无舵翼水下机器人路径跟踪控制研究   总被引：1，自引：0，他引：1  

甘永  万磊  陆雯雯  庞永杰 《海洋工程》2007,25(1):70-75

针对无舵翼水下机器人的各种不同任务要求下的路径跟踪控制进行研究。通过模拟人的运动行为,建立了虚拟避碰声纳模型。根据地形跟踪的方法提出基于虚拟声纳的路径跟踪控制方法,并通过考虑纵向速度对于其他各个自由度运动的影响设计了运动控制器。通过海上试验验证了所提出的路径跟踪控制方法对于无舵翼水下机器人是可以满足实际需要的。  相似文献   

Extraction and comparison of acoustic backscatter from a calibrated multi- and single-beam sonar     

Melvin  Gary D; Cochrane  Norman A; Li  Yanchao 《ICES Journal of Marine Science》2003,60(3):669-677

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Imaging of Buried Archaeological Materials: The Reflection Properties of Archaeological Wood   总被引：1，自引：0，他引：1  

Stephanie H.L. Arnott  Justin K. Dix  Angus I. Best  David J. Gregory 《Marine Geophysical Researches》2005,26(2-4):135-144

Effective marine archaeological site management demands detailed information on not only the spatial distribution of artefacts but also the degradation state of the materials present. Although sonar methods have frequently been used in an attempt to detect buried wooden shipwrecks they are currently unable to indicate their degradation state. To assess the sensitivity of acoustic measurements to changes in the degradation state of such material, and hence the potential for sonars to quantify degradation, laboratory measurements of compressional wave velocity, as well as bulk density for oak and pine samples, in varying states of decay, were undertaken. These data enabled the calculation of theoretical reflection coefficients for such materials buried in various marine sediments. As wood degrades, the reflection coefficients become more negative, resulting in the hypothesis that the more degraded wood becomes, the easier it should be to detect. Typical reflection coefficients of the order of −0.43 and −0.52 for the most degraded oak and pine samples in sand are predicted. Conversely, for wood exposed to seawater the predicted reflection coefficients are large and positive for undegraded material (0.35 for oak, 0.18 for pine) and decrease to zero or slightly below for the most degraded samples. This indicates that exposed timbers, when heavily degraded, can be acoustically transparent and so undetectable by acoustic methods. Corroboration of these experimental results was provided through comparison with high resolution seismic reflection data that has been acquired over two shipwrecks.  相似文献   

特定环境下水下地形和碍航物的复合探测     

董希贵  黄东武 《海洋测绘》2004,24(2):32-36

对水下地形、碍航物的搜寻方式已由过去的单一设备探测向多种设备复合探测转变。介绍了多种复合探测的基本方法和特点。通过沉船、飞机残骸和航道扫测实例，证明复合探测可大幅度增强水下地形测量结论和水下失落物搜寻判别的真实性、可靠性，同时缩短了搜寻时问，提高了工作效率。  相似文献   

Interference fringes on GLORIA side-scan sonar images from the Bering Sea and their implications     

Q. J. Huggett  A. K. Cooper  M. L. Somers  A. R. Stubbs 《Marine Geophysical Researches》1992,14(1):47-63

GLORIA side-scan sonographs from the Bering Sea Basin show a complex pattern of interference fringes sub-parallel to the ship's track. Surveys along the same trackline made in 1986 and 1987 show nearly identical patterns. It is concluded from this that the interference patterns are caused by features in the shallow subsurface rather than in the water column. The fringes are interpreted as a thin-layer interference effect that occurs when some of the sound reaching the seafloor passes through it and is reflected off a subsurface layer. The backscattered sound interferes (constructively or desctructively) with the reflected sound. Constructive/destructive interference occurs when the difference in the length of the two soundpaths is a whole/half multiple of GLORIA's 25 cm wavelength. Thus as range from the ship increases, sound moves in and out of phase causing bands of greater and lesser intensity on the GLORIA sonograph. Fluctuations (or wiggles) of the fringes on the GLORIA sonographs relate to changes in layer thickness. In principle, a simple three dimensional image of the subsurface layer may be obtained using GLORIA and bathymetric data from adjacent (parallel) ship's tracks. These patterns have also been identified in images from two other systems; SeaMARC II (12 kHz) long-range sonar, and TOBI (30 kHz) deep-towed sonar. In these, and other cases world-wide, the fringes do not appear with the same persistence as those seen in the Bering Sea.  相似文献   

Waveform Shaping of Sonar Transducers for Improving the Vertical Resolution in Sub-bottom Sediments Profiling     

P. Cobo  C. Ranz  A. Fernández  M. Cuesta  D.K. Anthony  M. Siguero 《Marine Geophysical Researches》2005,26(2-4):87-95

Vertical resolution is of fundamental importance in sonar exploration and is directly related to the duration of the acoustic pulse generated by the transducer. The shorter the radiated pulse, the higher the vertical resolution. Many sub-bottom profiling sonar systems use piezoelectric transducers because they are reversible and well understood. Piezoelectric projectors are normally resonant transducers, which are intrinsically narrowband. A piezoelectric transducer is usually driven by a tone-burst. However, it is possible to use Fourier techniques to find a pre-compensated electrical driving function so that the transducer radiates a prescribed wider band acoustic waveform. This technique can be applied to synthesize zero-phase cosine-magnitude, Gaussian, and bionic pulses, with a conventional sandwich transducer. Zero-phase cosine-magnitude waveforms provide minimum length pulses (and therefore maximum resolution) within a prescribed frequency band.The aim of this paper is to illustrate the synthesis of wideband acoustic pulses using an underwater piezoelectric projector. The conventional acoustic waveform radiated when a Tonpiltz transducer is transiently excited using a “click” and allows its frequency response function to be measured. This function is used to design the electrical signal which then drives the transducer so that it radiates the shortest pulse compatible with its mechanical response. The significant resolution enhancement of the waveform shaping process is illustrated by its application to a sediment wedge model.  相似文献   

Evaluation of a Doppler sonar system for fisheries applications     

Tollefsen  Cristina D.S; Zedel  Len 《ICES Journal of Marine Science》2003,60(3):692-699

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基于剖面声呐的海底微地貌观测研究^*          下载免费PDF全文

田壮才  彭子奇  贾永刚  张明伟 《古地理学报》2022,24(1):180-190

海底地貌是海水覆盖下的固体地球表面形态的总称。海底地貌巨变往往与海底地质灾害息息相关,会对海底管线和海上平台等海洋工程设施造成危害,因而对海底地貌进行原位观测具有重要意义。本研究基于前人研究成果和团队常年自主研发仪器经验,研制出了剖面声呐海底微地貌原位观测系统,详细介绍了观测系统的组成、功能、工作原理和工作模式,并提出了观测数据的处理分析方法;然后,使用观测系统进行了标志物检验实验,通过将观测系统测量数据与其他设备测量数据相对比,验证了观测系统的可行性和数据准确性;最后,使用观测系统在舟山海域朱家尖滑坡区进行原位观测,进一步验证了观测系统的可行性。观测结果进一步表明剖面声呐观测系统可以用于海底微地貌的观测研究。  相似文献   

Mapping benthic habitat in regions of gradational substrata: An automated approach utilising geophysical,geological, and biological relationships     

Craig J. Brown  Jenny S. Collier 《Estuarine, Coastal and Shelf Science》2008

The relationship between acoustic backscatter, sediment characteristics and benthic habitat is examined using high-resolution sidescan sonar data collected at the Loch Linnhe artificial reef site on the west coast of Scotland. The site is typical for the continental shelf of NW Europe, with a mix of seabed environments from muddy to coarse, stony substrata on a 10–100 m length scale. A sidescan sonar mosaic was produced and classified according to derived backscatter parameters (mean, median and standard deviation of the backscatter values) using an unsupervised classification procedure. The accuracy of the final classified map was assessed by comparison with a ground-truthing survey in which the biological habitat was derived from underwater video footage. The sidescan correctly predicted seabed surface characteristics of observed biological habitat with 78% accuracy. A second, and more challenging test of the acoustic data to correctly predict biological habitat was made by comparing it with data from 21 grab sampling stations. These stations were divided into three groups using multivariate statistical techniques based on their backscatter properties. Benthic assemblage structure was found to be significantly distinct between the high and low, and the medium and low backscatter stations. There was a low to moderate but significant correlation between the multivariate patterns of acoustic backscatter, benthic assemblage structure, and particle size distribution. The work shows that even in areas with subtle and gradational changes in substratum, the sidescan was able to predict biological community with an acceptable accuracy.  相似文献   

利用经验模态分解的侧扫声纳噪声抑制方法     

李应超  居向明  武同元 《测绘工程》2014,(4):24-27,32

针对海道测量中侧扫声纳声强数据中的噪声问题,分析侧扫声纳海底杂波的统计模型,提出基于ping数据的经验模态分解抑制噪声方法。结果表明,从ping声强数据中减掉周期小于4的模态后,声强数据可较好地服从Gamma分布,并保持声图中的细节信息。  相似文献