Vector Sensor Steering-Dependent Performance in an Underwater Acoustic Communication Field Experiment.

This paper shows the performance resulting from combining vector sensor directional components in an underwater acoustic communication experiment. The objective is to relate performance with transmission direction and range. Receiver structures based on beamforming and passive time-reversal are tested in order to quantify and compare the steerability impact of vector sensor directional components. A shallow water experiment is carried out with a bottom fixed two-axis pressure-gradient vector sensor. A ship suspended acoustic source transmits coherent modulated communication signals at various ranges and from several directions. Results show that one vector sensor can provide an up to 10 times smaller error bit rate than a pressure sensor, favoring communication robustness without size penalty.

Erratum: Martins, M.S., et al. Wideband and Wide Beam Polyvinylidene Difluoride (PVDF) Acoustic Transducer for Broadband Underwater. Sensors 2019, 19, 3991.

The authors wish to make the following erratum to this paper [...].

Wideband and Wide Beam Polyvinylidene Difluoride (PVDF) Acoustic Transducer for Broadband Underwater Communications.

The advances in wireless communications are still very limited when intended to be used on Underwater Communication Systems mainly due to the adverse proprieties of the submarine channel to the acoustic and radio frequency (RF) waves propagation. This work describes the development and characterization of a polyvinylidene difluoride ultrasound transducer to be used as an emitter in underwater wireless communications. The transducer has a beam up to 10° × 70° degrees and a usable frequency band up to 1 MHz. The transducer was designed using Finite Elements Methods and compared with real measurements. Pool trials show a transmitting voltage response (TVR) of approximately 150 dB re µPa/V@1 m from 750 kHz to 1 MHz. Sea trials were carried in Ria Formosa, Faro (Portugal) over a 15 m source-receiver communication link. All the signals were successfully detected by cross-correlation using 10 chirp signals between 10 to 900 kHz.

Sustained underwater acoustic communications with environmental-based time-reversal.

The usage of time-reversal in underwater communications relies on array channel matched-filtering, coherent channel replica alignment and summation. Traditionally, replicas are channel responses to probe signals received at a previous time. These are noisy and subject to distortion due to channel variability. This paper offers an alternative where noisy and potentially distorted channel replicas are replaced by noise-free and time-updated replicas generated by a numerical model constrained on previously data-identified environmental parameters. The method is applied on real data, where a quadrature phase shift key modulated signal on a 25.6 kHz carrier at 4 kbit/s was transmitted in a shallow water area over a distance of approximately 900 m. Sustained analysis without supervision shows that the proposed method may attain a mean square error gain up to 5.4 dB when compared to traditional time-reversal.

Development and Testing of a Dual Accelerometer Vector Sensor for AUV Acoustic Surveys.

This paper presents the design, manufacturing and testing of a Dual Accelerometer Vector Sensor (DAVS). The device was built within the activities of the WiMUST project, supported under the Horizon 2020 Framework Programme, which aims to improve the efficiency of the methodologies used to perform geophysical acoustic surveys at sea by the use of Autonomous Underwater Vehicles (AUVs). The DAVS has the potential to contribute to this aim in various ways, for example, owing to its spatial filtering capability, it may reduce the amount of post processing by discriminating the bottom from the surface reflections. Additionally, its compact size allows easier integration with AUVs and hence facilitates the vehicle manoeuvrability compared to the classical towed arrays. The present paper is focused on results related to acoustic wave azimuth estimation as an example of its spatial filtering capabilities. The DAVS device consists of two tri-axial accelerometers and one hydrophone moulded in one unit. Sensitivity and directionality of these three sensors were measured in a tank, whilst the direction estimation capabilities of the accelerometers paired with the hydrophone, forming a vector sensor, were evaluated on a Medusa Class AUV, which was sailing around a deployed sound source. Results of these measurements are presented in this paper.

Path specific Doppler compensation in time-reversal communications.

Passive time reversal (pTR) is a low complexity receiver scheme that uses multichannel probing for time signal refocusing, thus reducing time spreading and improving inter-symbol interference. Recognizing that signals traveling through different paths are subject to arrival-angle-related Doppler displacements, this letter proposes a further improvement to pTR that applies correcting frequency shifts optimized for beams formed along each specific path arrival angle. The proposed channel equalizer is tested with real data, and the results show that the proposed approach outperforms both pTR and the modified pTR channel combiners providing an MSE gain of 4.9 and 4.2 dB, respectively.

Experimental results of underwater cooperative source localization using a single acoustic vector sensor.

This paper aims at estimating the azimuth, range and depth of a cooperative broadband acoustic source with a single vector sensor in a multipath underwater environment, where the received signal is assumed to be a linear combination of echoes of the source emitted waveform. A vector sensor is a device that measures the scalar acoustic pressure field and the vectorial acoustic particle velocity field at a single location in space. The amplitudes of the echoes in the vector sensor components allow one to determine their azimuth and elevation. Assuming that the environmental conditions of the channel are known, source range and depth are obtained from the estimates of elevation and relative time delays of the different echoes using a ray-based backpropagation algorithm. The proposed method is tested using simulated data and is further applied to experimental data from the Makai'05 experiment, where 8-14 kHz chirp signals were acquired by a vector sensor array. It is shown that for short ranges, the position of the source is estimated in agreement with the geometry of the experiment. The method is low computational demanding, thus well-suited to be used in mobile and light platforms, where space and power requirements are limited.

T-wave propagation from the Pacific to the Atlantic: The 2020 M7.4 Kermadec Trench earthquake case.

An Mw7.4 submarine earthquake occurred in the Kermadec Trench, northeast of New Zealand, on 18 June, 2020. This powerful earthquake triggered energetic tertiary waves (T-waves) that propagated through the South Pacific Ocean into the South Atlantic Ocean, where the T-waves were recorded by a hydrophone station near Ascension Island, 15 127 km away from the epicenter. Different T-wave arrivals were identified during the earthquake period with arrival angles deviating from the geodesic path. A three-dimensional sound propagation model has been utilized to investigate the cause of the deviation and confirm the horizontal diffraction of the T-waves at the Drake Passage.

Environmental inversion using high-resolution matched-field processing.

This paper considers the inversion of experimental field data collected with light receiving systems designed to meet operational requirements. Such operational requirements include system deployment in free drifting configurations and a limited number of acoustic receivers. A well-known consequence of a reduced spatial coverage is a poor sampling of the vertical structure of the acoustic field, leading to a severe ill-conditioning of the inverse problem and data to model cost function with a massive sidelobe structure having many local extrema. This causes difficulties to meta-heuristic global search methods, such as genetic algorithms, to converge to the true model parameters. In order to cope with this difficulty, broadband high-resolution processors are proposed for their ability to significantly attenuate sidelobes, as a contribution for improving convergence. A comparative study on simulated data shows that high-resolution methods did not outperform the conventional Bartlett processor for pinpointing the true environmental parameter when using exhaustive search. However, when a meta-heuristic technique is applied for exploring a large multidimensional search space, high-resolution methods clearly improved convergence, therefore reducing the inherent uncertainty on the final estimate. These findings are supported by the results obtained on experimental field data obtained during the Maritime Rapid Environmental Assessment 2003 sea trial.

Broadband matched-field processing: coherent and incoherent approaches.

Matched-field based methods always involve the comparison of the output of a physical model and the actual data. The method of comparison and the nature of the data varies according to the problem at hand, but the result becomes always largely conditioned by the accurateness of the physical model and the amount of data available. The usage of broadband methods has become a widely used approach to increase the amount of data and to stabilize the estimation process. Due to the difficulties to accurately predict the phase of the acoustic field the problem whether the information should be coherently or incoherently combined across frequency has been an open debate in the last years. This paper provides a data consistent model for the observed signal, formed by a deterministic channel structure multiplied by a perturbation random factor plus noise. The cross-frequency channel structure and the decorrelation of the perturbation random factor are shown to be the main causes of processor performance degradation. Different Bartlett processors, such as the incoherent processor [Baggeroer et al., J. Acoust. Soc. Am. 80, 571-587 (1988)], the coherent normalized processor [Z.-H. Michalopoulou, IEEE J. Ocean Eng. 21, 384-392 (1996)] and the matched-phase processor [Orris et al., J. Acoust. Soc. Am. 107, 2563-2375 (2000)], are reviewed and compared to the proposed cross-frequency incoherent processor. It is analytically shown that the proposed processor has the same performance as the matched-phase processor at the maximum of the ambiguity surface, without the need for estimating the phase terms and thus having an extremely low computational cost.

Source localization in a time-varying ocean waveguide.

One of the most stringent impairments in matched-field processing is the impact of missing or erroneous environmental information on the final source location estimate. This problem is known in the literature as model mismatch and is strongly frequency dependent. Another unavoidable factor that contributes to model mismatch is the natural time and spatial variability of the ocean waveguide. As a consequence, most of the experimental results obtained to date focus on short source-receiver ranges (usually <5 km), stationary sources, reduced time windows and frequencies generally below 600 Hz. This paper shows that MFP source localization can be made robust to time-space environmental mismatch if the parameters responsible for the mismatch are clearly identified, properly modeled and (time-)adaptively estimated by a focalization procedure prior to MFP source localization. The data acquired during the ADVENT'99 sea trial at 2, 5, and 10 km source-receiver ranges and in two frequency bands, below and above 600 Hz, provided an excellent opportunity to test the proposed techniques. The results indicate that an adequate parametrization of the waveguide is effective up to 10 km range in both frequency bands achieving a precise localization during the whole recording of the 5 km track, and most of the 10 km track. It is shown that the increasing MFP dependence on erroneous environmental information in the higher frequency and at longer ranges can only be accounted for by including a time dependent modeling of the water column sound speed profile.