- LIU Feng;WANG Yuxiong;CHEN Huifang;XIE Lei;
A cooperative localization factor graph for the autonomous underwater vehicle(AUV) swarm integrated with inverted ultrashort baseline(iUSBL) is constructed. Two cooperative localization methods of slave AUV in an AUV swarm are proposed, namely the extended Kalman filter(EKF)-based cooperative localization method and particle belief propagation(BP)-based cooperative localization method, where the effect of the positioning error of leader AUV is mitigated. For the EKF-based cooperative localization method, the state of the slave AUV is reconstructed with the positioning information of leader AUV to achieve cooperative localization. In the particle-BP-based cooperative localization method,the measurement particles are generated to realize cooperative localization. The proposed methods can solve the poor real-time problem of traditional methods, and only require oneway acoustic positioning transmission measurement to realize the localization of the slave AUV. Simulation results show that the two proposed cooperative localization methods work well for slave AUVs with different localization abilities. Compared with the dead-reckoning method, the localization errors of two proposed methods are reduced by more than 80%,and the positioning error accumulation is effectively suppressed. Furthermore, the proposed cooperative localization methods can operate normally under a high packet loss rate of the underwater acoustic channel, and the localization performance is not significantly degraded.
2024年01期 v.43 1-22页 [查看摘要][在线阅读][下载 2065K] [阅读次数：4 ] |[下载次数：10 ] |[引用频次：0 ] - SHI Yunjia;PIAO Shengchun;GUO Junyuan;ZHANG Liu;
A signal space transform method for detection of line spectrum signals radiated by moving target is proposed. With time-frequency analysis and beamforming processing,a three-dimensional(3D) time-frequency-azimuth signal space is obtained in the array coordinate system. Given certain target course angle, this 3D signal space is transformed to the time-frequency-relative bearing spectrum signal space in the target coordinate system.Related theoretical derivation, simulation, and experimental data processing are performed.The findings demonstrate that the method is capable of converting the target line spectrum signal 3D trajectory to a 2D trajectory on the corresponding slice in the transformed signal space and signal processing gain of multi-dimensional information joint processing is obtained easier than in 3D signal space.
2024年01期 v.43 23-48页 [查看摘要][在线阅读][下载 2686K] [阅读次数：2 ] |[下载次数：8 ] |[引用频次：0 ] - SHENG Xueli;LI Dewen;CAO Ran;YIN Jiarui;ZHOU Xuan;
When strong interferences are present in underwater environments, the performance of target of interest(TOI) bearing estimation algorithms can be significantly degraded. To address this problem, an interference suppression method for subspace judgment(SSJ) is proposed, which aims to achieve TOI-bearing estimation in the presence of multiple strong interferences. With prior knowledge of the TOI bearing interval, the proposed method builds a judgment item using the correlation between the TOI-interferencenoise subspace and steering vector. The eigenvectors that are not dominated by the TOI are accurately identified via comparison with the estimated judgment threshold. And the identified eigenvectors will be subtracted from the sample covariance matrix(SCM) for interference suppression. The proposed method can obtain a residual SCM that primarily contains the signal of the TOI. It reduces the output power of interference and acquires TOI with a higher signal-to-interference plus noise ratio(SINR), which provides methodical support for improving the capability of TOI-bearing resolution. Simulation and experimental data processing results demonstrate that the proposed method effectively suppresses strong interferences outside TOI-bearing intervals. It reduces the output power of interference and sidelobe levels while improving the capability of TOI-bearing resolution. Compared with other interference suppression methods with subspace, the proposed method has a more robust interference suppression capability.
2024年01期 v.43 49-63页 [查看摘要][在线阅读][下载 2326K] [阅读次数：1 ] |[下载次数：4 ] |[引用频次：0 ] - WU Shuanglin;QIN Jixing;LI Zhenglin;WU Yushen;ZHANG Renhe;
The time arrival structure of acoustic pulse signals propagating in ocean waveguides is of great significance for underwater acoustic communication and navigation. Using the deep-sea sound propagation data from the experiments respectively conducted in the East Indian Ocean(EIO) and the South China Sea(SCS) with explosion sources near the sound channel axis(SCA), long-range transmission loss(TL) and time arrival structure of acoustic pulses for different sound speed profiles(SSPs) are compared. In the EIO environment, sound energy transmitting along the SCA is relatively large, and the corresponding signals arrive first, whereas signals propagating away from the SCA arrive late. In the full receiving depth, it shows a branch structure where the waveform near the SCA arrives earlier than other depths, which is totally different with the characteristics of the sound pulse in the SCS. Combined with the parametric mathematical model of deep-sea sound channel, the influence mechanism of SSP on the time arrival structure of long-range pulse propagation is theoretically analyzed, which well explains the phenomenon observed in the two experiments.
2024年01期 v.43 64-81页 [查看摘要][在线阅读][下载 1858K] [阅读次数：5 ] |[下载次数：2 ] |[引用频次：0 ] - FAN Lei;YAO Pan;AO Peiting;WANG Huigang;
For a fluid medium with density stratification, the internal wave is easily observed under disturbance of waves, and the acoustic transmission loss and the characteristic parameters of the internal solitary wave are related. The mathematical relationship between the horizontal wavenumber difference of normal modes and the characteristic length of internal wave is established according to the coupling theory of normal modes. Furthermore, a method for estimating the characteristic length of internal solitary wave based on active acoustic means is proposed. The numerical simulation results reveal that the internal solitary wave has a significant influence on the forward transmission of sound waves.At a specific frequency, the transmission loss of sound waves fluctuates significantly and is related to the wavenumber difference of the coupling between internal waves and normal modes. An experiment system for studying internal waves in a tank is established, and the forward scattering data of the internal waves are collected by using a developed broadband transient plasma sound source. The feasibility of estimating the characteristic parameters of the internal solitary wave based on the resonance phenomenon is verified through experimental data analysis.
2024年01期 v.43 82-97页 [查看摘要][在线阅读][下载 901K] [阅读次数：3 ] |[下载次数：4 ] |[引用频次：0 ] - LI Xuegang;JIANG Guoqing;SUN Guocang;HUA Runan;ZHU Jie;
A radiated noise measurement method of underwater acoustic targets with relatively low power by a vertical nested array is studied. Firstly, the array gain requirements for different frequency bands are obtained through comparative analysis of the background noise level and the radiated noise level of the target. Secondly, an ultra wideband constant-beamwidth beamforming method with high robustness is established for the waveguide environment based on convex optimization. The radiated noise measurement and the following spatial array signal processing procedure is formulated. Finally, a vertical nested array measurement system is developed, and the radiated noise measurement method is verified using lake test data. Experimental results show that the radiated noise measurement method has large working bandwidth, high robustness and low measurement uncertainty of about 2 dB.
2024年01期 v.43 98-112页 [查看摘要][在线阅读][下载 1015K] [阅读次数：0 ] |[下载次数：6 ] |[引用频次：0 ] - ZHANG Xi;LI Hongguang;ZHAO Xie;XIONG Hanlin;MENG Guang;
In order to solve the mixed nonlinear multi-objective optimization problem of discrete/continuous variables of the spherical transducer under the multi-constraint conditions, the electrical-mechanical-acoustic model of the spherical transducer is built based on the equivalent circuit theory. The multi-objective optimization mathematical model of the spherical transducer is constructed. The transmitting sound level, input electric power and mass are taken as the optimization objective functions, and the material property parameters, structural size parameters, frequency range and input voltage are taken as the design variables. Besides, the physical properties such as piezoelectric ceramic depolarization,structural strength limit, power capacity and the value of design variables are taken as constraints. The multi-objective optimization design of the spherical transducer is carried out by using the non-dominated sorting genetic algorithm-II(NSGA-II), and the Pareto front solution set is obtained. The effectiveness of the optimization results is verified by experiments. The results show that the transducer prototype designed and manufactured by the multi-objective optimization method reduces the input power by 32.8% and the mass by 27.4% under the premise of meeting the requirements of the transmitting sound level. The results are of great value to the optimization design of transmitting transducer under severe conditions.
2024年01期 v.43 113-131页 [查看摘要][在线阅读][下载 831K] [阅读次数：3 ] |[下载次数：5 ] |[引用频次：0 ] <正>ACTA ACUSTICA (声学学报,in Chinese) and Chinese Journal of Acoustics(in English) are the publications of the Institute of Acoustics,Chinese Academy of Sciences,edited by the Acoustical Society of China and the Editorial Board of Chinese Journal of Acoustics,to publish original works in all branches of acoustics,and to promote the international understanding and collaboration in the field of acoustics.
2024年01期 v.43 132页 [查看摘要][在线阅读][下载 32K] [阅读次数：4 ] |[下载次数：1 ] |[引用频次：0 ] -
<正>1 Chinese Journal of Acoustics is the publication of the Acoustical Society of China and the Institute of Acoustics, Chinese Academy of Sciences, to promote the international understanding and collaboration in the field of acoustics. It publishes original works in all branches of acoustics in China. Contributions from invited guests and friends overseas are also solicited.2 Contributed papers submitted for publication in the Journal should be original, unpublished. For speedy publication of new and important theoretical and experimental results,letters are preferred. Review papers are accepted only by invitation. Translations of the Chinese Acta Acustica articles are prearranged with the author.3 One copy of the manuscript (the original copy and electronically in MS word format by e-mail) in completed final version are required. The text should be written in English only.
2024年01期 v.43 133页 [查看摘要][在线阅读][下载 65K] [阅读次数：2 ] |[下载次数：1 ] |[引用频次：0 ] 下载本期数据