共查询到20条相似文献，搜索用时 390 毫秒
1.
This paper proposes a high-speed iterative procedure for estimating the ocean wave directional spectrum from vessel motion data. It uses as input data, the measurements from motion sensors that are commonly available on dynamically positioned vessels and which may easily be installed on any ship. Because the necessary sensors are relatively inexpensive or may already be installed, it becomes an ideal solution to provide initial estimates to offline estimation procedures and to give spectral updates under quickly changing weather conditions. The Kalman filtering algorithm, for iterative harmonic detection, and frequency domain vessel response data are used in the estimation procedure. The results and conclusions are still based on synthesized data, but very promising. 相似文献
2.
In this paper an explicit pseudo-linear estimator for Doppler-bearing tracking is proposed. It overcomes the problems with the bias of earlier pseudo-linear estimators and with the nonlinear frequency measurement equation by using another representation than the Cartesian one and by using the logarithm of the frequency, respectively. It is fast, inherently stable, and easy to implement. The Doppler shift is, for a nonmoving own-ship, determined by the target velocities, while the bearing rate is determined by the same velocities divided by the range. The special representation in this paper uses this difference in behavior to give fast and bias free estimation of the range. Instead of iterating a weighted feast squares problem using bearing and frequency measurements simultaneously, the true bearings and the course are estimated in a bearings only step followed by a frequency only step, which estimates range and frequency. The range estimate then gives the speed estimate. Modifications for scenarios with multiple emitted frequency lines and/or for frequency lines that disappear during parts of a scenario are shown 相似文献
3.
在高斯白噪声背景下,匹配滤波器作为线性调频信号的最优检测器,在水声信号处理中被广泛应用。 当发射信号为线性调频信号时,由水下目标径向速度引起的多普勒频移会造成回波和样本之间失配, 使匹配滤波器的检测性能下降,增加了目标速度估计的难度。 利用分数阶傅里叶变换对于线性调频信号的聚焦特性,提出了应用分数阶傅里叶变换的水下运动目标线性调频回波检测算法,完成对目标速度的估计, 推导目标运动速度与分数阶傅里叶变换阶数之间的关系,并对测量结果进行误差分析。 仿真测试表明,该算法可有效地估计混响背景下的目标径向速度,且具有良好的估计性能。 相似文献
4.
Pierre Cervenka Ute Christina Herzfeld Christian De Moustier 《Marine Geophysical Researches》1994,16(6):407-425
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. 相似文献
5.
Parameter estimation for basin-scale ecosystem-linked population models of large pelagic predators: Application to skipjack tuna 总被引：2，自引：1，他引：1
A Spatial Ecosystem and Population Dynamic Model (SEAPODYM) is used in a data assimilation study aiming to estimate model parameters that describe dynamics of Pacific skipjack tuna population on ocean-based scale. The model based on advection–diffusion–reaction equations explicitly predicts spatial dynamics of large pelagic predators, while taking into account data on several mid-trophic level components, oceanic primary productivity and physical environment. In order to improve its quantitative ability, the model was parameterized through assimilation with commercial fisheries data, and optimization was carried out using maximum likelihood estimation approach. To address the optimization task we implemented an adjoint technique to obtain an exact, analytical evaluation of the likelihood gradient. We conducted a series of computer experiments in order to (i) determine model sensitivity with respect to variable parameters and, hence, investigate their observability; (ii) estimate observable parameters and their errors; and (iii) justify the reliability of the computed solution. Parameters describing recruitment, movement, habitat preferences, natural and fishing mortality of skipjack population were analysed and estimated. Results of the study suggest that SEAPODYM with achieved parameterization scheme can help to investigate the impact of fishing under various management scenarios, and also conduct forecasts of a given species stock and spatial dynamics in a context of environmental and climate changes. 相似文献
6.
针对水下目标跟踪非线性跟踪精度问题,假设目标机动模型为恒转速运动模型,贝叶斯框架下,因扩展卡尔曼滤波跟踪方法进行模型在估计点的泰勒展开,忽略一阶以上高阶项,存在模型误差,比较了扩展卡尔曼滤波、无迹卡尔曼滤波、容积卡尔曼滤波在高斯噪声干扰下滤波误差均方根,以及3种方法运行时间。仿真证明,非线性系统下状态维度为5,容积卡尔曼滤波跟踪的精度高于无迹卡尔曼滤波,无迹卡尔曼滤波高于扩展卡尔曼滤波。该研究为海上目标非线性测量系统提供仿真实例,为进一步滤波算法改进提供基础。 相似文献
7.
8.
This paper presents a new bearings-only method of detecting and tracking low signal-to-noise ratio (SNR) wideband targets on a constant course and velocity trajectory. A track-before-detect strategy based on matched velocity filtering is adopted using spatial images constructed from a sequence of power bearing map (PBM) estimates accumulated during a track. To lower the threshold SNR for detection, a discrete bank of matched velocity filters integrates the PBM images over a range of hypothesized trajectories, such an approach eliminates the need to estimate the number of targets since signal detection is determined by comparing the output of each matched filter (MF) to a decision threshold. The distribution of the MF output is derived based on a single point target in diffuse noise assumption. Receiver operating characteristic curves show a definite detection gain under low SNR conditions for matched velocity filtering (track-before-detect) over detection from a single PBM 相似文献
9.
The authors of the present paper have suggested an iterative scheme to calculate the nonlinear wave profiles [Jang and Kwon, 2005. Application of nonlinear iteration scheme to the nonlinear water wave problem: Stokes wave. Ocean Engineering 32, 1862–1872]. The scheme was shown to be good for estimating nonlinear wave profiles. In the study, the iterative scheme is applied to the wave-diffraction problem by a long breakwater to calculate a diffracted wave by the breakwater. The iterative solution of diffraction was compared with the linear solution of Sommerfeld, 1896. [Mathematische Theoried der Diffraction. Mathematical Annals 47, 317–374]. For a small wave slope, the two solutions were in good agreement. However, the scheme enabled us to observe the nonlinear behaviors of a beating phenomenon and of wave profile such as Stokes’ wave for a relatively large wave slope: as the wave slope becomes larger, we can examine the nonlinear wave characteristics of the actual shapes of waves, i.e., the crests are steeper and the troughs are flatter. 相似文献
10.
11.
M. Taylan 《Ocean Engineering》1999,26(11):255
Mathematical modeling of the nonlinear roll motion of ships is one subject widely dealt with in nonlinear ship dynamics. This paper investigates setting up a form of nonlinear roll motion model and developing its periodic solution by the generalized Krylov–Bogoliubov asymptotic method in the time domain. In this model, nonlinearities are introduced through damping and restoring terms. The restoring term is approximated as a third-order odd polynomial whereas the quadratic term is favored to represent the nonlinear damping. The ship is assumed to be under the influence of a sinusoidal exciting force. Although the method is expressible to contain any order of the perturbing term, a single degree is chosen to avoid cumbersome mathematical complexity. In order to improve the solution a first-order correction term is also included. Moreover, a numerical example is carried out for a small vessel in order to validate the solution scheme. 相似文献
12.
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 相似文献
13.
This paper addresses the problem of simultaneous depth tracking and attitude control of an underwater towed vehicle. The system proposed uses a two-stage towing arrangement that includes a long primary cable, a gravitic depressor, and a secondary cable. The towfish motion induced by wave driven disturbances in both the vertical and horizontal planes is described using an empirical model of the depressor motion and a spring-damper model of the secondary cable. A nonlinear, Lyapunov-based, adaptive output feedback control law is designed and shown to regulate pitch, yaw, and depth tracking errors to zero. The controller is designed to operate in the presence of plant parameter uncertainty. When subjected to bounded external disturbances, the tracking errors converge to a neighbourhood of the origin that can be made arbitrarily small. In the implementation proposed, a nonlinear observer is used to estimate the linear velocities used by the controller thus dispensing with the need for costly sensor suites. The results obtained with computer simulations show that the controlled system exhibits good performance about different operating conditions when subjected to sea-wave driven disturbances and in the presence of sensor noise. The system holds promise for application in oceanographic missions that require depth tracking or bottom-following combined with precise vehicle attitude control. 相似文献
14.
Bok Kyoung Choi Bong -Chae Kim Byoung -Nam Kim Suk Wang Yoon 《Ocean Science Journal》2006,41(4):195-199
Comparative study was carried out for an acoustic iterative inverse method to estimate bubble size distributions in water.
Conventional bubble sizing methods consider only sound attenuation for sizing. Choi and Yoon [IEEE, 26(1), 125–130 (2001)]
reported an acoustic iterative inverse method, which extracts the sound speed component from the measured sound attenuation.
It can more accurately estimate the bubble size distributions in water than do the conventional methods. The estimation results
of acoustic iterative inverse method were compared with other experimental data. The experimental data show good agreement
with the estimation from the acoustic iterative inverse method. This iterative technique can be utilized for bubble sizing
in the ocean. 相似文献
15.
Geometric distortions in side-scan sonar images: a procedure fortheir estimation and correction 总被引：1，自引：0，他引：1
A procedure is introduced for the estimation and correction of geometric distortions frequently observed in side-scan sonar images as a result of motion instabilities of the sonar towfish. This procedure estimates geometric distortions from the image itself, without requiring navigational or altitude measurements. Estimates of the local degree of geometric distortion are obtained by cross-correlating segments of adjacent lines of the image. A mathematical model for the distortions is derived from the geometry of the problem and is applied to these estimates to reconstruct the sampling pattern on the seabed, under the assumption of a planar bottom. The estimated sampling pattern is then used for resampling the image to correct the geometric distortions. The model parameters may also be used for calculating approximate estimates of the attitude parameters of the towfish. A simulation is employed to evaluate the effectiveness of this technique and examples of its application to high-resolution side-scan sonar images are provided 相似文献
16.
《Oceanic Engineering, IEEE Journal of》2006,31(2):504-510
A new method for estimating directions-of-arrival (DOA) of multiple spatial narrowband signals in the presence of spatially nonuniform independent sensor noise with unknown covariance is presented. An estimate of the colored noise-covariance matrix is given first. The received data for parameter estimation is then prewhitened using the estimated noise covariance, hence, overcoming the highly biased estimates. Furthermore, the performance improvement of standard MUSIC method is confirmed by computer simulations. 相似文献
17.
As known, the rolling motion characteristics, amplitudes and accelerations, greatly influence the ability of a ship to operate and survive in bad weather. On the other hand, traditional computer codes for seakeeping calculations fail the forecasting of large amplitude rolling. There is a great need of using semi-empirical damping models and coefficients. This stresses the importance of campaigns of measurements as described in the paper, to get a deeper insight into the physical-mathematical modelling of the different contributions to rolling equation.Experimental tests on nonlinear rolling in a regular beam sea of a Ro-Ro ship model have been conducted by varying both the wave steepness and the wave frequency. The use of a parameter estimation technique, based on the least squares fitting of the stationary numerical solution of the nonlinear rolling motion differential equation, allowed to obtain informations on the damping model and on the linear and nonlinear damping coefficients. These exhibit a quite strong dependence on frequency that reduces the efficiency of constant coefficients rolling equation to simulate large amplitude nonlinear rolling. The results indicate that a good quality prediction model of nonlinear rolling cannot be based on constant coefficients time domain simulations. These can infact lead to incorrect estimates of rolling amplitudes even when the parameters have been obtained through high level parameter estimation procedures based on experimental data. The analysis indicates also a marked dependence of the effective wave slope coefficient on wave amplitude. The introduction of both these dependences on the rolling equation allows to reproduce the experimental results with great accuracy even at large amplitudes. 相似文献
18.
Shahriar Negahdaripour Caroline Barufaldi Ali Khamene 《Oceanic Engineering, IEEE Journal of》2006,31(3):533-550
Estimating the relative positions and (or) trajectory of a camera from video images is a fundamental problem in motion vision. Of special relevance is the closed-form solution for planar scenes, for processing fly-over imagery from airborne and underwater robotics platforms, automated airplane landing utilizing runway landmarks, photomosaicing, etc. However, the method's robustness can break down in certain scenarios, e.g., due to inherent translation-rotation ambiguity of visual motion with short baselines and narrow field of view. The robustness can be improved by devising methods that compute a smaller set of motion parameters, utilizing other sensors to measure the remaining components. This paper addressed key issues in six degrees of freedom positioning from fly-over imagery by integrating vision with rotational angle sensors. First, we propose and utilize robust closed-form solutions for estimating the motion and orientation of a planar surface from the image flow variations up to first order, given measurements of pitch and roll motions. We also describe a calibration technique to enable the integration of angle sensor and visual measurements. Next, an error analysis enables us to evaluate the impact of inaccurate pitch and roll measurements on the estimates from the new closed-form solutions. Finally, the performance of our new methods and the integrated positioning system are evaluated in various experiments with synthetic and real data 相似文献
19.
Sensor measurements derived from passively observed transient signals radiated by a target are non-Gaussian and may also be nonstationary due to their dependence on tracking geometry. Moreover, transients are usually observed in clutter, so there is also a possibility of false detections. A technique that incorporates a deterministic annealing procedure into a robust M-estimator, referred to as the annealing M-estimator, is applied to determine the target motion parameters based on such measurements. This technique is compared to standard robust M-estimators using several scenarios with different tracking geometry and is found to give more accurate parameter estimates. 相似文献
20.
Nsiri B. Chonavel T. Boucher J.-M. Nouze H. 《Oceanic Engineering, IEEE Journal of》2007,32(3):729-743
In seismic deconvolution, blind approaches must be considered in situations where reflectivity sequence, source wavelet signal, and noise power level are unknown. In the presence of long source wavelets, strong interference among the reflectors contributions makes the wavelet estimation and deconvolution more complicated. In this paper, we solve this problem in a two-step approach. First, we estimate a moving average (MA) truncated version of the wavelet by means of a stochastic expectation-maximization (SEM) algorithm. Then, we use Prony's method to improve the wavelet estimation accuracy by fitting an autoregressive moving average (ARMA) model with the initial truncated wavelet. Moreover, a solution to the wavelet initialization problem in the SEM algorithm is also proposed. Simulation and real-data experiment results show the significant improvement brought by this approach. 相似文献