为了满足多波束声纳系统中高声源级发射与多通道低噪声采集的需求,同时为了提高发射机与接收机的可扩展性,提出了一种高压脉冲发射模块以及一种多通道TVG(time variation of gain)采集模块的设计方法,并且采用FPGA作为逻辑控制芯片,在F...为了满足多波束声纳系统中高声源级发射与多通道低噪声采集的需求,同时为了提高发射机与接收机的可扩展性,提出了一种高压脉冲发射模块以及一种多通道TVG(time variation of gain)采集模块的设计方法,并且采用FPGA作为逻辑控制芯片,在FPGA内规划了发射模块与采集模块的触发时序。根据千兆以太网的传输带宽,设计了IP报文的数据格式,分析了数据传输路径,实现了实时数据采集。实验测试表明,在100 kHz工作频率下时,发射模块的声源级达到了200 dB,采集模块的本底噪声小于4μVrms,幅度一致性偏差为-6.94 dB,相位一致性偏差为0.25°。展开更多
A multi beam sonar survey is carried out in the continental slope of the Taixinan Basin to obtain submarine topographic and water column data. The data are processed to obtain water column images. Anomalous water colu...A multi beam sonar survey is carried out in the continental slope of the Taixinan Basin to obtain submarine topographic and water column data. The data are processed to obtain water column images. Anomalous water column images, displaying plume characteristics, are found in gas hydrate enriched areas in the Taixinan Basin.This indicates the presence of natural gas resources in the Taixinan Basin. The multibeam sonar system is shown to provide an accurate and effective approach for detecting sub-sea gas hydrate.展开更多
Understanding the topographic patterns of the seafloor is a very important part of understanding our planet.Although the science involved in bathymetric surveying has advanced much over the decades,less than 20%of the...Understanding the topographic patterns of the seafloor is a very important part of understanding our planet.Although the science involved in bathymetric surveying has advanced much over the decades,less than 20%of the seafloor has been precisely modeled to date,and there is an urgent need to improve the accuracy and reduce the uncertainty of underwater survey data.In this study,we introduce a pretrained visual geometry group network(VGGNet)method based on deep learning.To apply this method,we input gravity anomaly data derived from ship measurements and satellite altimetry into the model and correct the latter,which has a larger spatial coverage,based on the former,which is considered the true value and is more accurate.After obtaining the corrected high-precision gravity model,it is inverted to the corresponding bathymetric model by applying the gravity-depth correlation.We choose four data pairs collected from different environments,i.e.,the Southern Ocean,Pacific Ocean,Atlantic Ocean and Caribbean Sea,to evaluate the topographic correction results of the model.The experiments show that the coefficient of determination(R~2)reaches 0.834 among the results of the four experimental groups,signifying a high correlation.The standard deviation and normalized root mean square error are also evaluated,and the accuracy of their performance improved by up to 24.2%compared with similar research done in recent years.The evaluation of the R^(2) values at different water depths shows that our model can achieve performance results above 0.90 at certain water depths and can also significantly improve results from mid-water depths when compared to previous research.Finally,the bathymetry corrected by our model is able to show an accuracy improvement level of more than 21%within 1%of the total water depths,which is sufficient to prove that the VGGNet-based method has the ability to perform a gravity-bathymetry correction and achieve outstanding results.展开更多
For increasing the cross-track resolution, the multiple input multiple output （MIMO） technique is introduced into the swath bathymetry system and a new swath bathymetry approach using MIMO sonar is proposed. The MIM...For increasing the cross-track resolution, the multiple input multiple output （MIMO） technique is introduced into the swath bathymetry system and a new swath bathymetry approach using MIMO sonar is proposed. The MIMO sonar is composed of two parallel transmitting uniform linear arrays （ULAs） and a receiving ULA which is perpendicular to the former. The spacing between the two transmitting ULAs is equal to the product of the receiving sensor number and the receiving inter-sensor spacing. Furthermore, two narrowband linear frequency modulation （LFM） pulses, sharing the same frequency band but with opposite modulation slopes, are used as transmitting waveforms of the two transmitting ULAs. With such an array layout and transmitting signals, the MIMO sonar can sound a swath with the cross-track resolution doubling that of the traditional multibeam sonar using a Mills cross array. Numerical examples are provided to verify the effectiveness of the proposed approach.展开更多
Underwater terrain-aided navigation is used to complement the traditional inertial navigation employed by autonomous underwater vehicles during lengthy missions. It can provide fixed estimations by matching real-time ...Underwater terrain-aided navigation is used to complement the traditional inertial navigation employed by autonomous underwater vehicles during lengthy missions. It can provide fixed estimations by matching real-time depth data with a digital terrain map, This study presents the concept of using image processing techniques in the underwater terrain matching process. A traditional gray-scale histogram of an image is enriched by incorporation with spatial information in pixels. Edge comer pixels are then defined and used to construct an edge comer histogram, which employs as a template to scan the digital terrain map and estimate the fixes of the vehicle by searching the correlation peak. Simulations are performed to investigate the robustness of the proposed method, particularly in relation to its sensitivity to background noise, the scale of real-time images, and the travel direction of the vehicle. At an image resolution of 1 m2/pixel, the accuracy of localization is more than 10 meters.展开更多
基金The National Key R&D Program of China under contract No.2017YFC0306003the National Natural Science Foundation of China under contract Nos 41506069,41876111 and 40706038
文摘A multi beam sonar survey is carried out in the continental slope of the Taixinan Basin to obtain submarine topographic and water column data. The data are processed to obtain water column images. Anomalous water column images, displaying plume characteristics, are found in gas hydrate enriched areas in the Taixinan Basin.This indicates the presence of natural gas resources in the Taixinan Basin. The multibeam sonar system is shown to provide an accurate and effective approach for detecting sub-sea gas hydrate.
基金The National Key R&D Program of China under contract Nos 2022YFC3003800,2020YFC1521700 and 2020YFC1521705the National Natural Science Foundation of China under contract No.41830540+3 种基金the Open Fund of the East China Coastal Field Scientific Observation and Research Station of the Ministry of Natural Resources under contract No.OR-SECCZ2022104the Deep Blue Project of Shanghai Jiao Tong University under contract No.SL2020ZD204the Special Funding Project for the Basic Scientific Research Operation Expenses of the Central Government-Level Research Institutes of Public Interest of China under contract No.SZ2102the Zhejiang Provincial Project under contract No.330000210130313013006。
文摘Understanding the topographic patterns of the seafloor is a very important part of understanding our planet.Although the science involved in bathymetric surveying has advanced much over the decades,less than 20%of the seafloor has been precisely modeled to date,and there is an urgent need to improve the accuracy and reduce the uncertainty of underwater survey data.In this study,we introduce a pretrained visual geometry group network(VGGNet)method based on deep learning.To apply this method,we input gravity anomaly data derived from ship measurements and satellite altimetry into the model and correct the latter,which has a larger spatial coverage,based on the former,which is considered the true value and is more accurate.After obtaining the corrected high-precision gravity model,it is inverted to the corresponding bathymetric model by applying the gravity-depth correlation.We choose four data pairs collected from different environments,i.e.,the Southern Ocean,Pacific Ocean,Atlantic Ocean and Caribbean Sea,to evaluate the topographic correction results of the model.The experiments show that the coefficient of determination(R~2)reaches 0.834 among the results of the four experimental groups,signifying a high correlation.The standard deviation and normalized root mean square error are also evaluated,and the accuracy of their performance improved by up to 24.2%compared with similar research done in recent years.The evaluation of the R^(2) values at different water depths shows that our model can achieve performance results above 0.90 at certain water depths and can also significantly improve results from mid-water depths when compared to previous research.Finally,the bathymetry corrected by our model is able to show an accuracy improvement level of more than 21%within 1%of the total water depths,which is sufficient to prove that the VGGNet-based method has the ability to perform a gravity-bathymetry correction and achieve outstanding results.
基金supported by the National Natural Science Foundation of China(11104222)the Doctorate Foundation of Northwestern Polytechnical University(CX201101)
文摘For increasing the cross-track resolution, the multiple input multiple output （MIMO） technique is introduced into the swath bathymetry system and a new swath bathymetry approach using MIMO sonar is proposed. The MIMO sonar is composed of two parallel transmitting uniform linear arrays （ULAs） and a receiving ULA which is perpendicular to the former. The spacing between the two transmitting ULAs is equal to the product of the receiving sensor number and the receiving inter-sensor spacing. Furthermore, two narrowband linear frequency modulation （LFM） pulses, sharing the same frequency band but with opposite modulation slopes, are used as transmitting waveforms of the two transmitting ULAs. With such an array layout and transmitting signals, the MIMO sonar can sound a swath with the cross-track resolution doubling that of the traditional multibeam sonar using a Mills cross array. Numerical examples are provided to verify the effectiveness of the proposed approach.
基金Supported by the National Natural Nature Science Foundation of China （Grant No. 41376102）, Fundamental Research Funds for the Central Universities （Gant No. HEUCF150514） and Chinese Scholarship Council （Grant No. 201406680029）.
文摘Underwater terrain-aided navigation is used to complement the traditional inertial navigation employed by autonomous underwater vehicles during lengthy missions. It can provide fixed estimations by matching real-time depth data with a digital terrain map, This study presents the concept of using image processing techniques in the underwater terrain matching process. A traditional gray-scale histogram of an image is enriched by incorporation with spatial information in pixels. Edge comer pixels are then defined and used to construct an edge comer histogram, which employs as a template to scan the digital terrain map and estimate the fixes of the vehicle by searching the correlation peak. Simulations are performed to investigate the robustness of the proposed method, particularly in relation to its sensitivity to background noise, the scale of real-time images, and the travel direction of the vehicle. At an image resolution of 1 m2/pixel, the accuracy of localization is more than 10 meters.
