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1.
In an active sonar system setting, a novel method is evaluated that extracts range and Doppler information from a Doppler-spread active sonar echo. The Doppler spreading is based on H. Van Trees' (1971) Gaussian amplitude modulating model, and the new method is based on the Fourier transform of a special case of the fourth-order cumulant. Specifically, from the envelope of the Gaussian amplitude modulated echo of a transmitted coded pulse train, the second-order spectrum and the Fourier transform of a special case of the fourth-order cumulant are derived and analyzed for this ability to extract range and Doppler information. It is shown that the method can theoretically extract range and Doppler information without degradation. The reason for this result is that a special case of the fourth-order cumulant is independent of the covariance of the Gaussian amplitude modulating function. These methods are also simulated and compared with the simulated results of the range-Doppler ambiguity function. This shows that the ambiguity function and the second-order spectrum are degraded due to the Gaussian amplitude modulation. The results are further demonstrated by simulating the three range-Doppler extraction methods for the received echo in noise 相似文献
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This paper reports the development and experimental evaluation of two in situ least squares techniques for estimating the alignment matrix of Doppler sonars commonly used for precision navigation of oceanographic submersibles. Most previously reported methods addressed the problem of single degree-of-freedom heading alignment using bottom-lock Doppler sonar data and global positioning system (GPS) navigation data. This paper reports and evaluates two techniques for three degree-of-freedom calibration of attitude and Doppler sonar sensors using sensor data available to vehicles at full ocean depth. The first technique provides a general linear least squares estimate of the alignment matrix. The second technique results in a least squares alignment matrix estimate constrained to the group of rotation matrices. The performance of these estimates is evaluated with a laboratory remotely operated vehicle (ROV) and a field-deployed autonomous underwater vehicle (AUV). Experimental results are reported which demonstrate that Doppler navigation employing the reported alignment calibration techniques significantly improves navigation precision. The experiments show that the latter technique provides calibration estimates that improve Doppler navigation precision not only on the calibration data set itself, but also provide improved precision over a wide variety of vehicle trajectories other than the calibration data set. 相似文献
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Active Doppler sonar systems are gaining popularity as a method to profile remotely the oceanic velocity field. Estimation of the variance with which an ideal single.beam sonar system measures relative Doppler motion is the subject of this paper. Theoretical formulations, simulated reverberation data, and sea data are considered to determine this variance. The sea data considered in this paper were selected carefully to avoid performance degrading physical/instrumental phenomena and bias corrected to remove further instrumental effects. Asymptotic performance, determined in this research, is realized when instrumental and physical phenomena do not measurably affect experimental performance. Oceanic and simulated data sets are processed with several velocity-estimation algorithms that are implemented in existing sonar systems. These algorithms are compared against each other and the velocity-estimation standard-deviation results tabulated. The algorithms are shown to possess similar performance characteristics when simulated, and sea data are processed in spite of the fact that some of these algorithms are suboptimal from a theoretical viewpoint. The results of this study show that the asymptotic performance of the Doppler system examined is approximately 25 percent above a theoretical lower bound. 相似文献
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Theoretical accuracy of Doppler navigation sonars and acoustic Doppler current profilers 总被引：1，自引：0，他引：1
This paper addresses the problem of Doppler shift estimation in Doppler sonar systems. The analysis focuses on the single-beam geometry formed by a circular planar array and considers both narrow-band (or so-called incoherent) and wide-band (or coherent) Doppler sonars, transmitting, respectively, one long continuous-wave pulse and a train of short continuous-wave pulses. The correlation function of the reverberation signal at the beam output is derived for volume reverberation. Directive transmission or reception and a combination of both is considered. Estimation theory is applied to derive the Cramer-Rao bound of the Doppler parameter estimate. The effect of pulse duration, sonar geometry, beamwidth, and signal-to-noise ratio are discussed. The accuracy of coherent and incoherent systems is compared for a specific case. 相似文献
5.
多波束反向散射强度数据应用广泛，但由于受到角度响应的影响，导致生成的多波束声呐图像质量偏低，且现有角度响应改正方法在复杂海底底质环境下适应性较差。为此本文对散射强度进行分析，给出了两种多波束反向散射强度数据归一化方法，分别为基于高斯拟合以及角度响应的散射强度改正方法，前者主要是基于散射强度的变化规律进行改正，而后者则是基于声波的散射机理进行改正。实验结果表明两种方法较传统改正方法精度均有约30%的提升，并且角度响应方法较高斯拟合方法改正精度更高，但计算效率有所下降。以上实验验证了两种方法的有效性，实现了散射强度数据的归一化，提升了多波束声呐图像的质量。 相似文献
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基于海洋锋空间位置、水平分布结构和垂直扩展特征等时空特征参数,结合海洋锋空间结构几何模型,建立了区域海洋锋温盐三维结构快速重构特征模型,对黄海西部沿岸锋和东海黑潮中段锋锋区温度场进行了仿真计算,并与实测数据进行了比较分析,实验结果表明：仿真结果与实测数据符合较好,实验结果验证了特征模型的有效性和可推广性。海洋锋区声速具有明显的水平梯度变化,对声纳的水下探测和反探测产生显著影响,因此,需要建立实时估计获取锋区水下温、盐结构的方法。海洋锋特征模型能够快速有效地重构海洋锋区温度场,为实时获取海洋锋水下结构特征提供了方法。 相似文献
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A method for estimating the physical and acoustic properties of the sea bed using chirp sonar data 总被引：2，自引：0，他引：2
This paper proposes a method, based on the Biot model, for estimating the physical and acoustic properties of surficial ocean sediments from normal incidence reflection data acquired by a chirp sonar. The inversion method estimates sediment porosity from reflection coefficient measurements and, using the estimated porosity and the measured change in fast wave attenuation with frequency, estimates the permeability of the top sediment layer. The spectral ratio of echoes from the interface at the base of the upper sediment layer and from the sediment-water interface provides a measure of the change in attenuation with frequency. Given the porosity and permeability estimates, the Kozeny-Carman equation provides the mean grain size and the inversion method yields the acoustic properties of top sediment layer. The inversion technique is tested using chirp sonar data collected at the 1999 Sediment Acoustics Experiment (SAX-99) site. Remote estimates of porosity, grain size, and permeability agree with direct measurements of those properties. 相似文献
9.
《Oceanic Engineering, IEEE Journal of》1996,21(4):537-544
The acoustic spectrum of a transiting aircraft, when received by a hydrophone located beneath the sea surface, changes with time due to the acoustical Doppler effect. The traditional method for analysing signals whose frequency content changes with time is the short-time Fourier transform that selects only a short segment of the signal (or window of data) for spectral analysis at any one time. The short-time Fourier transform requires the frequency content of the signal to be stationary during the analysis window, otherwise the frequency information will be smeared by the transformation. Recently, joint time-frequency distributions, which highlight the temporal localisation of a signal's spectral components, have been used to analyse nonstationary signals whose spectra are time dependent. In this paper, the short-time Fourier transform and the Wigner-Ville time-frequency distribution are applied to time-series data from a hydrophone so that the instantaneous frequency of the propeller blade rate of a turbo-prop aircraft can be estimated at short time intervals during the aircraft's transit over the hydrophone. The variation with time of the estimates of the Doppler-shifted blade rate is then compared with the corresponding temporal variation predicted using a model that assumes the sound propagates from the airborne acoustic source to the subsurface receiver through two distinct isospeed media (air and water) separated by a plane boundary (the air-sea interface). The results for five transits are presented in which the altitude of the aircraft ranged from 350 to 6050 ft with the speed of the aircraft varying from 232 to 245 kn 相似文献
10.
This paper focuses on estimating the two-dimensional (2-D) target-speed vector (course and speed) using a multistatic sonar that consists of one monostatic sonar and one bistatic receiver. The speed and course estimates are obtained after a single transmission. The theory on bistatic Doppler and 2-D target-speed vector estimation is first considered and then applied to simulated and real data. The results can be used to improve classification algorithms or to feed speed information to tracking algorithms, for example. 相似文献
11.
A current meter designed to measure velocity profiles in the water column above the bed is described. The solution proposed is a coherent backscatter Doppler sonar system using a single transducer. A range-velocity product of 20 m2/s can be achieved by combining state of the art sonar techniques with new processing methods and careful, highly flexible design. Large range-velocity products and very short range resolution together with the possibility of acquiring sensible results without averaging over long time periods are features of this current meter 相似文献
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A new method for wave motion detection from satellite altimetric measurements of sea surface height is presented. The essence of the approach is to construct a two‐dimensional traveling‐wave Fourier series representation of the amplitude field within a prespecified oceanic region. The method employs an iterative, nonlinear least‐squares technique based on the Marquardt‐Levenberg algorithm to solve for model parameters describing characteristic features of the evolving wave system. The Marquardt‐Levenberg Fourier series (MLFS) algorithm was applied to Kelvin waves active during the 1986–1987 El Nino event in the equatorial Pacific ocean using GEOSAT Exact Repeat Mission altimetry data. Characteristics of the wave system were found to be in essential agreement with earlier field measurements and the observations of Cheney and Miller (1987) obtained using time series developed from GEOSAT data. The advantage of the present detection scheme lies in its speed and ability to determine a wave system's dispersion relation over a finite range of wavenumbers, and hence the group velocity of that system. 相似文献
14.
Brumley B.H. Cabrera R.G. Deines K.L. Terray E.A. 《Oceanic Engineering, IEEE Journal of》1991,16(4):402-407
A new broadband acoustic Doppler current profiler (ADCP) is described, with a useful range comparable to that of a commercially available narrowband (incoherent) system of the same acoustic frequency, but having enhanced performance. The extra performance may be traded off among (1) reduced velocity variance, (2) reduced averaging time, and (3) finer depth resolution. This improvement permits the observation of phenomena with smaller time and space scales than is now possible with available ADCPs. An expression predicting r.m.s. velocity error in terms of system parameters and the measured acoustic data is given and is shown to be consistent with the independently measured velocity error among redundant beams. Two major sources of bias error in incoherent ADCPs are shown to be much reduced for the broadband system. Field data demonstrating the improved performance over the existing incoherent ADCP are shown for cases of both strong and weak shear 相似文献
15.
In an attempt to investigate the technical feasibility of a CW Doppler sonar, we have examined a method of measuring low velocities with a high-velocity resolution, or frequency resolution, by use of a simple circuit configuration employing digital signal processing technique. The following discussion presents the results of the investigation. In the measuring method described, the fast Fourier transform (FFT) of undersampled data is calculated and the Doppler shift is obtained by searching for a peak frequency of the power spectrum. To achieve the intended frequency resolution of 1 Hz by FFT operation, measurement of data for a minimum measuring period of 1 s is essential. If the sampling frequency is set to 50 kHz, the number of samples obtained during the minimum measuring period of I s would amount to 50000. This is not practical in light of the time required for the FFT operation. To overcome this problem, our new measuring method employs a decimation technique for reducing the number of samples down to 1024 while maintaining a frequency resolution of about 1 Hz. This paper describes how the processing time can be drastically reduced to about 1/300th compared to the conventional technique by a combination of complex exponential functions, filtering and decimation, and thereby indicates the possibility of real-time CW Doppler data processing 相似文献
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A numerical optimization technique that uses sonar array noise measurements is used to determine conventional shading weights that maximize the broadband deflection coefficient at the output of the optimal square-law detector, across a frequency band of interest. This process maintains the structure of the conventional processor while providing performance improvement typical of adaptive techniques. The performance of the optimized time domain delay-and-sum beamformer is compared with that of the traditional beamformer that uses conventionally chosen shading weights. Application of this method to conformal velocity sonar array data is shown to provide large improvements in performance over heuristic designs. 相似文献
18.
A Doppler sonar technique capable of measuring ground speed and distance traveled at extreme ocean depths is described. The technique uses nonlinear acoustic effects to create the narrow beams required. Performance estimates are calculated and parameters for a test system chosen. Sonar Pond test results of transmitter beam patterns and source levels are given. The sea trials conducted in July and August of 1975, aboard the R. V. Sperry Star off New Providence Island, are described. Evaluation of data taken in water depths to 11 000 ft is made and substantial agreement with original estimates is demonstrated. The feasibility of an accurate, all ocean capability, dead reckoning navigator is thus confirmed. 相似文献
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We report on the testing of a single-beam 1.7-MHz coherent Doppler sonar. The system is PC-controlled, using a digital signal processor (DSP) to acquire and extract the velocity and backscatter amplitude data. Results from a series of tow-tank calibration tests demonstrate an accuracy in the order of 5 mm s-1 for data rates of 10 profiles/second over a 1-2 m range with 1.5-cm range bins. An expression for system accuracy is developed which allows generalization to other pulse-to-pulse coherent Doppler systems. We present data showing the systematic decorrelation of backscatter signals due to particle advection: increased decorrelation is seen in the transducer near-field. Example observations of velocity profiles in laboratory-generated waves are presented 相似文献