Detection of number of sources and DOA estimation based on the combined information processing of pressure and particle velocity using acoustic vector sensor array

In order to solve the problem of DOA(direction of arrival)estimation of underwater remote targets,a novel subspace-decomposition method based on the cross covariance matrix of the pressure and the particle velocity of acoustic vector sensor arrays(AVSA)was proposed. Whereafter,using spatio-temporal virtual tapped-delay-line,a new eigenvector-based criteria of detection of number of sources and of subspace partition is also presented.The theoretical analysis shows that the new source detection and direction finding method is different from existing AVSA based DOA estimation methods using particle velocity information of acoustic vector sensor(AVS)as an independent array element.It is entirely based on the combined information processing of pressure and particle velocity,has better estimation performance than existing methods in isotropic noise field.Computer simulations with data from lake trials demonstrate,the proposed method is effective and obviously outperforms existing methods in resolution and accuracy in the case of low signal-to-noise ratio(SNR).     

The effects of ignored seabed variability in geoacoustic inversion

Geoacoustic inversion using a matched-field inversion algorithm is a well-established technique for estimating the geoacoustic parameters of the seabed. This paper demonstrates how parameter estimation can be affected by unknown or wishfully ignored random range dependence of the true environment when the inversion model is--for practicality--assumed to be range independent. Simulations with controlled statistics were carried out using a simple shallow water model: an isospeed water column over a homogeneous elastic halfspace. The inversion parameters included water depth, compressional speed in the seabed, seabed density, and compressional wave attenuation. On average the environment is range independent: some parameters are constant while other parameters are random with range-independent means and variances. A Parabolic Equation underwater acoustic propagation model is used to calculate the simulated data fields for the range-dependent environment as well as to calculate the model fields for the range-independent inversion model. The Adaptive Simplex Simulated Annealing inversion algorithm is used to estimate the best-fit solution. It is found that ignoring the variability of even a single geoacoustic parameter leads to significant and correlated uncertainty (bias and variance) in the estimation of all inverted parameters. Results are presented for range variation of compressional sound speed and water depth.     

Bayesian geoacoustic inversion using wind-driven ambient noise

This paper applies Bayesian inversion to bottom-loss data derived from wind-driven ambient noise measurements from a vertical line array to quantify the information content constraining seabed geoacoustic parameters. The inversion utilizes a previously proposed ray-based representation of the ambient noise field as a forward model for fast computations of bottom loss data for a layered seabed. This model considers the effect of the array's finite aperture in the estimation of bottom loss and is extended to include the wind speed as the driving mechanism for the ambient noise field. The strength of this field relative to other unwanted noise mechanisms defines a signal-to-noise ratio, which is included in the inversion as a frequency-dependent parameter. The wind speed is found to have a strong impact on the resolution of seabed geoacoustic parameters as quantified by marginal probability distributions from Bayesian inversion of simulated data. The inversion method is also applied to experimental data collected at a moored vertical array during the MAPEX 2000 experiment, and the results are compared to those from previous active-source inversions and to core measurements at a nearby site.     

Wideband high-resolution direction of arrival estimation method based on the pressure-velocity combined processing using the acoustic vector sensor array

In order to solve the problem of DOA (Direction of Arrival) estimation of underwater distant wideband targets, a novel coherent signal-subspace method based on the cross spectral matrix of pressure and particle velocity using the Acoustic Vector Sensor Array (AVSA) is proposed in this paper. The proposed method is different from existing AVSA based DOA estimation methods in using particle velocity information of Acoustic Vector Sensor (AVS) as an independent array element. It is entirely based on the combined information processing of pressure and particle velocity, namely, the P-V cross spectrum, has better DOA estimation performance than existing methods in isotropic noise field. By theoretical analysis, both focusing principle and eigendecomposition theory based on the P-V cross spectral matrix are given. At the same time, the corresponding criteria for source number detection is also presented. Computer simulations with data from lake trials demonstrate that the proposed method is effective and obviously outperforms existing methods in resolution and accuracy in the case of low Signal-to-Noise Ratio (SNR).     

基于频带分解和距离加权的单矢量水听器浅海被动测距方法研究

本文针对浅海环境下中低频宽带脉冲声源被动测距问题, 提出了一种声压和水平振速联合处理的被动测距方法. 在浅海波导中, 声压和质点振速的自相关函数卷绕(warping)谱具有稳定的频率特征. 声压和水平振速的自相关卷绕谱具有相同的准线谱特征, 垂直振速自相关卷绕谱具有宽谱叠加线谱的特征, 与声压自相关卷绕谱相比, 其尖峰个数比更多, 且尖峰宽度更宽. 利用引导源, 本文提出了基于频带分解和距离加权的声压和水平振速联合被动测距方法. 利用该方法对2008年冬季青岛海域综合实验中单矢量水听器接收的气枪信号进行处理, 结果表明, 该方法能够实现气枪声源的有效测距. 与传统单声压水听器被动测距方法相比, 该方法可以有效减小代价函数的主瓣宽度、提高测距精度.     

Passive fathometer processing

Ocean acoustic noise can be processed efficiently to extract Green's function information between two receivers. By using noise array-processing techniques, it has been demonstrated that a passive array can be used as a fathometer [Siderius, et al., J. Acoust. Soc. Am. 120, 1315-1323 (2006)]. Here, this approach is derived in both frequency and time domains and the output corresponds to the reflection sequence. From this reflection sequence, it is possible to extract seabed layering. In the ocean waveguide, most of the energy is horizontally propagating, whereas the bottom information is contained in the vertically propagating noise. Extracting the seabed information requires a dense array, since the resolution of the bottom layer is about half the array spacing. If velocity sensors are used instead of pressure sensors, the array spacing requirement can be relaxed and simulations show that just one vertical velocity sensor is sufficient.     

Full wave-field reflection coefficient inversion

This paper develops a Bayesian inversion for recovering multilayer geoacoustic (velocity, density, attenuation) profiles from a full wave-field (spherical-wave) seabed reflection response. The reflection data originate from acoustic time series windowed for a single bottom interaction, which are processed to yield reflection coefficient data as a function of frequency and angle. Replica data for inversion are computed using a wave number-integration model to calculate the full complex acoustic pressure field, which is processed to produce a commensurate seabed response function. To address the high computational cost of calculating short range acoustic fields, the inversion algorithms are parallelized and frequency averaging is replaced by range averaging in the forward model. The posterior probability density is interpreted in terms of optimal parameter estimates, marginal distributions, and credibility intervals. Inversion results for the full wave-field seabed response are compared to those obtained using plane-wave reflection coefficients. A realistic synthetic study indicates that the plane-wave assumption can fail, producing erroneous results with misleading uncertainty bounds, whereas excellent results are obtained with the full-wave reflection inversion.     

一种基于矢量水听器阵的归一化加权Capon波束形成方法

矢量水听器同时拾取声场的标量信息声压和矢量信息振速。本文在分析了各向同性噪声场下矢量水听器阵Capon波束形成方位谱的基础上，提出了一种归一化加权Capon波束形成的改进算法，并给出了方位谱的表达式。本方法不需要特征分解，并且得到的是通常意义上的功率谱(可用于估计信号的能量)。仿真计算表明，此方法的性能优于Capon法，可大大提高方位估计的精度。     

基于双目序列图像的测距定位与自车速度估计

为了确定车辆在行驶过程中的相对位置与速度,提出一种基于双目序列图像的实时测距定位及自车速度估计方法。该方法利用车载双目视觉传感器采集周围环境的序列图像,并对同一时刻的左右图像进行基于SURF(speeded up robust features)特征的立体匹配,以获取环境特征点的景深,实现车辆测距定位;同时又对相邻两帧图像进行基于SURF特征的跟踪匹配,并通过对应匹配点在相邻两帧摄像机坐标系下的三维坐标,计算出摄像机坐标系在车辆运动前后的变换参数,根据变换参数估算出车辆的行驶速度。模拟实验表明,该方法具有良好的可行性,速度计算结果比较稳定,平均误差均在6%以内。     

声矢量圆阵相位模态域目标方位估计

为了实现矢量传感器在圆阵阵型下的应用,文中提出了一种适合于声矢量圆阵的目标方位估计算法。该算法首先将声矢量圆阵阵元域信号分解为一系列相互正交的相位模态,在相位模态域构造声压和质点振速的互协方差矩阵,然后进行MUSIC方位估计.理论分析和仿真结果表明,文中算法比相同阵型的声压阵MUSIC方位估计算法具有更好的噪声抑制能力、方位估计性能以及多目标分辨能力,试验结果也表明本文算法具有更好的噪声抑制能力以及更好的目标方位估计性能。该算法实现了声压和质点振速的相干处理,充分利用了声矢量传感器的平均声强抗噪原理,具有较强的抗各向同性噪声能力,并可以将子空间类DOA(Direction of Arrival)估计算法和相位模态域阵列信号处理技术有机结合起来,实现了声矢量传感器在圆阵阵型条件下的高分辨DOA估计。      

基于矢量水听器的深海直达波区域声传播特性及其应用

对于深海近水面声源产生的声场, 处于较大深度处的接收器在一定水平距离范围内能接收到直达波. 2014年在某深海海域进行的水声考察实验中, 应用深度为140 m的拖曳声源发射实验信号, 布放在水下3146 m深处的矢量水听器成功地接收到了直达波信号. 本文应用射线理论, 分析了深海直达波区域声场的传播特性, 得出了水平振速与垂直振速的传播损失与声线到达接收点处的掠射角以及收发水平距离之间的关系. 在以上分析的基础上, 提出了一种利用水平振速与垂直振速的能量差估计声源距离的方法, 并结合2014年实验数据对实验中两条航线上8 km范围内的目标声源进行了测距, 测距结果与目标的GPS数据符合得较好.     

The impact of water column variability on horizontal wave number estimation and mode based geoacoustic inversion results

The influence of water column variability on low-frequency, shallow water geoacoustic inversion results is considered. The data are estimates of modal eigenvalues obtained from measurements of a point source acoustic field using a horizontal aperture array in the water column. The inversion algorithm is based on perturbations to a background waveguide model with seabed properties consistent with the measured eigenvalues. Water column properties in the background model are assumed to be known, as would be obtained from conductivity, temperature, and depth measurements. The scope of this work in addressing the impact of water column variability on inversion is twofold. Range-dependent propagation effects as they pertain to eigenvalue estimation are first considered. It is shown that mode coupling is important even for weak internal waves and can enhance modal eigenvalue estimates. Second, the effect of the choice of background sound speed profile in the water column is considered for its impact on the estimated bottom acoustic properties. It is shown that a range-averaged sound velocity profile yields the best geoacoustic parameter estimates.     

海底单参数频域反演与沉积物分类

为了快速获取海底声学特性,从降低反演参数维数入手,提出一种基于海底单参数(小掠射角下海底反射损失随掠射角的变化率)的频域反演方法,并用于沉积物分类。在海底单参数模型基础上,对海底反射信号进行频域相关处理,利用几何射线理论,推导获得海底单参数与归一化频域自相关系数下降至0.5时频移量之间的关系表达式。通过研究海底单参数与沉积物类型之间的等效关系,对海底沉积物进行分类。对波兰波罗的海实验数据进行实际反演,得到1000~2500 Hz频段内的海底单参数值,进而判定实验海域海底沉积物类型为极细砂。结果表明,根据单参数反演值预报的声传播损失与实验测量值符合较好,利用频域反演结果获得的海底沉积物类型与取样结果一致,验证了实验海域频域反演方法的有效性及分类结果的正确性。      

声矢量圆阵宽带相干目标MVDR方位估计*

针对宽带相干目标的远程探测问题，本文提出一种基于声压振速联合处理和矢量重构的声矢量圆阵MVDR波束形成方法。该方法利用相位模态变换技术，将声矢量圆阵变换为与信号频率无关的虚拟线阵，并构建虚拟线阵声压与组合振速的互协方差矩阵，利用声压与振速各分量间的空间相关性有效地抑制各向同性环境噪声；并对宽带相干信号的互协方差矩阵进行矢量重构，即将最大特征值对应的特征向量划分为相互重叠的子向量，从而构建前/后向Hermitian矩阵；最后，基于MVDR波束形成器实现宽带相干目标的方位估计。仿真计算和实验数据处理结果表明，该方法具较强的解相干能力和噪声抑制能力以及较高的方位估计性能。     

矢量声纳高速运动目标稳健高分辨方位估计

针对水声矢量信号处理框架中的高速运动目标低信噪 比小快拍条件下的稳健高分辨方位估计问题, 将压缩感知技术应用于水声矢量信号空间谱估计模型中. 结合声矢量传感器结构特性, 探讨了基于声压振速联合处理的广义时域滤波方法; 结合矩阵空域预滤波理论, 设计了基于阻带约束通带均方误差最大值最小的空域滤波器, 研究了矢量声纳空域预滤波方法; 结合以上分析, 提出了基于压缩感知技术的时空联合滤波高分辨方位估计方法, 给出了方法的数学模型、物理解释及具体实施步骤.理论分析和计算机仿真试验表明, 新方法对于小快拍数 条件下的矢量声纳高速运动目标高分辨方位估计问题, 具有较低的双目标分辨门限和较高的估计精度, 有着良好的应用前景.湖上试验验证了方法的有效性. 关键词： 声矢量传感器 空间谱估计 时空滤波 压缩感知     

Droplet Size Distribution and Sphericity Measurements of Low‐Density Sprays Through Image Analysis

An image analysis technique has been developed in order to determine the drop size distributions of sprays produced by low‐velocity plain cylindrical jets. The particle sizing method is based on incoherent backlight images. Each drop is analyzed individually in the image. The two‐dimensional image resulting from the projection of the three‐dimensional object shape (the drop) on a screen (the video sensor surface) is modeled. The model, based on the point spread function formulation, has been developed to derive a relation between contrast and relative width of individual drops. This relation is used to extend the domain of validity of drop size in terms of size range, out of focus and image resolution. The shape parameter is determined for each drop image through morphological analysis. Spherical and non‐spherical droplets are then sorted on the basis of this parameter. Non‐spherical drops are regarded as non‐fully atomized liquid bulks or coalesced drops. Finally, the droplet size distribution of true spherical droplets is established for a low‐velocity plain cylindrical liquid jet.     

Measurement of sound field in cavitating media by an optical fibre-tip hydrophone

A fibre-optic technique was applied to measure the sound field in an ultrasonic cleaning vessel under practical conditions. A metal-coated fibre-tip is used as a sensor and a heterodyne interferometer detects the change in the optical path resulting from the movement of the fibre-tip in the sound field. Spectrally resolved sound field parameters such as the fundamental, the subharmonic or cavitation noise are extracted from the measurements and compared with results obtained by a piezo-electric hydrophone. It was found that the fibre sensor provides a signal related to the velocity in the sound field, but the information about cavitation-related parameters is similar to the information for pressure sensing techniques. The fibre-optic sensors have a uniquely high spatial resolution and the sound detection process is strongly influenced by single cavitation events close to the small fibre-tip. This paper shows that fibre-tip sensors are an alternative to common hydrophone techniques. They can open up new possibilities for measurement problems for which so far no solution exists, in particular when a high spatial resolution is required or when the measurement site is small.     

基于高分辨谱估计方法的快速运动目标分析*

水下运动目标产生的声场由一系列不同模态的简正波组成,不同模态简正波具有不同的多普勒频率移动,携带了运动目标速度、频率等参数的信息。针对快速运动目标水下辐射声场的这一特点,采用高分辨谱估计Burg算法估计不同模态简正波多普勒频移,进而获得运动目标的速度、频率参数估计。数值仿真结果表明,高分辨谱估计Burg算法获得了高频率分辨率,在较短的观测时间或是阵元不足的情况下,较准确地估计了多普勒频移,获得了目标运动速度和初始频率等运动参数。     

A Multi-Strategy Adaptive Comprehensive Learning PSO Algorithm and Its Application

In this paper, a multi-strategy adaptive comprehensive learning particle swarm optimization algorithm is proposed by introducing the comprehensive learning, multi-population parallel, and parameter adaptation. In the proposed algorithm, a multi-population parallel strategy is designed to improve population diversity and accelerate convergence. The population particle exchange and mutation are realized to ensure information sharing among the particles. Then, the global optimal value is added to velocity update to design a new velocity update strategy for improving the local search ability. The comprehensive learning strategy is employed to construct learning samples, so as to effectively promote the information exchange and avoid falling into local extrema. By linearly changing the learning factors, a new factor adjustment strategy is developed to enhance the global search ability, and a new adaptive inertia weight-adjustment strategy based on an S-shaped decreasing function is developed to balance the search ability. Finally, some benchmark functions and the parameter optimization of photovoltaics are selected. The proposed algorithm obtains the best performance on 6 out of 10 functions. The results show that the proposed algorithm has greatly improved diversity, solution accuracy, and search ability compared with some variants of particle swarm optimization and other algorithms. It provides a more effective parameter combination for the complex engineering problem of photovoltaics, so as to improve the energy conversion efficiency.     

Complex reflection phase gradient as an inversion parameter for the prediction of shallow water propagation and the characterization of sea-bottoms

In this paper a quantity is proposed, referred to as the complex reflection phase gradient, whose use in a matched field inversion procedure allows for the rapid extraction of first order geo-acoustic information about the sea-bottom. It is based on the observation that at low grazing angles the reflection phase and bottom loss for a wide range of sea-bottom types commonly exhibits an approximate linear relationship to the vertical component of the acoustic wave number at the seabed. The real part of this quantity specifies the rate at which the reflection phase varies with vertical acoustic wave number while the imaginary part quantifies the rate of change of bottom loss. Despite being defined with just two real parameters it is shown that it provides an accurate prediction of the sound field for a wide range of bottom types. In addition, its measurement permits an estimate to be made for the input impedance to the seabed in the zero grazing angle limit and, in the case of a homogeneous elastic half-space of known density, the compressional and shear wave speed. The main advantage of the two-parameter seabottom representation is that each parameter is readily inverted from comparatively few acoustic pressure measurements. The usefulness of the technique is illustrated by the results from computer simulated acoustic pressure measurements made at just eleven sensors in a simple shallow water channel, and results from a 10 cm deep laboratory channel at frequencies between 10 kHz and 75 kHz.