A reconfigurable real-time interpolation beamformer

This paper describes an architecture for a compact real-time time-delay sonar beamformer. The design is based on a time-domain interpolation concept, and includes shading, interpolation, and time-delay functions for up to 64 sensor data inputs. A one card per beam configuration has been achieved. The digital interpolation technique used improves the effective sampling rate by a factor of 128. The beamformer design features 16-bit arithmetic precision, up to approximately a 5-kHz sampling rate for each of the 64 sensor input channels, and adaptability to any type of array, e.g., linear, circular, or arrays with nonequal interelement spacings. A 31-beam beamformer system, performing more than 620-million arithmetic operations a second, is discussed.     

Acoustic positioning for an array of freely drifting infrasonic sensors

Initial testing of the prototype element of a freely drifting infrasonic sensor array is described. The intent of this measurement system is to gather wide aperture data sets which will be used both to characterize ambient noise in the region 1-10 Hz and to assess the gains possible from beam forming utilizing a collection of very low frequency (VLF) sensors. Coherent processing (beam forming) of the infrasonic sensor data is made possible by relative position measurements derived from mutual acoustic interrogation of the elements at a higher frequency. Surface echo data from a recent sea test of the prototype buoy are used to illustrate the type of pulse processing which will be implemented as a first step in the localization procedure.     

空间内插法在航道测量水深检测中的应用

针对目前航道测量水深检测中主要依赖人工判读比对的主观随意性问题,探讨空间插值法在水深检测中应用的可行性。选取地形条件各异的测点样本数据,用反距离加权插值法、克里格插值法、样条函数插值法、自然邻点插值法对其插值分析。通过实验比较发现,需针对具体的地形特征选择最优空间插值法,对河床地形起伏大、水深测点密度较低的区域,空间插值误差的比对超限比例会超出规范允许的限值,故较难进行实际应用;反之,空间插值法具备应用可行性。     

Effect of time-delay errors on the beam pattern of a linear array

In conventional time-domain beam forming with sampled receiver outputs, the delays required to steer a beam in a given direction can only be approximated to within the nearest half sampling interval. For a linear array of equispaced receivers, and for certain directions, these errors give rise to high isolated sidelobes in the beam pattern. A model describing this beam pattern is used to predict the number, position, and height of these sidelobes. Degradation of the height of the main lobe is also considered. For coarse quantization, and in the absence of interpolation, the model suggests a recursive beamformer structure which significantly reduces the number of additions required. A simple interpolation scheme which reduces the height of these sidelobes is discussed and an Efficient scheme for implementing such interpolation is given.     

Adaptive frequency-domain beam forming and spectral analysis using small sparse arrays

An adaptive frequency-domain signal-processing technique for finding principal direction and spectral amplitude as a function of frequency without conventional beam forming is described mathematically. The technique, called Coherent Adaptive Processing Scheme (CAPS), is applicable to signals typical of many ocean science measurements. Results of successful CAPS analysis of shallow-water acoustic signals are presented. Potential real-time applications of CAPS to sensor systems are discussed. References to past applications to ocean waves are given.     

A fast responding temperature measurement system for CTD applications

The temperature measurement system of the standard Woods Hole Oceanographic Institution/Neil Brown Instrument Systems conductivity-temperature-depth microprofiler consists of a platinum thermometer, which has stable calibration characteristics but response time of order 200 ms combined with a fast response thermistor designed to sample the higher frequency temperature fluctuations. The calibration characteristics and temporal response of the individual sensors relative to the conductivity cell were studied using a modified instrument which digitized these data channels separately. The relative responses of the individual sensors were found to be fairly well modeled by a single pole filter, but the response of the standard temperature signal, which is an analog combination of the two temperature sensor outputs, exhibited a complicated behavior. Several methods for obtaining a well-calibrated fast-responding temperature signal from the digitized platinum thermometer and thermistor records are discussed. Preliminary results suggest that thermohaline features on scales of less than a meter in the vertical are resolvable.     

顾及特征水深点距离重分配的反距离加权插值算法

水深是反映海底地形地貌的最基础要素,对缺失的水深点进行准确的插值能帮助有效地表达海底地形地貌起伏形态。针对海底地形变化复杂的区域,传统的反距离加权插值法存在只考虑样本水深点与待插值水深点之间的距离,而忽略了样本水深点之间的空间相关性的问题。本文提出了一种顾及特征水深点距离重分配的反距离加权插值算法。该算法首先对离散的水深点构建特征水深线,在特征水深线的基础上,提取特征水深线上的特征点作为特征水深点;然后在所有样本水深点到待插值水深点距离之和不变的约束下,提出距离重分配的量化指标;最后构造出一个顾及特征水深点距离重分配的IDW插值算法模型。实验结果表明,在海底地形变化复杂的区域,顾及特征水深点距离重分配的反距离加权插值算法与传统的IDW、自然邻域插值、样条函数插值算法等相比,能有效提高水深点的插值精准度。     

Target localization and tracking from Doppler-shift measurements

It is possible to localize a nonmaneuvering moving source radiating a constant frequency tone from measurements of the Doppler-shifted frequency at several sensors. Due to the nonlinear nature of the problem, it is necessary to find the solution by grid searches. However, if measurements of the rates of frequency changes are available, the search is only in three dimensions instead of the normal five in source frequency, its x-y positions, and speeds. The validity of combining frequency and frequency-rate measurements is confirmed with simulation studies. The overall system includes a least-squares track-sort algorithm to differentiate the true track from the extraneous track, and a Kalman tracker for the prediction of future source positions, thereby reducing the grid search size. An error analysis relating localization accuracy to uncertainties in frequency measurements and sensor positions is also given     

海洋测高卫星三频体制设计及电离层误差分析

针对海洋测高卫星未来发展趋势,提出了Ku/Ka/C三频高度计进行组合测距的设想。给出了高度计相位中心至海面距离的随机误差模型,分析表明电离层延迟改正是影响海面高测量分辨率和精度的重要因素。其次利用典型电离层参数计算表明电离层2阶以上项对高度计测距的影响在毫米级以下,可忽略其影响。通过计算分析,在1Hz采样且不滤波条件下,Ka/C组合改正电离层1阶项精度可优于3mm,基本消除电离层的影响,测距总精度达到3.5cm。通过Ku/C/Ka三频组合测距误差分析,三频电离层改正残余误差比双频改正更大,因此如果采用三频组合测距体制,则建议在数据处理中采取Ku/C、Ka/C组合形式改正电离层,这种体制可充分利用各频段特点,进一步提高宽阔海域、冰区、近海区域的海面测量精度和有效数据比例。     

线弹性土壤中埋设悬跨管道的弯曲和振动特性

利用细长梁小挠度理论,研究给出了两端埋设在线弹性土壤中的悬跨段管道和埋设段管道在自重作用下的变形和内力公式。基于静挠度公式,用能量法给出了第一阶弯曲振动的固有频率公式。讨论了不同土壤刚度条件下悬跨段管道的变形和内力特征,以及第一阶弯曲振动固有频率,并和工程上推荐使用的简支梁和两端固支梁的静动态特性进行比较。研究表明在跨度大、土壤刚度大、管道弯曲刚度较小时无量纲土壤刚度系数较大,埋设段管道对悬跨段管道的刚度约束比较大,悬跨段管道可以近似按两端固支梁模型来模拟;反之,只有在土壤刚度系数较小的几个参数点上,悬跨管道的静动力特性等价于简支梁模型。     

Transiting aircraft parameter estimation using underwater acousticsensor data

Sound from an airborne source travels to a receiver beneath the sea surface via a geometric path that is most simply described using ray theory, where the atmosphere and the sea are assumed to be isospeed sound propagation media separated by a planar surface (the air-sea interface). This theoretical approach leads to the development of a time-frequency model for the signal received by a single underwater acoustic sensor and a time-delay model for the signals received by a pair of spatially separated underwater acoustic sensors. The validity of these models is verified using spatially averaged experimental data recorded from a linear array of hydrophones during various transits of a turboprop aircraft. The same approach is used to solve the inverse time-frequency problem, that is, estimation of the aircraft's speed, altitude, and propeller blade rate given the observed variation with time of the instantaneous frequency of the received signal. Similarly, the inverse time-delay problem is considered whereby the speed and altitude of the aircraft are estimated using the differential time-of-arrival information from each of two adjacent pairs of widely spaced hydrophones (with one hydrophone being common to each pair). It is found that the solutions to each of the inverse problems provide reliable estimates of the speed and altitude of the aircraft, with the inverse time-frequency method also providing an estimate that closely matches the actual propeller blade rate     

基于全景智能化对接技术的隧道沉管标定方法

目前我国深水跨江海隧道沉管对接已经实现了全景智能化对接测量技术。其中RTK天线及姿态仪设备的标定十分重要。设备标定的实质是测定设备在沉管坐标系中的安装初始位置和初始姿态。标定精度直接影响对接定位的精度。介绍了沉管对接技术中各种设备的标定原理和方法,对于弯曲沉管、静态、动态等各种情况下的标定方法给出了较详细的介绍,该方法将原来的静态、直管隧道标定方法拓展到弯管隧道和动态标定,适用于各种形状不规则的沉管标定。标定精度满足工程要求,在工程实践中得到了很好的应用和验证。     

浅水多波束系统及其最新技术发展

针对目前国际上8家公司生产的16种新型浅水多波束系统的技术指标,对它们的技术性能,包括采用的波束形成方法、频率范围、测深量程、深度分辨率、最大测幅、单位时间（s）内的采样次数、波束宽度、侧扫功能、测深精度、测量航速、声线弯曲改正、姿态传感器及设备寿命等给予了评价,并展望了浅水多波束技术的发展前景.     

Comments on `Theory and application of calibration techniques foran NDBC directional wave measurements buoy' by K.E. Steele, et al.:nonlinear effects

For original paper see ibid., vol. OE-10, no.4, p.382-96 (1985). The authors of the above mentioned paper present an extensive set of linear calibration techniques that are applied to National Data Buoy Center wave-buoy sensor spectral output before calculating and disseminating directional wave spectra. The commentators identify and estimate the nonlinear effects that produce biases still present in the output, due both to wave nonlinearities themselves and to constraints on the buoy and mooring system to the driving forces. Simple models show that these nonlinearities can produce spectral energy biases of 5-15% at and above the spectral peak frequency, and even greater errors below it. NDBC presently records wave data from vertically stabilized and fixed accelerometers and slope sensors. Calculations show that these sensors all incur bias due to wave nonlinearities: this is greater for vertically stabilized accelerometers and least for slope sensors. Effects of the resulting inconsistencies between the different sensors are most pronounced below the spectral peak where the nonlinear terms dominate; these effects are illustrated with measured data     

利用相邻测线重叠区域进行多波束测深横摇运动残差改正

针对多波束测深条带边缘波束易受到姿态和声速等多种误差影响、相对中央波束数据质量较低的问题,本文提出一种利用相邻测线重叠区域对多波束测深数据边缘波束进行横摇运动残差改正的模型,提高边缘波束测深数据的质量。使用沿航向的测深点匹配插值模型,完成中央波束测深点与边缘波束测深点的匹配,得到边缘波束测深误差值;使用横摇运动残差改正模型,实现顾及姿态角的条件下补偿波束入射角。计算实例表明：本文模型能够较为准确地提取边缘波束测深误差值,改正后的海底地形削弱了误差导致的上下起伏,有效地减少了影响边缘波束的多种误差,具有实际的工程应用价值。     

Simulation of an Inertial Acoustic Navigation System With Range Aiding for an Autonomous Underwater Vehicle

This paper presents an integrated navigation system for underwater vehicles to improve the performance of a conventional inertial acoustic navigation system by introducing range measurement. The integrated navigation system is based on a strapdown inertial navigation system (SDINS) accompanying range sensor, Doppler velocity log (DVL), magnetic compass, and depth sensor. Two measurement models of the range sensor are derived and augmented to the inertial acoustic navigation system, respectively. A multirate extended Kalman filter (EKF) is adopted to propagate the error covariance with the inertial sensors, where the filter updates the measurement errors and the error covariance and corrects the system states when the external measurements are available. This paper demonstrates the improvement on the robustness and convergence of the integrated navigation system with range aiding (RA). This paper used experimental data obtained from a rotating arm test with a fish model to simulate the navigational performance. Strong points of the navigation system are the elimination of initial position errors and the robustness on the dropout of acoustic signals. The convergence speed and conditions of the initial error removal are examined with Monte Carlo simulation. In addition, numerical simulations are conducted with the six-degrees-of-freedom (6-DOF) equations of motion of an autonomous underwater vehicle (AUV) in a boustrophedon survey mode to illustrate the effectiveness of the integrated navigation system.     

具有运动补偿高精度海洋气象多参数模拟仪的研制

针对船舶气象仪的综合检查过程中检测周期长、人工排查效率低以及传统的自动气象站传感器信号模拟器的模拟精度低,没有相关运动补偿算法导致此类系统不适应海洋船舶应用环境的问题,对气象要素传感器的高精度信号采样电路、信号输出、软件滤波和运动补偿等方面进行了研究。通过分析传感器和船舶气象仪的原理,设计了各个气象参数的采样电路、信号模拟电路、触摸屏、GPS和电子罗盘采样与模拟电路,并在近海测试过程中进行了运动补偿模型测试,并基于STM32微控制器进行了该仪器的系统检测实验。研究测试结果表明：该系统具有低功耗、高可靠性、高精度的特点,能应用于海上环境,同时具有对船舶实时定位、气象要素实时模拟和采集、运动补偿多项功能。并且本系统精度在运动补偿后,系统测量方差为0.019 3 m/s,精度提高至接近真实值,均符合《海洋调查规范第3部分：海洋气象观测》的标准。     

Acoustic telemetry--An overview

Acoustic telemetry from underwater submersibles and sensors has been pursued ever since it was recognized that the ocean could support signal transmission. While it has been evident that some form of communication is possible, the ocean has proved to be a distressingly difficult medium in which to achieve high data rates. High data rate transmission requires a wide bandwidth which is severely constrained in the ocean because of the absorption of high-frequency energy. Moreover, the ocean is a very reverberant environment with both time and frequency spreading of signals; this further limits data transmission rates. The net effect of the bandwidth and reverberation constraints has led to either acoustic telemetry systems with low data rates or to the use of tethered systems. Over the years, various forms of acoustic communication systems have been developed. These have included direct AM and SSB for underwater telephones, FM for sensor data, FSK and DPSK for digital data, and parametric sonars for narrow-beam systems. As offshore operations have increased, several other systems have been proposed and/or built to respond to particular needs. In this paper, we review the underwater channel and the limitations that it imposes upon acoustic telemetry systems. We then survey some of the systems that have been built (excluding military systems) and indicate how they use various communication system principles to overcome these limitations.     

An efficient architecture for real-time narrowband beamforming

A short finite impulse response (FIR) filter architecture for narrowband beamforming is presented that is well suited for active sonar applications. By applying the technique of adaptive modeling, a short FIR filter can be designed to carry out any required narrowband constant phase shift. A 4-tap FIR filter designed in this way can generate constant phase shift within bandwidths of 0.04 (relative to the sampling frequency), with an error of less than 1°. Thus a beam can be formed with a bank of short FIR filters, each filter corresponding to one sensor. Due to the light computational load of this method, it is rather convenient for digital signal processors (DSP) to implement beamforming in real time. Satisfactory sonar beam patterns are shown to result from a TMS320C25-based emulation of the architecture     

Measurement of shallow water wave direction for longshore sediment transport

Formulae which predict the longshore transport of sand under the action of oblique waves are shown to be very sensitive to the angle of incidence of the waves. A simple, computerized wave recorder and pattern-matching technique is described which measures the angle of incidence by determining the phase difference between signals from a pair of closely spaced sensors. Data from field trials suggest that a resolution of better than 4° is possible with this system, but problems of mixed frequency waves remain in both the longshore transport functions and the field equipment.