to the very large size of the vehicle, low operating speeds and very long missions, small changes in vehicle trim resulting from battery replacement, sensor exchanges, and water temperature variations can result in significant drag-induced energy penalties over the duration of a mission. It is, therefore, important to continually maintain the AUV in fore-aft trim over the course of the mission. The vehicle is equipped with a two tank variable buoyancy system (VBS) to meet these requirements. The resulting control problem is one where the control variable, pump rate, is proportional to the third derivative of the sensed variable, depth; there are significant delays, and forces are nonlinear (including discontinuous) and highly uncertain. This paper describes the design of the VBS and the control software operating in two modes: depth control mode and trim control mode. In-water test data and simulation results are presented to illustrate the performance of the VBS controller. The benefits of the presented approach lie in the intuitiveness and simplicity of the design and the robustness as evidenced by the performance in both fresh and salt water. This paper provides practical insight into the operation of a VBS with an AUV and discusses actual operational experience. To our knowledge, no previous work considers the significance of an observed surface capture phenomenon to the design of a VBS control system, especially in very shallow water.     

A waypoint-tracking controller for a biomimetic autonomous underwater vehicle

This work develops a control system for the waypoint-tracking of a biomimetic autonomous underwater vehicle (BAUV). The BAUV swims forward by oscillating its body and caudal fin. It turns by bending its body and caudal fin toward the turning direction. The control algorithm uses the oscillating frequency to control the forward velocity, and applies a body-spline offset parameter to control the heading velocity. The motion of the BAUV is undulatory, so moving averages of swimming velocity and heading errors are used as feedback signals. The stability of the control system is discussed using a Lyapunov function. Finally, the effectiveness of the control algorithm is experimentally confirmed.     

海洋二号卫星微波散射计后向散射系数业务化面元匹配算法

本文提出了一种可业务化运行的海洋二号卫星散射计面元匹配方法,该算法主要用于将按时序排列的后向散射系数及相关参数投影到相应风矢量单元。面元匹配方法主要包括地面网格划分和后向散射系数观测结果重采样两个关键步骤。为简化计算,本文采用了以星下点轨迹为中心,以顺轨向及交轨向为坐标轴的地面网格划分方式。在重采样过程中,本文提出了一种“三点标定”重采样方法,利用观测脉冲的地面足印中心,星下点轨迹的起点,以及过地面足印中心做星下点轨迹垂线的交点,三点形成的直角三角形来计算每个后向散射系数观测结果在地面网格中对应的坐标。该直角三角形的两直角边分别对应观测脉冲在顺轨向和交轨向的坐标。同时,为减少由于星下点数据空间分布不连续引起的面元匹配误差,在采用三点标定法进行重采样之前,首先对星下点时空分布不连续的区域对时间插值,然后以时间为坐标,对星下点经度、纬度分别进行内插。对风矢量面元位置分布和风矢量反演精度等分析表明,本文提出的面元匹配算法,可在满足高质量海面风场反演的要求。     

A Dynamical Statistical Model for Prediction of a Tropical Cyclone

A dynamical statistical method is applied for operational forecasting of the Bay of Bengal tropical cyclone “Nargis” of April–May 2008. The method consists of three forecast components, namely (a) analysis of Genesis Potential Parameter (GPP) and maximum potential intensity, (b) track prediction, and (c) 12 hourly intensity prediction for forecasts up to 72 hours. The results of the study showed that GPP could provide necessary predictive signal at early stages of development on the further intensification of the low pressure system into a tropical cyclone. The landfall forecast position errors by different operational numerical models (NWP) showed landfall position errors ranging from 10 km to 150 km and landfall time error ranges from 6 hours early to 6 hours delay. The dynamical statistical model is capable to provide 12 hourly nearly realistic intensity forecasts up to 60 hours of forecast.     

A hierarchical real-time control architecture for a semi-autonomous underwater vehicle

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.     

A numerical study for effectiveness of a wake equalizing duct

A numerical study is carried out for calculating effect of the wake equalizing duct (WED) on the propulsion performance of a chemical tanker. Analysis is performed using a CFD tool based on the solution of Reynolds averaged Navier–Stokes (RANS) equation. Computations are carried out for several arrangements of WED for a number of ship speeds. Total 56 runs are achieved, and the results are compared with each other. It can be concluded from this study that propeller characteristics and resistance of the ship are slightly affected by the presence of the WED, but an additional thrust is produced by the WED. It is also found that the maximum gain obtained by using an appropriate WED design is about 10%.