利用宽带声场干涉结构特性对移动船只距离的连续估计
|
摘要
浅海移动船只的宽带辐射声场在距离-频率上通常表现为有规则的干涉条纹结构,这些条纹的特性(数目和斜率)可用波导不变量理论来表征并已被用于多种水声反演问题中,如沉积层声学参数反演和宽带声源距离的估计。基于波导不变量理论和干涉条纹的结构特性,利用扩展卡尔曼滤波器分析移动船只LOFAR图中干涉条纹的距离-频率特征可对其距离进行连续估计。该方法不需要海洋环境的信息和前向拷贝声场计算,具有较高的计算效率。海试数据处理结果和GPS数据计算结果比较一致,证实了本方法的准确性。试验数据处理同样证实该方法对初始距离的选择有着较高的稳健性。
In shallow waters, regular striations can be observed from the broad-band range-frequency spectrogram radiated by a moving ship, whose structure can be interpreted by the waveguide invariant theory and has been applied for sediment geoacoustic inversion and source ranging, etc. We present an algorithm to sequentially estimate the source range by observing the striation geometrical characteristics with an extended Kalman filter. This approach is based on the waveguide invariant theory and has the advantage of no requirement of a prior environmental information and forward sound field calculation. The at-sea ship noise data is tested, and the results are in high agreement with GPS data, besides, this approach is also demonstrated to be robust to initial state values.
In shallow waters, regular striations can be observed from the broad-band range-frequency spectrogram radiated by a moving ship, whose structure can be interpreted by the waveguide invariant theory and has been applied for sediment geoacoustic inversion and source ranging, etc. We present an algorithm to sequentially estimate the source range by observing the striation geometrical characteristics with an extended Kalman filter. This approach is based on the waveguide invariant theory and has the advantage of no requirement of a prior environmental information and forward sound field calculation. The at-sea ship noise data is tested, and the results are in high agreement with GPS data, besides, this approach is also demonstrated to be robust to initial state values.
引文
1 Kuperman W A,D'Spain G L,Heaney K D.Long range source localization from single hydrophone spectrograms.J.Acoust.Soc.Am.,2001;109(5):1935-1943
2李整林,张仁和,鄢锦,彭朝晖,李风华,大陆斜坡海域宽带声源的匹配场定位.声学学报,2003;28(5):425-428
3 Baggeroer A B,Kuperman W A,Mikhalevsky P N,An overview of matched field methods in ocean acoustics.IEEE J.Oceanic Eng.,1993;18(4):401-424
4 A Bayesian approach to matched field processing in uncertain ocean environments.Chinese Journal of Acoustics,2008;27(4):358-367
5 Robust adaptive matched field processing with environmental uncertainty.Chinese Journal of Acoustics,2006;25(2):159-170
6 Donald R,Balzo D,Feuillade C,Row M M.Effects of water-depth mismatch on matched-field localization in shallow water.J.Acoust.Soc.Am.,1988;83(6):2180-2185
7 Westwood E,Broadband matched-field source localization.J.Acoust.Soc.Am.,1992;91(5):2777-2789
8 Mourad P D,Rouseff D,Porter R P,Al-Kurd A.Source localization using a reference wave to correct for oceanic variability.J.Acoust.Soc.Am.,1992;92(2):1031-1039
9 YAO Meijuan,MA Li,LU Licheng,GUO Shengming.Performance analysis of source ranging by use of virtual receiver technique under different frequency bands.Chinese Journal of Acoustics,2015;34(4):387-400
10 Thode A M.Source ranging with minimal environmental information using a virtual receiver and waveguide invariant theory.J.Acoust.Soc.Am.,2001;108(4):1582-1594
11马敬广,徐晓男.一种基于运动模型的水下目标方位预处理方法.声学技术,2013;32(3):243-247
12胡友峰,景博,孙进才.一种水下被动目标运动分析与仿真.声学技术,2001;20(4):157-161
13王彪,曾庆军,解志斌,黄海宁.基于水声传感器的目标纯方位运动分析.中国造船,2011;52(1):90-96
14 Chuprov S D.Interference structure of a sound field in a layered ocean.In:Brehovskikh L M,Andreevvoi I B(Eds.),Ocean Acoustic,Current State,Moscos,1982:71-91
15 LI Qihu.A new method of passive ranging for underwater target:distance information extraction based on wave guide invariant.Chinese Journal of Acoustics,2015;34(2):97-106
16 QI Yubo,ZHOU Shihong,REN Yun,WANG Dejun,LIU Jianjun,FENG Xiqiang.Passive source range estimation with a single receiver in shallow water.Chinese Journal of Acoustics,2015;34(1):1-14
17 Ren Q Y,Hermand J P.Acoustic interferometry for geoacoustic characterization in a soft-layered sediment environment.J.Acoust.Soc.Am.,2013;133(1):82-93
18 Heaney K.Rapid geoacoustic characterization using a surface ship of opportunity.IEEE J.Oceanic Eng.,2004;29(1):88-99
19 Brooks L,Kidner M,Zander A,Hsnaen C,Zhang Z et al.Striation processing of spectrogram data.In:Proceeding of the 13th International Congress on Sound and Vibration(ICSV13),2006
20 Turgut A,Orr M,Rouseff D.Broadband source localization using horizontal-beam acoustic intensity striations.J.Acoust.Soc.Am.,2001;127(1):73-83
21 Hough P V C.Method and means for recognizing complex patterns.U.S.Patent 3,069,654,1962
22 An L,Wang X,Lu J.Calculating the waveguide invariant by passive sonar lofargram image.In:Proceeding of 14th International Conference on Mechatronics and Machine Vision in Practice,2007
23苏晓星,张仁和,李风华.用频移补偿方法计算声场的波导不变量.声学技术,2007;6(6):1073-1076
24 Kalman R E.A new approach to linear filtering and prediction problems.Journal of Basic Engineering,1960;82(Series D):35-45
25 Brekhovskikh L,Lysanov Y.Fundamentals of ocean acoustic 3~(rd)ed.2003,Springer Verlag
26 Spain G D,Kuperman W.Application of waveguide invariants to analysis of spectrograms from shallow water Environments that vary in range and azimuth.J.Acoust.Soc.Am.,1999;106(5):2454-2468
27 Frangi A F,Niessen W J,Viergever M A.Multiscale vessel enhancement filtering.In:Wells W M,Colchester A,Delp S(Eds.),Medical Image Computing and ComputerAssisted Interventation-MICCAT'98,Cambridge,1998:130-137
28 Yardim C,Gerstoft P,Hodgkiss W S.Tracking of geoacoustic parameters using Kalman and particle filters.J.Acoust.Soc.Am.,2009;125(2):746-760
2李整林,张仁和,鄢锦,彭朝晖,李风华,大陆斜坡海域宽带声源的匹配场定位.声学学报,2003;28(5):425-428
3 Baggeroer A B,Kuperman W A,Mikhalevsky P N,An overview of matched field methods in ocean acoustics.IEEE J.Oceanic Eng.,1993;18(4):401-424
4 A Bayesian approach to matched field processing in uncertain ocean environments.Chinese Journal of Acoustics,2008;27(4):358-367
5 Robust adaptive matched field processing with environmental uncertainty.Chinese Journal of Acoustics,2006;25(2):159-170
6 Donald R,Balzo D,Feuillade C,Row M M.Effects of water-depth mismatch on matched-field localization in shallow water.J.Acoust.Soc.Am.,1988;83(6):2180-2185
7 Westwood E,Broadband matched-field source localization.J.Acoust.Soc.Am.,1992;91(5):2777-2789
8 Mourad P D,Rouseff D,Porter R P,Al-Kurd A.Source localization using a reference wave to correct for oceanic variability.J.Acoust.Soc.Am.,1992;92(2):1031-1039
9 YAO Meijuan,MA Li,LU Licheng,GUO Shengming.Performance analysis of source ranging by use of virtual receiver technique under different frequency bands.Chinese Journal of Acoustics,2015;34(4):387-400
10 Thode A M.Source ranging with minimal environmental information using a virtual receiver and waveguide invariant theory.J.Acoust.Soc.Am.,2001;108(4):1582-1594
11马敬广,徐晓男.一种基于运动模型的水下目标方位预处理方法.声学技术,2013;32(3):243-247
12胡友峰,景博,孙进才.一种水下被动目标运动分析与仿真.声学技术,2001;20(4):157-161
13王彪,曾庆军,解志斌,黄海宁.基于水声传感器的目标纯方位运动分析.中国造船,2011;52(1):90-96
14 Chuprov S D.Interference structure of a sound field in a layered ocean.In:Brehovskikh L M,Andreevvoi I B(Eds.),Ocean Acoustic,Current State,Moscos,1982:71-91
15 LI Qihu.A new method of passive ranging for underwater target:distance information extraction based on wave guide invariant.Chinese Journal of Acoustics,2015;34(2):97-106
16 QI Yubo,ZHOU Shihong,REN Yun,WANG Dejun,LIU Jianjun,FENG Xiqiang.Passive source range estimation with a single receiver in shallow water.Chinese Journal of Acoustics,2015;34(1):1-14
17 Ren Q Y,Hermand J P.Acoustic interferometry for geoacoustic characterization in a soft-layered sediment environment.J.Acoust.Soc.Am.,2013;133(1):82-93
18 Heaney K.Rapid geoacoustic characterization using a surface ship of opportunity.IEEE J.Oceanic Eng.,2004;29(1):88-99
19 Brooks L,Kidner M,Zander A,Hsnaen C,Zhang Z et al.Striation processing of spectrogram data.In:Proceeding of the 13th International Congress on Sound and Vibration(ICSV13),2006
20 Turgut A,Orr M,Rouseff D.Broadband source localization using horizontal-beam acoustic intensity striations.J.Acoust.Soc.Am.,2001;127(1):73-83
21 Hough P V C.Method and means for recognizing complex patterns.U.S.Patent 3,069,654,1962
22 An L,Wang X,Lu J.Calculating the waveguide invariant by passive sonar lofargram image.In:Proceeding of 14th International Conference on Mechatronics and Machine Vision in Practice,2007
23苏晓星,张仁和,李风华.用频移补偿方法计算声场的波导不变量.声学技术,2007;6(6):1073-1076
24 Kalman R E.A new approach to linear filtering and prediction problems.Journal of Basic Engineering,1960;82(Series D):35-45
25 Brekhovskikh L,Lysanov Y.Fundamentals of ocean acoustic 3~(rd)ed.2003,Springer Verlag
26 Spain G D,Kuperman W.Application of waveguide invariants to analysis of spectrograms from shallow water Environments that vary in range and azimuth.J.Acoust.Soc.Am.,1999;106(5):2454-2468
27 Frangi A F,Niessen W J,Viergever M A.Multiscale vessel enhancement filtering.In:Wells W M,Colchester A,Delp S(Eds.),Medical Image Computing and ComputerAssisted Interventation-MICCAT'98,Cambridge,1998:130-137
28 Yardim C,Gerstoft P,Hodgkiss W S.Tracking of geoacoustic parameters using Kalman and particle filters.J.Acoust.Soc.Am.,2009;125(2):746-760