A Bayesian method to estimate the depth and the range of phonating sperm whales using a single hydrophone

Some bioacousticians have used a single hydrophone to calculate the depth/range of phonating diving animals. The standard one-hydrophone localization method uses multipath transmissions (direct path, sea surface, and seafloor reflections) of the animal phonations as a substitute for a vertical hydrophone array. The standard method requires three multipath transmissions per phonation. Bioacousticians who study foraging sperm whales usually do not have the required amount of multipath transmissions. However, they usually detect accurately (using shallow hydrophones towed by research vessels) direct path transmissions and sea surface reflections of sperm whale phonations (clicks). Sperm whales emit a few thousand clicks per foraging dive, therefore researchers have this number of direct path transmissions and this number of sea surface reflections per dive. The author describes a Bayesian method to combine the information contained in those acoustic data plus visual observations. The author's tests using synthetic data show that the accurate estimation of the depth/range of sperm whales is possible using a single hydrophone and without using any seafloor reflections. This method could be used to study the behavior of sperm whales using a single hydrophone in any location no matter what the depth, the relief, or the constitution of the seafloor might be.     

基于拖曳倾斜线列阵的海底反射损失提取方法

在浅海环境中,海底声学参数对水下声场的精确预报十分重要.现有的海底声学参数反演方法大多数是采用固定垂直阵进行的,其缺点是不能实施大面积、高分辨的走航式反演.在已提出的垂直阵海底反射损失反演方法的基础上,研究了基于三种线列阵阵形的海底反射损失提取方法及其特点,提出了基于拖曳倾斜线列阵与三个声源组合的走航式海底参数快速获取方法,并对该方法进行了误差分析.研究结果表明：覆盖同样的掠射角范围,垂直线列阵需与多个距离的声源组合,拖曳水平线列阵只需一个声源组合但需要采用较大的物理孔径,拖曳倾斜线列阵综合了垂直阵和水平 关键词： 水下声场预报 海底声学参数 海底反射损失 拖曳倾斜线列阵     

Depth-dependent acoustic features of diving sperm whales (Physeter macrocephalus) in the Gulf of Mexico

Three-dimensional dive trajectories of three sperm whales in the Gulf of Mexico have been obtained by measuring the relative arrival times and bearings of the animals' acoustic multipath reflections, using two elements of a towed hydrophone array deployed at an unknown depth and orientation. Within the first 6-12 min of the start of a dive, the intervals between successive "clicks" of all three whales corresponded closely with the two-way travel time of an acoustic pulse traveling vertically between the animals' position and the ocean bottom. The click spectra contained multiple peaks, including a faint band of energy originally centered near 10 kHz. As the animals descended over 500 m in depth, the center frequency of this band shifted to nearly 15 kHz, but subsequently remained near this value during the rest of the dive. This frequency shift is consistent with that expected from energy scattering from an ensemble of incompressible small-scale air-filled resonators, with diameters on the order of 4 mm. One possible candidate for such an ensemble is proposed to reside in the collapsed frontal sac of the animal. A comparison of the received levels for the bottom and direct multipath arrivals indicates that the whales' acoustic directivity must range between 10-30 dB in the 5-20-kHz region.     

Range-dependent seabed characterization by inversion of acoustic data from a towed receiver array

The MAPEX2000 experiments were conducted in the Mediterranean Sea in March, 2000 to determine seabed properties using a towed acoustic source and receiver array. Towed systems are advantageous because they are easy to deploy from a ship and the moving platform offers the possibility for estimating spatially variable (range-dependent) seabed properties. In this paper, seabed parameters are determined using a matched-field geoacoustic inversion approach with measured, towed array data. Previous research has successfully applied matched-field geoacoustic inversion techniques to measured acoustic data. However, in nearly all cases the inverted data were collected on moored, vertical receiver arrays. Results here show that seabed parameters can also be extracted by inverting acoustic measurements from a towed array of receivers, and these agree with those inverted using data received simultaneously on a vertical array. These findings imply that a practical technique could be developed to map range-dependent seabed parameters over large areas using a towed acoustic system. An example of such a range-dependent inversion is given using measurements from the MAPEX2000 experiments.     

Three-dimensional passive acoustic tracking of sperm whales (Physeter macrocephalus) in ray-refracting environments

A wide-aperture towed passive acoustic array is used to obtain ranges and depths of acoustically active sperm whales in the Gulf of Mexico in June 2004, by extending a technique previously reported [Thode, J. Acoust. Soc. Am. 116, 245-253 (2004)] to explicitly account for ray-refraction effects arising from a depth-dependent sound speed profile. Under this expanded approach, three quantities are measured from an impulsive sound: the time difference between direct-path arrivals on a forward and rear subarray, the time difference between the direct and surface-reflected paths on the rear subarray, and the acoustic bearing measured on the rear subarray. These quantities, combined with independent measurements of hydrophone depths and cable inclination, are converted into range-depth position fixes by implementing an efficient numerical procedure that uses a ray-tracing code to account for ray-refraction effects caused by depth-dependent sound speed profiles. Analytic expressions that assume a constant waterborne sound speed are also derived. Foraging depths of various sperm whales over 10 days in June, 2004 are estimated using the numerical technique.     

矢量拖线阵水听器流噪声响应特性

针对传统拖线阵流噪声理论的局限性, 建立了完善的矢量拖线阵流噪声理论分析方法, 可全面准确地揭示矢量拖线阵流噪声响应特性. 基于细长圆柱的湍流边界层压力起伏Carpenter模型, 采用波数-频率谱分析方法对矢量拖线阵流噪声响应特性进行了理论研究, 导出了圆柱形矢量水听器流噪声响应的声压和振速自功率谱及其互功率谱的解析表达式, 定量分析了流噪声响应功率谱与拖曳速度、水听器尺寸、套管尺寸和材料等参数之间变化规律; 另外, 还讨论了圆柱形矢量水听器偏离护套轴线时矢量拖线阵流噪声响应, 导出了流噪声响应的声压、径向和轴向振速自功率谱及其互功率谱的解析表达式, 数值计算结果表明: 轴线偏移距离对声压和轴向振速的高频噪声的影响要大于对低频噪声的影响, 而对径向振速的全频段噪声都有明显影响, 且对振速分量影响要远大于对声压影响.     

Sound speed profile characterization by the image source method

This paper presents the first results of an imaging technique that measures the geoacoustic structure of a seafloor in shallow water areas. The devices used were a broadband (100 Hz-6 kHz) acoustic source towed by a ship and a vertical array. Among all the acoustic paths existing in the water column, two are used: the direct one and the seabed-reflected one, the latter being composed of the reflections from the seafloor's surface as well as that from each buried layer. Due to the good time resolution of the signal and to the short range configuration, the reflected signal can be modeled as a sum of contributions coming from image sources relative to the seabed layers. The seabed geometry and the sound speed profile can then be recovered with the detection and localization of these image sources. The map of the image sources is obtained by a function that combines back-propagation of signals and knowledge of the emitted pulse. The thickness and sound-speed of each layer is finally obtained by a position analysis of the image sources. The results obtained by this data-driven algorithm on both at-sea and synthetic data are satisfactory.     

Acoustic properties of humpback whale songs

A vertical array of five hydrophones was used to measure the acoustic field in the vertical plane of singing humpback whales. Once a singer was located, two swimmers with snorkel gear were deployed to determine the orientation of the whale and position the boat so that the array could be deployed in front of the whale at a minimum standoff distance of at least 10 m. The spacing of the hydrophones was 7 m with the deepest hydrophone deployed at a depth of 35 m. An eight-channel TASCAM recorder with a bandwidth of 24 kHz was used to record the hydrophone signals. The location (distance and depth) of the singer was determined by computing the time of arrival differences between the hydrophone signals. The maximum source level varied between individual units in a song, with values between 151 and 173 dB re 1 microPa. One of the purposes of this study was to estimate potential sound exposure of nearby conspecifics. The acoustic field determined by considering the relative intensity of higher frequency harmonics in the signals indicated that the sounds are projected in the horizontal direction despite the singer being canted head downward anywhere from about 25 degrees to 90 degrees. High-frequency harmonics extended beyond 24 kHz, suggesting that humpback whales may have an upper frequency limit of hearing as high as 24 kHz.     

Correlation characteristics of pseudonoise signals in the ocean at a highly directional reception

Data of experiments with single-path and multipath reception of broadband continuous pseudonoise acoustic signals (0.8–1.3 kHz) in a deep ocean are discussed. The experiments were carried out on tracks from ～ 60 to ～ 420 km in length, which corresponds to the first seven convergence zones. The data on the cross-correlation coefficients and arrival time differences are presented (for the first, second, and seventh zones) for signals received by one highly directional (～2°) vertical array or by two such arrays simultaneously at depths of 200 and 450 m. The correlation characteristics of signals propagating over purely water paths, i.e., without reflections from the waveguide boundaries, and arriving under different angles in the vertical plane are compared. It is found that the origin of the decorrelation of signals received from various directions or at different depths (all other factors being the same) is the incomplete resolution of the received multipath signals in the arrival angle in the vertical plane.     

A dive counting density estimation method for Blainville’s beaked whale (Mesoplodon densirostris) using a bottom-mounted hydrophone field as applied to a Mid-Frequency Active (MFA) sonar operation

We present a passive acoustic method for estimating the density of echolocating cetaceans that dive synchronously, based on isolation of dive starts using a field of distributed bottom-mounted hydrophones. The method assumes that all dive starts of the target species within a defined area are detected, and that independent estimates of dive rate and group size are available. We apply the method to estimate the density of Blainville’s beaked whales (Mesoplodon densirostris) at the Atlantic Undersea Test and Evaluation Center (AUTEC) in the Bahamas during the time of a multi-ship active sonar exercise. Estimated densities for the 65 h before the exercise, 68 h during, 65 h after, and the final 43 h monitored were 16.99 (95% CI 13.47-21.43), 4.76 (3.78-6.00), 8.67 (6.87-10.94), and 24.75 (19.62-31.23) respectively, illustrating a possible avoidance reaction. Results for the 65 h before were compared with those from the click count density estimation algorithm developed by Marques et al. [Marques T, Thomas L, Ward J, DiMarzio N, Tyack P. Estimating cetacean population density using fixed passive acoustic sensors. An example with Blainville’s beaked whales. J Acoust Soc Am 2009;125(4):1982-1994]. The click count-based estimate was 19.23 animals/1000 km² (95% CI 12.69-29.13)—similar (13% higher), but with higher variance (CV 21% for click count method versus 12% for the dive count method). We discuss potential reasons for the differences, and compare the utility of the two methods. For both, obtaining reliable estimates of the factors that scale the measured quantity (dive starts or detected clicks) to density is the key hurdle. Defining the area monitored in the dive count method can also be problematic, particularly if the array is small.     

利用宽带声场频率—掠射角干涉结构的深海直达声区目标深度估计方法

针对典型深海环境中宽带声源的深度分辨问题,通过研究深海声场随频率起伏的干涉结构与垂直线阵频域波束输出图中的干涉结构,给出一种直达声区内可区分多水下目标的宽带声源深度估计方法.该方法以近水面目标的射线声场模型为基础,推导出近海面宽带声源接收声场的波束输出表达式,阐明了频域波束输出图中干涉结构与声源深度的对应关系.然后利用...     

分布反馈式光纤激光水听器拖曳线列阵实验研究

为了进一步增大光纤拖曳阵的探测距离,研制了缆径为16mm的32元分布反馈式光纤激光水听器拖曳线列阵.阵元在10~2 000Hz频率范围内的平均声压灵敏度为-142.7dB(re 1rad/μPa),波动幅度小于±2dB.基于声光调制器的时分、波分联合复用技术实现了32元光纤激光水听器的多路复用,各个阵元之间以及各个通道之间的串扰均小于-40dB,并完成了静态和动态拖曳湖上实验.实验结果表明,研制的32元分布反馈式光纤激光水听器拖曳线列阵无论是在静态,还是在6~16节的动态拖曳状态,都能对目标形成稳定的波束指向,与GPS轨迹记录完全一致,展现了分布反馈式光纤激光水听器拖曳线列阵在工程上的应用前景.     

Tracking fin whale calls offshore the Galicia Margin, North East Atlantic Ocean

Data recorded during a temporary deployment of ocean bottom seismometers (OBSs) are used in this study to monitor the presence of fin whales around the array. In the summer of 2003, ten OBSs were placed 250 km from the NW coast of Iberia in the Galicia Margin, NE Atlantic Ocean for a period of one month. The recorded data set provided a large variety of signals, including fin whale vocalizations identified by their specific acoustic signature. The use of a dense array of seafloor receivers allowed investigation into the locations and tracks of the signal-generating whales using a seismological hypocentral location code. Individual pulses of different sequences have been chosen to study such tracks. Problems related to the correct identification of pulses, discrimination between direct and multiple arrivals, and the presence of more than one individual have been considered prior to location. Fin calls were concentrated in the last two weeks of the deployment and the locations were spread around the area covered by the array. These results illustrate that, besides its classical seismological aim, deployment of semipermanent seafloor seismic arrays can also provide valuable data for marine mammal behavior studies.     

四阶声低通滤波光纤水听器的声压灵敏度频响特性

对四阶声低通滤波光纤水听器的声压灵敏度频响特性进行了详细的理论和实验研究.在已有的低频集中参量模型中引入了一个机械声阻,用于描述系统的机械损耗,从而得到了改进的声学等效电路.相位频响特性对于光纤水听器的阵列应用非常重要,关系到阵列的波束形成效果,进而影响系统定位、识别与跟踪目标的能力,因此在分析幅度频响特性的同时研究了相位频响特性.仿真分析了各主要参量对声压传递函数的影响,得到了一些对声低通滤波光纤水听器设计具有重要指导意义的结论.实测声压灵敏度频响曲线与仿真结果基本一致,较好地验证了理论分析的正确性.四 关键词： 光纤传感器 光纤水听器 声压灵敏度 低通滤波器     

浅海低频声场中目标深度分类方法研究

分析了浅海甚低频声场中的垂直双水听器的互谱特性,尤其关注了声场中只存在两阶简正波时声压互谱的有功分量.数值计算表明：当两个水听器的深度布放合理时,声压互谱有功分量的正负号分布与水平距离无关,选择合适的水听器深度布放组合,可以用于水面目标、水下目标的双择判决;声速分布对该方法的使用影响不大,海底存在吸收将影响算法的作用距离,但在有效作用距离内,该算法仍有较好的稳健性.运用Pekeris波导有效深度的概念建立了声压互谱有功分量正负号分布特性的近似理论分析并可预报双水听器合理的布放深度.理论分析揭示了双水听器布放深度之和应等于波导有效深度,并且在有效深度限制的波导范围内,整个声场的声压互谱有功分量的正负号分布被分为三个水平区域.理论分析加深了对浅海低频声场特性的理解,对该算法的实际使用有指导意义. 关键词： 目标深度分类 浅海低频声场 声压互谱 有功分量     

Investigation of the spatial correlations of flow noise in vector hydrophone towed linear array

Following the wall pressure spectrum of the turbulent boundary layer developed by Corcos, a method in the frequency-wavenumber space was presented to analyze the flow noise in the vector hydrophone towed linear array. The general forms of the acoustic pressure and particle velocity in the flow noise field were obtained, and the spatial correlations of the flow noise were calculated. The numerical analysis results based on wavenumber integration show that： （1） The spatial correlations of flow noise drops rapidly with increasing axial separation between the elements, so the flow noise received by different vector hydrophones usually sampled in a half-wavelength rate can be considered as independent; （2） The flow noise is highly correlated in the radial direction at low frequency, and only those of high frequency componet can be neglected.     

An evaluation of the accuracy of shallow water matched field inversion results

In this article the accuracy of geo-acoustic and geometric parameter estimates obtained through matched field inversion (MFI) was assessed. Multi-frequency MFI was applied to multi-tone data (200-600 Hz) received at a 2-km source/receiver range. The acoustic source was fixed and the signals were received at a vertical array. Simultaneously with the acoustic transmissions, a CTD (conductivity, temperature and depth)-chain was towed along the acoustic track. A genetic algorithm was used for the global optimization, whereas a normal mode model was applied for the forward acoustic calculations. Acoustic data received at consecutive times were inverted and the stability of the inverted parameters was determined. Also, the parameter estimates were compared with independent measurements, such as multi-channel seismic surveys (for geo-acoustic parameters). The obtained uncertainty in the inversion results was assumed to have two distinct origins. The first origin is the inversion method itself, since each optimization will come up with some solution close to the exact optimum. Parameter coupling and the fact that some parameters hardly influence the acoustic propagation further contribute to this uncertainty. The second is due to oceanographic variability. Both contributions were evaluated through simulation. The contribution of oceanographic variability was evaluated through synthetic inversions that account for the actual sound speed variations as measured by the towed CTD-chain.     

Geoacoustic inversion with ships as sources

Estimation of geoacoustic parameters using acoustic data from a surface ship was performed for a shallow water region in the Gulf of Mexico. The data were recorded from hydrophones in a bottom mounted, horizontal line array (HLA). The techniques developed to produce the geoacoustic inversion are described, and an efficient method for geoacoustic inversion with broadband beam cross-spectral data is demonstrated. The performance of cost functions that involve coherent or incoherent sums over frequency and one or multiple time segments is discussed. Successful inversions for the first sediment layer sound speed and thickness and some of the parameters for the deeper layers were obtained with the surface ship at nominal ranges of 20, 30, or 50 water depths. The data for these inversions were beam cross-spectra from four subapertures of the HLA spanning a little more than two water depths. The subaperture beams included ten frequencies equally spaced in the 120-200 Hz band. The values of the geoacoustic parameters from the inversions are validated by comparisons with geophysical observations and with the parameter values from previous inversions by other invesigators, and by comparing transmission loss (TL) measured in the experiment with modeled TL based on the inverted geoacoustic parameters.     

Detection of Blainville’s beaked whales with towed arrays

The detection performance of a towed hydrophone array for deep-diving species is quantified by comparing detections of echolocation clicks from foraging groups of Blainville’s beaked whales (Mesoplodon densirostris) from the TNO Delphinus array to detections from bottom-mounted hydrophones at the Atlantic Undersea Test and Evaluation Center (AUTEC) in the Bahamas. A beaked whale group detection probability of 40% is obtained at close ranges (R < 2000 m) with the Delphinus towed array, and a maximum detection range of 5000 m is measured. The detection function can be explained by models, when taking into account the range in rms source levels (200-220 dB re 1 μPa² m²), and the high system noise levels during the experiment. The model results suggest that detection ranges up to about 7 km are possible under favourable conditions, and demonstrate the effectiveness of using towed arrays to monitor deep-diving species, such as beaked whales.     

海水温度测量传感器链

本文对海水温度探测器进行研究，研制了一种新型的海水温测量传感器链，用以测量浅海中水层薄，温度变化剧烈的不同深度动态变化，能实时显示现场温度，声速剖面，为海洋环境数值预报和灾害性海况遥测提供监视技术，水温环境数据也能用于声呐作用距离预报，拖线列阵布放深度选择，潜艇航行安全保障。