UNDERWATER ACOUSTICS AND CAVITATING FLOW OF WATER ENTRY

The fluid mechanics of water entry is studied through investigating the underwater acoustics and the supercavitation.Underwater acoustic signals in water entry are extensively measured at about 30 different positions by using a PVDF needle hydrophone.From the measurements we obtain (1)the primary shock wave caused by the impact of the blunt body on free surface;(2)the vapor pressure inside the cavity;(3)the secondary shock wave caused by pulling away of the cavity from free surface;and so on.The supercavitation induced by the blunt body is observed by using a digital high-speed video camera as well as the single shot photography.The periodic and 3 dimensional motion of the supercavitation is revealed.The experiment is carried out at room temperature.

Application of novel super-exponential iteration algorithm in underwater acoustic channel

A novel variable step-size modified super-exponential iteration(MSEI)decision feedback blind equalization(DFE)algorithm with second-order digital phase-locked loop is put forward to improve the convergence performance of super-exponential iteration DFE algorithm.Based on the MSEI-DFE algorithm,it is first proposed to develop an error function as an improvement to the error function of MSEI,which effectively achieves faster convergence speed of the algorithm.Subsequently,a hyperbolic tangent function variable step-size algorithm is developed considering the high variation rate of the hyperbolic tangent function around zero,so as to further improve the convergence speed of the algorithm.In the end,a second-order digital phase-locked loop is introduced into the decision feedback equalizer to track and compensate for the phase rotation of equalizer input signals.For the multipath underwater acoustic channel with mixed phase and phase rotation,quadrature phase shift keying(QPSK)and 16 quadrature amplitude modulation(16QAM)modulated signals are used in the computer simulation of the algorithm in terms of convergence and carrier recovery performance.The results show that the proposed algorithm can considerably improve convergence speed and steady-state error,make effective compensation for phase rotation,and efficiently facilitate carrier recovery.

Wireless Information and Power Transfer in Underwater Acoustic Sensor Networks

Wireless information and power transfer(WIPT) enables simultaneously communications and sustainable power supplement without the erection of power supply lines and the replacement operation of the batteries for the terminals. The application of WIPT to the underwater acoustic sensor networks(UWASNs) not only retains the long range communication capabilities, but also provides an auxiliary and convenient energy supplement way for the terminal sensors, and thus is a promising scheme to solve the energy-limited problem for the UWASNs. In this paper, we propose the integration of WIPT into the UWASNs and provide an overview on various enabling techniques for the WIPT based UWASNs(WIPT-UWASNs) as well as pointing out future research challenges and opportunities for WIPT-UWASNs.

Use of acoustic intensity measurements in underwater acoustics (Modern state and prospects)

This paper discusses scalar and vector characteristics of underwater ambient noise which were explored by the authors and their colleagues in different regions of the Earth Ocean.The measurements presented were performed in 6 Hz - 1000 Hz band, at depths up to 1000 m and wind speeds less than 15 m/s. The following questions are addressed: ratio between edsotropic (coherent) and isotropic (diffusive) parts of ambient noise; noise energy transport and its cotmection with surface waves propagation direction; noise energy flow cancenation by opposite energy flow of signal; signal-to-noise ratio for combined receiver in dynamic noise field. It follows from the results presellted, that further development of underwater intensity measurements opens new opportunities for investigations in the fields of underwater acoustics and oceanology.

Complex ray method and its applications to underwater acoustics

In this paper, the principle of complex source point and various analytical methods of complex ray are summarized. Some possible applications of complex ray method to underwater acoustics are proposed, including complex ray analysis of directional acoustic fields, complex ray simulation of directivity of acoustic radiator arrays, complex ray transformation of acoustic fields from near zone to far zone, as well as theoretical prediction of sonar target strength by complex ray method.

Underwater acoustic signal denoising model based on secondary variational mode decomposition

Due to the complexity of marine environment,underwater acoustic signal will be affected by complex background noise during transmission.Underwater acoustic signal denoising is always a difficult problem in underwater acoustic signal processing.To obtain a better denoising effect,a new denoising method of underwater acoustic signal based on optimized variational mode decomposition by black widow optimization algorithm(BVMD),fluctuation-based dispersion entropy threshold improved by Otsu method(OFDE),cosine similarity stationary threshold(CSST),BVMD,fluctuation-based dispersion entropy(FDE),named BVMD-OFDE-CSST-BVMD-FDE,is proposed.In the first place,decompose the original signal into a series of intrinsic mode functions(IMFs)by BVMD.Afterwards,distinguish pure IMFs,mixed IMFs and noise IMFs by OFDE and CSST,and reconstruct pure IMFs and mixed IMFs to obtain primary denoised signal.In the end,decompose primary denoising signal into IMFs by BVMD again,use the FDE value to distinguish noise IMFs and pure IMFs,and reconstruct pure IMFs to obtain the final denoised signal.The proposed mothod has three advantages:(i)BVMD can adaptively select the decomposition layer and penalty factor of VMD.(ii)FDE and CS are used as double criteria to distinguish noise IMFs from useful IMFs,and Otsu algorithm and CSST algorithm can effectively avoid the error caused by manually selecting thresholds.(iii)Secondary decomposition can make up for the deficiency of primary decomposition and further remove a small amount of noise.The chaotic signal and real ship signal are denoised.The experiment result shows that the proposed method can effectively denoise.It improves the denoising effect after primary decomposition,and has good practical value.

Underwater Noise Target Recognition Based on Sparse Adversarial Co-Training Model with Vertical Line Array

The automatic identification of underwater noncooperative targets without label records remains an arduous task considering the marine noise interference and the shortage of labeled samples.In particular,the data-driven mechanism of deep learning cannot identify false samples,aggravating the difficulty in noncooperative underwater target recognition.A semi-supervised ensemble framework based on vertical line array fusion and the sparse adversarial co-training algorithm is proposed to identify noncooperative targets effectively.The sound field cross-correlation compression(SCC)feature is developed to reduce noise and computational redundancy.Starting from an incomplete dataset,a joint adversarial autoencoder is constructed to extract the sparse features with source depth sensitivity,aiming to discover the unknown underwater targets.The adversarial prediction label is converted to initialize the joint co-forest,whose evaluation function is optimized by introducing adaptive confidence.The experiments prove the strong denoising performance,low mean square error,and high separability of SCC features.Compared with several state-of-the-art approaches,the numerical results illustrate the superiorities of the proposed method due to feature compression,secondary recognition,and decision fusion.

A zeroing neurodynamics‐based location method for nodes in underwater acoustic sensor network

Zeroing neurodynamics methodology,which dedicates to finding equilibrium points of equations,has been proven to be a powerful tool in the online solving of problems with considerable complexity.In this paper,a method for underwater acoustic sensor network(UASN)localisation is proposed based on zeroing neurodynamics methodology to preferably locate moving underwater nodes.A zeroing neurodynamics model specifically designed for UASN localisation is constructed with rigorous theoretical analyses of its effectiveness.The proposed zeroing neurodynamics model is compatible with some localisation algorithms,which can be utilised to eliminate error in non‐ideal situations,thus further improving its effectiveness.Finally,the effectiveness and compatibility of the proposed zeroing neurodynamics model are substantiated by examples and computer simulations.

Underwater Terrain-Aided Navigation Based on Multibeam Bathymetric Sonar Images

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.

An improved positioning model of deep-seafloor datum point at large incidence angle

The inhomogeneous sound speed in seawater causes refraction of sound waves,and the elimination of the refraction effect is essential to the accuracy of underwater acoustic positioning.The raytracing method is an indispensable tool for effectively handling problems.However,this method has a conflict between localization accuracy and computational quantity.The equivalent sound speed profile(ESSP)method uses a simple sound speed profile(SSP)instead of the actual complex SSP,which can improve positioning precision but with residual error.The residual error is especially non-negligible in deep water and at large beam incidence angles.By analyzing the residual error of the ESSP method through a simulation,an empirical formula of error is presented.The data collected in the sailing circle mode(large incidence angle)of the South China Sea are used for verification.The experiments show that compared to the ESSP method,the improved algorithm has higher positioning precision and is more efficient than the ray-tracing method.

基于EEMD、相关系数、排列熵和小波阈值去噪的新型水下声学信号去噪方法

The complexities of the marine environment and the unique characteristics of underwater channels pose challenges in obtaining reliable signals underwater,necessitating the filtration of underwater acoustic noise.Herein,an underwater acoustic signal denoising method based on ensemble empirical mode decomposition(EEMD),correlation coefficient(CC),permutation entropy(PE),and wavelet threshold denoising(WTD)is proposed.Furthermore,simulation experiments are conducted using simulated and real underwater acoustic data.The experimental results reveal that the proposed denoising method outperforms other previous methods in terms of signal-to-noise ratio,root mean square error,and CC.The proposed method eliminates noise and retains valuable information in the signal.

基于信道短化和圆球译码的水声通信迭代序列检测

The demand for high-data-rate underwater acoustic communications(UACs)in marine development is increasing;however,severe multipaths make demodulation a challenge.The decision feedback equalizer(DFE)is one of the most popular equalizers in UAC;however,it is not the optimal algorithm.Although maximum likelihood sequence estimation(MLSE)is the optimal algorithm,its complexity increases exponentially with the number of channel taps,making it challenging to apply to UAC.Therefore,this paper proposes a complexity-reduced MLSE to improve the bit error rate(BER)performance in multipath channels.In the proposed algorithm,the original channel is first shortened using a channel-shortening method,and several dominant channel taps are selected for MLSE.Subsequently,sphere decoding(SD)is performed in the following MLSE.Iterations are applied to eliminate inter-symbol interference caused by weak channel taps.The simulation and sea experiment demonstrate the superiority of the proposed algorithm.The simulation results show that channel shortening combined with SD can drastically reduce computational complexity,and iterative SD performs better than DFE based on recursive least squares(RLS-DFE),DFE based on improved proportionate normalized least mean squares(IPNLMS-DFE),and channel estimation-based DFE(CE-DFE).Moreover,the sea experimental results at Zhairuoshan Island in Zhoushan show that the proposed receiver scheme has improved BER performance over RLSDFE,IPNLMS-DFE,and CE-DFE.Compared with the RLS-DFE,the BER,after five iterations,is reduced from 0.0076 to 0.0037 in the 8–12 k Hz band and from 0.1516 to 0.1145 in the 13–17 k Hz band at a distance of 2000 m.Thus,the proposed algorithm makes it possible to apply MLSE in UAC in practical scenarios.

Statistics of underwater ambient noise at high sea states arisen from typhoon out zones in the Philippine Sea and South China Sea

Oceanic noise is the background interference in sonar performance prediction and evaluation at high sea states.Statistics of underwater ambient noise during Typhoons Soulik and Nida were analyzed on the basis of experimental measurements conducted in a deep area of the Philippine Sea and the South China Sea.Generated linear regression,frequency correlation matrix(FCM),Burr distribution and Gumbel distribution were described for the analysis of correlation with environmental parameters including wind speed(WS),significant wave height(SWH),and the inter-frequency relationship and probability density function of noise levels(NLs).When the typhoons were quite close to the receivers,the increment of NLs exceeded 10 dB.Whilst ambient noise was completely dominated by wind agitation,NLs were proportional to the cubic and quintic functions of WS and SWH,respectively.The fitted results between NLs and oceanic parameters were different for“before typhoon”and“after typhoon”.The fitted slopes of linear regression showed a linear relationship with the logarithm of frequency.The average observed typhoon-generated NLs were 5 dB lower than the Wenz curve at the same wind force due to the insufficiently developed sea state or the delay between NLs and WS.The cross-correlation coefficient of FCM,which can be utilized in the identification of noise sources in different bands,exceeded 0.8 at frequencies higher than 250 Hz.Furthermore,standard deviation increased with frequency.The kurtosis was equal to 3 at>400 Hz approximately.The characteristics of NLs showed good agreement with the results of FCM.

HYDRODYNAMIC BEHAVIOR OF AN UNDERWATER MOVING BODY AFTER WATER ENTRY

An experimental study was conducted to investigate the water entry phenomenon. A facility was designed to carry out the tests with the entry veloci- ties of around 352 m/s. Visualization, pressure ineasurement, velocity measurement and underwater impact test were performed to investigate the hydroballistic behav- ior of the underwater moving body, the underwater flow field, the supercavitation, etc.. This study shows that the motion of a high-speed underwater body is strongly three-dimensional and chaotic. Furthermore, it is found that the distribution of the trajectory deflection of the underwater projectile depends on the depth of water. It is also found by measuring the deformation on a witness plate submerged in water, that the impact energy of an underwater projectile is reduced as it penetrates deeper into water.

Fractional Fourier domain hopped communication method based on chirp modulation for underwater acoustic channels

To improve the data rate of underwater acoustic frequency-hopped communications, frequency hopping is applied to different orders of fractional Fourier domain (FrFD), to enable non-intrusive, bandwidth-limited acoustic communications. An FrFD frequency-hopped communication method based on chirp modulation, namely multiple chirp shift keying-FrFD hopping (MCSK-FrFDH), is proposed for underwater acoustic channels. Validated by both simulations and experimental results, this method can reach a bandwidth efficiency twice more than conventional frequency-hopped methods with the same data rate and anti-multipath capability, suggesting that the proposed method achieves a better performance than the traditional frequency hopped communication in underwater acoustic communication channels. Results also show that in practical scenarios, the MCSK-FrFDH system with longer symbol length performs better at the low signal-to-noise ratio (SNR), while the system with larger frequency sweeping range performs better at a high SNR.

Shipborne Underwater Acoustic Communication System and Sea Trials with Submersible Shenhai Yongshi

The Shipborne acoustic communication system of the submersible Shenhai Yongshi works in vertical, horizontal and slant channels according to the relative positions. For ease of use, an array combined by a vertical-cone directional transducer and a horizontal-toroid one is installed on the mothership. Improved techniques are proposed to combat adverse channel conditions, such as frequency selectivity, non-stationary ship noise, and Doppler effects of the platform’s nonlinear movement. For coherent modulation, a turbo-coded single-carrier scheme is used. In the receiver, the sparse decision-directed Normalized Least-Mean-Square soft equalizer automatically adjusts the tap pattern and weights according to the multipath structure, the two receivers’ asymmetry, the signal’s frequency selectivity and the noise’s spectrum fluctuation. The use of turbo code in turbo equalization significantly suppresses the error floor and decreases the equalizer’s iteration times, which is verified by both the extrinsic information transfer charts and bit-error-rate performance. For noncoherent modulation, a concatenated error correction scheme of nonbinary convolutional code and Hadamard code is adopted to utilize full frequency diversity. Robust and lowcomplexity synchronization techniques in the time and Doppler domains are proposed. Sea trials with the submersible to a maximum depth of over 4500 m show that the shipborne communication system performs robustly during the adverse conditions. From the ten-thousand communication records in the 28 dives in 2017, the failure rate of the coherent frames and that of the noncoherent packets are both below 10%, where both synchronization errors and decoding errors are taken into account.

Blind Equalization Based on RLS Algorithm Using Adaptive Forgetting Factor for Underwater Acoustic Channel

Blind equalization based on adaptive forgetting factor, recursive least squares （RLS） with constant modulus algorithm （CMA）, is investigated. The cost function of CMA is simplified to meet the second norm form to ensure the stability of RLS-CMA, and thus an improved RLS-CMA （RLS-SCMA） is established. To further improve its performance, a new adaptive forgetting factor RLS-SCMA （ARLS-SCMA） is proposed. In ARLS-SCMA, the forgetting factor varies with the output error of the blind equalizer during the iterative process, which leads to a faster convergence rate and a smaller steady-state error. The simulation results prove the effectiveness under the condition of the underwater acoustic channel.

Underwater Acoustic Communication Based on Pattern Time Delay Shift Coding Scheme

Underwater acoustic communication based on Pattern Tune Delay Shift Coding （PDS） communication scheme is studied. The time delay shift values of the pattern are used to encode the digital information in the PDS scheme, which belongs to the Pulse Position Modulation （PPM）. The duty cycle of the PDS scheme is small, so it can economize the power for communication. By use of different patterns for code division and different frequencies for channel division, the communication system is capable of mitigating the inter-symbol interference （ISI） caused by the muhipath channel. The data rate of communication is 1000 bits/s at 8 kHz bandwidth. The receiver separates the channels by means of bandpass filters, and performs decoding by 4 copy-correlators to estimate the time delay shift value. Based on the theoretical analysis and numerical simulations, the PDS scheme is shown to be a robust and effective approach for underwater acoustic communication.

A novel noise reduction technique for underwater acoustic signals based on complete ensemble empirical mode decomposition with adaptive noise,minimum mean square variance criterion and least mean square adaptive filter

Underwater acoustic signal processing is one of the research hotspots in underwater acoustics.Noise reduction of underwater acoustic signals is the key to underwater acoustic signal processing.Owing to the complexity of marine environment and the particularity of underwater acoustic channel,noise reduction of underwater acoustic signals has always been a difficult challenge in the field of underwater acoustic signal processing.In order to solve the dilemma,we proposed a novel noise reduction technique for underwater acoustic signals based on complete ensemble empirical mode decomposition with adaptive noise(CEEMDAN),minimum mean square variance criterion(MMSVC) and least mean square adaptive filter(LMSAF).This noise reduction technique,named CEEMDAN-MMSVC-LMSAF,has three main advantages:(i) as an improved algorithm of empirical mode decomposition(EMD) and ensemble EMD(EEMD),CEEMDAN can better suppress mode mixing,and can avoid selecting the number of decomposition in variational mode decomposition(VMD);(ii) MMSVC can identify noisy intrinsic mode function(IMF),and can avoid selecting thresholds of different permutation entropies;(iii) for noise reduction of noisy IMFs,LMSAF overcomes the selection of deco mposition number and basis function for wavelet noise reduction.Firstly,CEEMDAN decomposes the original signal into IMFs,which can be divided into noisy IMFs and real IMFs.Then,MMSVC and LMSAF are used to detect identify noisy IMFs and remove noise components from noisy IMFs.Finally,both denoised noisy IMFs and real IMFs are reconstructed and the final denoised signal is obtained.Compared with other noise reduction techniques,the validity of CEEMDAN-MMSVC-LMSAF can be proved by the analysis of simulation signals and real underwater acoustic signals,which has the better noise reduction effect and has practical application value.CEEMDAN-MMSVC-LMSAF also provides a reliable basis for the detection,feature extraction,classification and recognition of underwater acoustic signals.

Frequency Diversity for OFDM Mobile Communication via Underwater Acoustic Channels

The major constraint on the performance of orthogonal frequency division multiplexing （OFDM） based underwater acoustic （UWA） communication is to keep subcarriers orthogonal. In this paper, Doppler estimation and the respective compensation technique along with various diversity techniques were deliberated for OFDM-based systems best suited for underwater wireless information exchange. In practice, for mobile communication, adjustment and tuning of transducers in order to get spatial diversity is extremely difficult. Considering the relatively low coherence bandwidth in UWA, the frequency diversity design with the Doppler compensation function was elaborated here. The outfield experiments of mobile underwater acoustic communication （UWAC） based on OFDM were carried out with 0.17 bit/（s-Hz） spectral efficiency. The validity and the dependability of the scheme were also analyzed.