浅海远距离匹配场声源定位研究
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摘要
匹配场声源定位是水声学研究中的经典问题,在过去的几十年中,出现了多种匹配场处理算法。由于海洋环境的复杂性,直到现在仍然没有一种有效的能够实时解决真实环境中远距离声源的定位方法。原因之一是声压是一个时变的量,其幅度和相位是起伏的,单次或有限多次的测量无法完整反映声场的真实特性,因此基于声压场难以给出准确的声源定位;原因之二是海洋声信道是三维的,而几乎所有的已有的算法只能解决信道模型与距离无关的问题;第三个原因是三维声压场的计算极其复杂,还没有快速准确计算声场的有效方法。为了解决浅海远距离声源的定位问题,提高定位精度和匹配场处理速度,本文藉助特征声线传播时间,提出了一种匹配场声源定位的新方法。应用特征声线传播时间,从而可以忽略声压的幅度信息,声场的噪声容限得到了提高,并且代价函数对模型失配的敏感性得到降低;通过到达信号包络的延迟,声压相位模糊的干扰便可消除;声线传播时间是声速的伪线性函数,其起伏要比声压小得多;三维环境中特征声线的计算速度快、且精度高。基于以上对声线传播时间的分析,本文选取最短传播时间特征声线到达不同接收水听器的相对时间差,研究了远距离声源的定位问题。
众所周知,匹配场声源定位包括两个方面。一是声场建模,二是代价函数的构造。声场建模是整个问题的基础,本文从射线理论模型出发,详细分析了三维特征声线计算程序HARPO和RTPO。结果表明,哈尔滨工程大学唐俊峰博士开发的RTPO程序有更高的计算精度和更快的计算速度。基于最短传播时间特征声线到达相邻基元时延和声线传播时间,文中构造了匹配定位的第一类和第二类代价函数。应用两类代价函数,文中分别仿真了水深失配、接收水听器位置失配和声速失配对定位精度的影响。仿真结果表明,第一类代价函数对水深失配和接收水听器位置失配是较敏感的,而对声速失配不敏感,并且具有较高的深度估计精度;第二类代价函数对三种失配都不敏感,但是它的深度分辨率较低。为了克服第一类代价函数对失配的敏感性,文中提出了增加基元的定位方法。数值计算表明,该方法在一定程度上抑制了接收水听器位置失配的影响,使得声源的距离深度估计精度得以较大提高,
Source localization by matched-field processing is a classical problem in underwater acoustics; many methods were presented in the past several decades. Because of the complexity of ocean environment, until now, there is no efficient method that can solve long-range source localization in time under real environmental condition. The first reason lies in that sound pressure is a time variant quantity, its amplitude and phase are fluctuating, single measurement or limited time measurements couldn't give the real character of the sound field completely, so it is difficult to localize a source accurately based on sound pressure only; the second reason lies in that ocean acoustic channel is three-dimensional, while almost all the current methods are only fit to range independent environment; the last reason lies in that the 3-D sound field calculation is time exhausted, there is no efficient algorithm that can calculate the sound field quickly. In order to realize long-range source localization in shallow water and to improve the accuracy of localization as well as the speed of matched-field processing, a new method is studied in this thesis. Not sound pressure but eigenray travel time is adopted. Using ray travel time, noise tolerance could be enhanced and the sensitivity to model mismatch may be degraded by neglecting the amplitude information; phase ambiguity could be eliminated by exploiting group delay of the arriving wave packets; ray travel time is a pseudo-linear function of sound speed and its fluctuation is much smaller than sound pressure's; eigenray calculation in 3-D environment is fast and accurate. With the above analysis of ray travel time, long-range source localization based on relative ray arrival time between two isolated hydrophones is studied in this dissertation.It is well known that source localization by matched-field processing consists of two parts. One is the establishment of acoustic model; the other is the construction of a suitable cost function. Establishment of an accurate model is the basis of the whole problem. Derived from the geometrical model, two 3-D
eigenray calculation programs such as HARPO and RTPO are analyzed in detail. The results demonstrate that the RTPO program developed by Dr Tang Junfeng, a student of our group is more accurate and has higher calculating speed than HARPO. After that, two kinds of cost functions are constructed. The first is based on relative ray arrival time between two adjacent hydrophones; the second is directly based on ray travel time. With these two functions, mismatches of water depth, receiver location and sound speed have been simulated respectively. The simulation results show that the first cost function is sensitive to the mismatches of water depth and receiver location, but is insensitive to sound speed mismatch and can give high accuracy of depth estimation; the second cost function is insensitive to all three kinds of mismatches, but its resolution of depth estimation is very poor. In order to overcome the first function's sensitivities to the mismatches, a method of increasing the number of elements is used. Numerical calculation shows that this method degrades the sensitivity to the mismatch of receiver location and improves the accuracy of range and depth estimation, but is ineffective to ocean depth mismatch. For the purpose of analyzing the sensitivities to the mismatches of the cost functions, three formulas for calculating the ray travel time error or time delay error caused by the mismatches of receiving array location, ocean depth and sound speed are derived respectively. With them, the effects on source localization by matched field processing taken by the mismatches are verified, and the theoretical results agree with the simulations completely.As an important part of the thesis, time delay estimation in multipath environment is studied theoretically and experimentally. Based on the extraction of the signal's relative arrival time, source localization in different range is studied step by step. By computer simulations, we find that multi-elements method is effective when the space between two elements is large, but it can only localize the source in the range of 10km. In order to expand the efficient localization range, fractionization method is used. But it is not always feasible when the ocean bottom becomes flat. Under this condition, multipath time delay is needed. Using
the fractionization method or the combination of multipath time delay with time delay between two adjacent phones, source localization of the range of 60km in different ocean environmental models is realized respectively. Especially when the ocean bottom is complicate, fractionization method becomes more efficient. In order to confirm the validity of the methods, ASIAEX data and South China Sea experimental data are used to do the research of source localization. The calculated results agree with the true source locations.With the above simulation analysis and experimental studies, it could be concluded that the new method introduced in the thesis is feasible to realize long-range source localization in shallow water, and it has high accuracy and fast speed. Ray tracing in 3-D sound channel is very fast and accurate. Besides that ray theory is helpful to calculate three-dimensional sound field. Using eigenray travel time, parameters inversion in real environment could be finished quickly. It is true that introducing ray travel time into matched field processing is an optimal choice.
众所周知,匹配场声源定位包括两个方面。一是声场建模,二是代价函数的构造。声场建模是整个问题的基础,本文从射线理论模型出发,详细分析了三维特征声线计算程序HARPO和RTPO。结果表明,哈尔滨工程大学唐俊峰博士开发的RTPO程序有更高的计算精度和更快的计算速度。基于最短传播时间特征声线到达相邻基元时延和声线传播时间,文中构造了匹配定位的第一类和第二类代价函数。应用两类代价函数,文中分别仿真了水深失配、接收水听器位置失配和声速失配对定位精度的影响。仿真结果表明,第一类代价函数对水深失配和接收水听器位置失配是较敏感的,而对声速失配不敏感,并且具有较高的深度估计精度;第二类代价函数对三种失配都不敏感,但是它的深度分辨率较低。为了克服第一类代价函数对失配的敏感性,文中提出了增加基元的定位方法。数值计算表明,该方法在一定程度上抑制了接收水听器位置失配的影响,使得声源的距离深度估计精度得以较大提高,
Source localization by matched-field processing is a classical problem in underwater acoustics; many methods were presented in the past several decades. Because of the complexity of ocean environment, until now, there is no efficient method that can solve long-range source localization in time under real environmental condition. The first reason lies in that sound pressure is a time variant quantity, its amplitude and phase are fluctuating, single measurement or limited time measurements couldn't give the real character of the sound field completely, so it is difficult to localize a source accurately based on sound pressure only; the second reason lies in that ocean acoustic channel is three-dimensional, while almost all the current methods are only fit to range independent environment; the last reason lies in that the 3-D sound field calculation is time exhausted, there is no efficient algorithm that can calculate the sound field quickly. In order to realize long-range source localization in shallow water and to improve the accuracy of localization as well as the speed of matched-field processing, a new method is studied in this thesis. Not sound pressure but eigenray travel time is adopted. Using ray travel time, noise tolerance could be enhanced and the sensitivity to model mismatch may be degraded by neglecting the amplitude information; phase ambiguity could be eliminated by exploiting group delay of the arriving wave packets; ray travel time is a pseudo-linear function of sound speed and its fluctuation is much smaller than sound pressure's; eigenray calculation in 3-D environment is fast and accurate. With the above analysis of ray travel time, long-range source localization based on relative ray arrival time between two isolated hydrophones is studied in this dissertation.It is well known that source localization by matched-field processing consists of two parts. One is the establishment of acoustic model; the other is the construction of a suitable cost function. Establishment of an accurate model is the basis of the whole problem. Derived from the geometrical model, two 3-D
eigenray calculation programs such as HARPO and RTPO are analyzed in detail. The results demonstrate that the RTPO program developed by Dr Tang Junfeng, a student of our group is more accurate and has higher calculating speed than HARPO. After that, two kinds of cost functions are constructed. The first is based on relative ray arrival time between two adjacent hydrophones; the second is directly based on ray travel time. With these two functions, mismatches of water depth, receiver location and sound speed have been simulated respectively. The simulation results show that the first cost function is sensitive to the mismatches of water depth and receiver location, but is insensitive to sound speed mismatch and can give high accuracy of depth estimation; the second cost function is insensitive to all three kinds of mismatches, but its resolution of depth estimation is very poor. In order to overcome the first function's sensitivities to the mismatches, a method of increasing the number of elements is used. Numerical calculation shows that this method degrades the sensitivity to the mismatch of receiver location and improves the accuracy of range and depth estimation, but is ineffective to ocean depth mismatch. For the purpose of analyzing the sensitivities to the mismatches of the cost functions, three formulas for calculating the ray travel time error or time delay error caused by the mismatches of receiving array location, ocean depth and sound speed are derived respectively. With them, the effects on source localization by matched field processing taken by the mismatches are verified, and the theoretical results agree with the simulations completely.As an important part of the thesis, time delay estimation in multipath environment is studied theoretically and experimentally. Based on the extraction of the signal's relative arrival time, source localization in different range is studied step by step. By computer simulations, we find that multi-elements method is effective when the space between two elements is large, but it can only localize the source in the range of 10km. In order to expand the efficient localization range, fractionization method is used. But it is not always feasible when the ocean bottom becomes flat. Under this condition, multipath time delay is needed. Using
the fractionization method or the combination of multipath time delay with time delay between two adjacent phones, source localization of the range of 60km in different ocean environmental models is realized respectively. Especially when the ocean bottom is complicate, fractionization method becomes more efficient. In order to confirm the validity of the methods, ASIAEX data and South China Sea experimental data are used to do the research of source localization. The calculated results agree with the true source locations.With the above simulation analysis and experimental studies, it could be concluded that the new method introduced in the thesis is feasible to realize long-range source localization in shallow water, and it has high accuracy and fast speed. Ray tracing in 3-D sound channel is very fast and accurate. Besides that ray theory is helpful to calculate three-dimensional sound field. Using eigenray travel time, parameters inversion in real environment could be finished quickly. It is true that introducing ray travel time into matched field processing is an optimal choice.
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