IEEE Journal of Oceanic Engineering最新文献_第7页

A Dense Subframe-Based SLAM Framework With Side-Scan Sonar 基于侧扫声纳的密集子帧SLAM框架

IF 3.8 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2024-12-27 DOI: 10.1109/JOE.2024.3503663

Jun Zhang;Yiping Xie;Li Ling;John Folkesson

{"title":"A Dense Subframe-Based SLAM Framework With Side-Scan Sonar","authors":"Jun Zhang;Yiping Xie;Li Ling;John Folkesson","doi":"10.1109/JOE.2024.3503663","DOIUrl":"https://doi.org/10.1109/JOE.2024.3503663","url":null,"abstract":"Side-scan sonar (SSS) is a lightweight acoustic sensor commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and mapping (SLAM) presents a notable challenge, primarily due to the difficulty of establishing a sufficient number of accurate correspondences between these images. To address this, we introduce a novel subframe-based dense SLAM framework utilizing SSS data, enabling effective dense matching in overlapping regions of paired side-scan images. With each image being evenly divided into subframes, we propose a robust estimation pipeline to estimate the relative pose between each paired subframe using a good inlier set identified from dense correspondences. These relative poses are then integrated as edge constraints in a factor graph to optimize the AUV pose trajectory. The proposed framework is evaluated on three real data sets collected by a Hugin AUV. One of these data sets contains manually annotated keypoint correspondences as ground truth and is used for the evaluation of pose trajectory. We also present a feasible way of evaluating mapping quality against multi-beam echosounder data without the influence of pose. Experimental results demonstrate that our approach effectively mitigates drift from the dead-reckoning system and enables quasi-dense bathymetry reconstruction.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"1087-1102"},"PeriodicalIF":3.8,"publicationDate":"2024-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10817085","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143848851","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Shared Control Framework With Constrained Optimization and Guiding Force Feedback for Teleoperation of Underwater Electric Manipulator 水下电动机械臂遥操作约束优化与导向力反馈共享控制框架

IF 3.8 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2024-12-27 DOI: 10.1109/JOE.2024.3432988

Fanghao Huang;Wenwen Li;Yichen Wang;Deqing Mei;Zheng Chen

{"title":"A Shared Control Framework With Constrained Optimization and Guiding Force Feedback for Teleoperation of Underwater Electric Manipulator","authors":"Fanghao Huang;Wenwen Li;Yichen Wang;Deqing Mei;Zheng Chen","doi":"10.1109/JOE.2024.3432988","DOIUrl":"https://doi.org/10.1109/JOE.2024.3432988","url":null,"abstract":"Human-in-the-loop teleoperation is a commonly used strategy for accomplishing underwater tasks by remotely controlling an underwater electric manipulator (UEM). However, nonlinearities and various uncertainties caused by hydrodynamics in UEM, poor tracking accuracy, as well as physical constraints and communication delays, pose significant challenges to the implementation of underwater teleoperation with UEM. Therefore, this article proposes a shared control framework for UEM teleoperation, incorporating constrained optimization and guiding force feedback to enhance underwater operation efficiency and reduce the operator's workload. Namely, an adaptive robust controller is developed on the remote side to ensure accurate tracking of the UEM in the underwater environment. Since the operator's commands are not available in advance and may violate the physical constraints of the UEM, an online constraint planner, which considers the constraints via the jerk-level configuration transformation strategy, is designed to generate feasible trajectories to be tracked by the UEM. Furthermore, constraints are taken into account in the guiding force feedback design, which can provide the operator with haptic feedback when constraints are violated, thereby preventing the operator from issuing unsafe commands and ensuring the effective implementation of underwater teleoperation. Finally, the modified wave variable architecture is employed to complete the teleoperation control, ensuring system stability even in the presence of communication delays between the onboard operator and UEM. Comparative experiments with a user study are conducted in a real underwater environment to evaluate the effectiveness of the proposed shared control framework.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"1030-1044"},"PeriodicalIF":3.8,"publicationDate":"2024-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143848828","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Bearing-Only-Based Cooperative Target Enclosing Control for Multiple Uncrewed Surface Vehicles With Unknown Dynamics and Sideslip 未知动力和侧滑情况下多无人水面车辆的全方位协同目标封闭控制

IF 3.8 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2024-12-19 DOI: 10.1109/JOE.2024.3478311

Xuanlin Chen;Fanghao Huang;Ya-Jun Pan;Zheng Chen

{"title":"Bearing-Only-Based Cooperative Target Enclosing Control for Multiple Uncrewed Surface Vehicles With Unknown Dynamics and Sideslip","authors":"Xuanlin Chen;Fanghao Huang;Ya-Jun Pan;Zheng Chen","doi":"10.1109/JOE.2024.3478311","DOIUrl":"https://doi.org/10.1109/JOE.2024.3478311","url":null,"abstract":"Cooperative target enclosing control for uncrewed surface vehicles (USVs) is critical in tackling complicated maritime tasks in many scenarios. This article proposes a cooperative target enclosing control framework for multi-USV systems, focusing on unknown targets under the constraints of bearing-only measurements, sideslip effects, unknown dynamics, and external disturbances. A bearing-only-based cooperative target estimator is introduced to estimate the relative position and velocity of the unknown target in practical situations where only bearing measurements are available. Cooperative states among neighboring USVs are incorporated to relax the persistent excitation (PE) condition, enhancing the estimator's robustness. A cooperative controller based on USV kinematics is designed to achieve both distance keeping and evenly spaced circumnavigation with neighbors. To account for the sideslip effects caused by the unknown sway velocity of the USVs, extended state observers are employed to estimate and compensate for the unknown kinematic terms involving sway velocity, thereby improving the target enclosing control performance. In addition, a radial basis function neural network-based dynamic controller is developed to approximate and compensate for uncertain nonlinear functions in the dynamics, ensuring the stability of individual USVs in the presence of uncertain dynamics. To address the issue of complexity explosion in online adaptive networks, a minimal learning parameters technique is adopted to reduce the number of weights that need to be online adapted to two, thereby effectively alleviating the computational load. Comparative simulations are implemented to verify the effectiveness of the proposed target enclosing framework for multi-USV systems.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"1015-1029"},"PeriodicalIF":3.8,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143848786","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Proof of Concept and Accuracy of an LBL Underwater Positioning System LBL 水下定位系统的概念和精度验证

IF 3.8 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2024-12-19 DOI: 10.1109/JOE.2024.3484510

Ana Isabel Vázquez-Mejías;Álvaro Hernández-Romero;Juan Vidal;Pablo Otero

{"title":"Proof of Concept and Accuracy of an LBL Underwater Positioning System","authors":"Ana Isabel Vázquez-Mejías;Álvaro Hernández-Romero;Juan Vidal;Pablo Otero","doi":"10.1109/JOE.2024.3484510","DOIUrl":"https://doi.org/10.1109/JOE.2024.3484510","url":null,"abstract":"This article details the design, deployment, and proof-of-concept experiment of an innovative long base line positioning system intended to provide an effective and viable solution for positioning in subsea environments. This system represents a significant advance in ocean exploration and monitoring by offering a versatile and efficient alternative. The system's architecture consists of four drifting buoys that function as transmitters, without imposing limitations on the number of receivers, allowing an unlimited number of users to be connected, provided they have compatible receivers installed on board. Transmitters on buoys and submerged receivers are equipped with acoustic modems. The transmitters are equipped with Global Navigation Satellite System (GNSS) receivers to know their positions, and LoRa (Long Range, which is a radio frequency data communications technology) transceivers that perform the precise synchronization of the system through surface communication. To validate the effectiveness of the system, tests were carried out in the “Puerto Elcano,” Cadiz, Spain, where its performance in shallow waters was demonstrated. These promising results underline the system's potential to improve positioning accuracy and reliability in subsea environments.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"1551-1556"},"PeriodicalIF":3.8,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10807382","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143860988","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

TRITON—Open Telemetry and Location Estimation for Marine Monitoring Based on IoT and LoRa 基于物联网和LoRa的海洋监测的TRITON-Open遥测和位置估计

IF 3.8 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2024-12-18 DOI: 10.1109/JOE.2024.3441819

Marko Radeta;João Pestana;Pedro Abreu;Rúben Freitas;Francisco Silva;Dinarte Vieira;Rui Prieto;Marc Fernandez;Filipe Alves;Thomas Dellinger;Silvana Neves;Eric Delory

{"title":"TRITON—Open Telemetry and Location Estimation for Marine Monitoring Based on IoT and LoRa","authors":"Marko Radeta;João Pestana;Pedro Abreu;Rúben Freitas;Francisco Silva;Dinarte Vieira;Rui Prieto;Marc Fernandez;Filipe Alves;Thomas Dellinger;Silvana Neves;Eric Delory","doi":"10.1109/JOE.2024.3441819","DOIUrl":"https://doi.org/10.1109/JOE.2024.3441819","url":null,"abstract":"Biologging and biotelemetry are essential tools to better understand marine species and consequently contribute to increasing our knowledge of marine ecosystems as a whole. Assessing marine megafauna trajectories is traditionally performed with significantly high cost and labor, without guaranteeing the equipment recapture, where quick georeferencing techniques remain proprietary and power intensive. The Internet of Things (IoT) and open radio communication protocols, such as long range (LoRa), provide opportunities for the creation of robust and low-cost sensor networks, which still need to be further tested in the harsh oceanic environment and on marine species. With a vision on having their real-life application on marine species, this study provides a fourfold contribution with LoRa and IoT. First, we review current biotelemetry and biologging, outlining opportunities. Second, we present TRITON, an open telemetry sensor for marine megafauna monitoring. Third, we provide a novel location estimation pipeline based on assisted GPS and simplified pseudorange multilateration using raw satellite data. Fourth, we validate the location estimation pipeline with four in-the-wild studies, mimicking the behavior of marine species, obtaining <inline-formula><tex-math>$text{500};text{m}$</tex-math></inline-formula> grand average error, using seven satellites. We discuss how the TRITON system may be leveraged for long- and short-term marine megafauna monitoring, paving the road for more LoRa and IoT biotelemetry applications.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"1244-1258"},"PeriodicalIF":3.8,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10807074","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852417","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Laser-Acoustic Cross-Medium Communication (LACMC) System: Theoretical Channel Model and Experiments 激光声跨介质通信（LACMC）系统：理论信道模型与实验

IF 3.8 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2024-12-17 DOI: 10.1109/JOE.2024.3487240

Jingyu Qian;Yujia He;Yanbin Fu;Jingxuan Li;Jiayi Su;Yifan Wang;Fengzhong Qu;Yan Wei;Xingbin Tu

{"title":"Laser-Acoustic Cross-Medium Communication (LACMC) System: Theoretical Channel Model and Experiments","authors":"Jingyu Qian;Yujia He;Yanbin Fu;Jingxuan Li;Jiayi Su;Yifan Wang;Fengzhong Qu;Yan Wei;Xingbin Tu","doi":"10.1109/JOE.2024.3487240","DOIUrl":"https://doi.org/10.1109/JOE.2024.3487240","url":null,"abstract":"Recent advancements in acoustic and millimeter-wave technologies have enabled direct communication over water–air interfaces. This cross-medium communication involves three key steps: an underwater transducer emits acoustic waves that create surface vibrations, airborne radars detect these vibrations using millimeter waves, and finally, processed radar signals facilitate communication. However, this scheme suffers from short communication distances (approximately 1 m over water) and low resolution (millimetre level). In this article, a laser-acoustic cross-medium communication (LACMC) system is proposed and validated in anechoic tank experiments with the expectation of addressing the challenges of direct, high-precision, long-range communication across water--air interfaces for integrated air--sea networking. We analyze signal transmission through underwater, water surface, and air mediums and establish a robust LACMC channel model, which was verified by experiments. Experimental results prove that the channel is time-invariant and frequency-selective, with a single direct path and no multipath effects. We further enhance cross-medium communication quality by designing appropriate transmitted signals based on channel characteristics and employing laser Doppler vibrometry for high-precision, noncontact measurements. Our experimental results demonstrate the system's efficacy in long-distance applications, achieving an underwater communication distance of 3.5 m and an above-water distance of 10.8 m. The study is expected to provide a foundation for direct, high-precision, and long-distance communication between underwater nodes and airborne nodes.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"684-696"},"PeriodicalIF":3.8,"publicationDate":"2024-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robust Wideband Beamspace Adaptive Beamforming for Mainlobe Jamming in Underwater Environment 水下环境下主瓣干扰的鲁棒宽带波束空间自适应波束形成

IF 3.8 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2024-12-17 DOI: 10.1109/JOE.2024.3498276

Biao Jin;Yuchen Jin;Zhenkai Zhang;Zhaoyang Xu;Xiaohua Zhu

{"title":"Robust Wideband Beamspace Adaptive Beamforming for Mainlobe Jamming in Underwater Environment","authors":"Biao Jin;Yuchen Jin;Zhenkai Zhang;Zhaoyang Xu;Xiaohua Zhu","doi":"10.1109/JOE.2024.3498276","DOIUrl":"https://doi.org/10.1109/JOE.2024.3498276","url":null,"abstract":"In underwater acoustic detection, wideband array technology is recognized for its robust anti-interference capabilities and enhanced target information acquisition. Traditional wideband adaptive beamforming techniques grapple with the challenge of mainlobe distortion in the presence of mianlobe jamming, which diminishes the effectiveness of target detection. Addressing this predicament, we propose an innovative wideband beamspace adaptive beamforming approach. This approach capitalizes on the unique structure of beamspace to devise auxiliary beams expressly engineered to present a minimal amplitude-frequency response within the main beam's mainlobe region. We further employ the spatial response variation strategy to construct a frequency-invariant beamformer, capable of producing consistently oriented beams across a spectrum of frequencies. Subsequently, we decompose the auxiliary beam's covariance matrix and reconstitute the covariance matrix within the beamspace. Such a method preserves the integrity of the mainlobe. The simulation outcomes corroborate the efficacy of our proposed method, confirming its ability to not only safeguard the mainlobe against distortion but also attenuate sidelobe interference and assure commendable frequency uniformity, all achieved without reliance on prior knowledge regarding the nature of the interference.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"627-636"},"PeriodicalIF":3.8,"publicationDate":"2024-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852415","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

UIE-SFIFormer: Underwater Image Enhancement Based on Physical-Guided Spatial–Frequency Interaction Transformer UIE-SFIFormer：基于物理引导空频交互变压器的水下图像增强

IF 3.8 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2024-12-17 DOI: 10.1109/JOE.2024.3458109

Yuan Zhou;Haiyong Xu;Gangyi Jiang;Mei Yu;Yeyao Chen;Ting Luo

{"title":"UIE-SFIFormer: Underwater Image Enhancement Based on Physical-Guided Spatial–Frequency Interaction Transformer","authors":"Yuan Zhou;Haiyong Xu;Gangyi Jiang;Mei Yu;Yeyao Chen;Ting Luo","doi":"10.1109/JOE.2024.3458109","DOIUrl":"https://doi.org/10.1109/JOE.2024.3458109","url":null,"abstract":"Light scattering and absorption can cause color distortion, blurring, noise, and other issues in underwater images, negatively impacting their quality and posing significant challenges for underwater research and exploration. To deal with the problem, a novel underwater image enhancement method, the UIE-SFIFormer, has been proposed by designing the physical-guided spatial–frequency interaction Transformer. Specifically, the proposed physical guidance fusion module (PGFM) is designed to fuse the dark channel inverse transmission map, incorporating prior knowledge, such as brightness and depth, with the raw image to enhance missing physical information. Subsequently, the spatial–frequency feature extraction module (SFFEM) is utilized for further feature extraction of the fused image. Within SFFEM, Transformer is employed for spatial and frequency domain feature extraction to address nonlocal degradation and excessive fuzzy noise in underwater images. Building upon this foundation, a spatial–frequency interaction block is constructed to combine dual features through spatial–frequency-domain hybrid cross-attention. Finally, experimental results on five underwater test data sets demonstrated that the proposed UIE-SFIFormer has a better performance in restoring and enhancing underwater images than other methods.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"727-742"},"PeriodicalIF":3.8,"publicationDate":"2024-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143848859","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Correcting Ship-Track Orthogonal Bathymetric Undulations Induced by Lever Arm Errors in Multibeam Echosounder Bathymetric Data 修正多波束测深数据中杠杆臂误差引起的船道正交水深波动

IF 3.8 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2024-12-12 DOI: 10.1109/JOE.2023.3245684

Jiawei Long;Jianhu Zhao;Tie Li;Shaobo Li

{"title":"Correcting Ship-Track Orthogonal Bathymetric Undulations Induced by Lever Arm Errors in Multibeam Echosounder Bathymetric Data","authors":"Jiawei Long;Jianhu Zhao;Tie Li;Shaobo Li","doi":"10.1109/JOE.2023.3245684","DOIUrl":"https://doi.org/10.1109/JOE.2023.3245684","url":null,"abstract":"Multibeam echosounder systems have been becoming a standard acoustic remote sensing approach and are widely applied in ocean mapping tasks. The errors of lever arm between heave sensor and transducer due to deformation or mistaken measurement will be manifested as ship-track orthogonal bathymetric undulations, which will hinder the accurate expression of high-resolution seafloor topographic maps. To address this issue, in this article, the characteristics of lever arm errors and the distinction from other errors are analyzed, and a new method is proposed to calibrate the lever arm errors. First, the periodical pattern of abnormal undulations caused by lever arm errors is extracted by the Two-Way Difference Method and Multistart Algorithm. Then, the correction model is established and the Random Sample Consensus Algorithm with moving windows is used to obtain the correction water depth. Finally, support vector regression is used to calculate the lever arm errors with the correction depth and initial depth. The results indicate that the proposed method can significantly eliminate ship-track orthogonal bathymetric undulations in multibeam bathymetry caused by lever arm errors and is robust in complex seabed topography.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"1309-1324"},"PeriodicalIF":3.8,"publicationDate":"2024-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852406","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Physics-Based Inversion of Multibeam Sonar Data for Seafloor Characterization 基于物理的多波束声纳数据海底特征反演

IF 3.8 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2024-12-09 DOI: 10.1109/JOE.2024.3467308

Guangyu Xu;Brian T. Hefner;Darrell R. Jackson;Anatoliy N. Ivakin;Gorm Wendelboe

{"title":"A Physics-Based Inversion of Multibeam Sonar Data for Seafloor Characterization","authors":"Guangyu Xu;Brian T. Hefner;Darrell R. Jackson;Anatoliy N. Ivakin;Gorm Wendelboe","doi":"10.1109/JOE.2024.3467308","DOIUrl":"https://doi.org/10.1109/JOE.2024.3467308","url":null,"abstract":"A physics-based algorithm has been developed for the inversion of multibeam sonar survey data for sediment properties. The algorithm relies on high-frequency acoustical models of seafloor scattering to estimate sediment properties, taking as input the calibrated backscatter intensity time series data for multiple incidence angles. The inversion proceeds in three stages to produce estimates for a suite of geoacoustic and physical parameters of the seafloor, which include sediment attenuation and strengths of interface and volume scattering in the first stage, surface roughness and reflectivity in the second stage, and porosity, density, and sound-speed ratios and mean grain size in the third and final stage. The algorithm uses a Monte-Carlo approach to determine the uncertainties in inversion-derived sediment properties based on the measured statistics of seafloor backscatter. This assessment also takes into account the uncertainties associated with the empirical relations utilized in the final stage of inversion to determine sediment properties from reflectivity. The performance and accuracy of the algorithm have been evaluated through implementation in the processing of field data recorded from Sequim Bay, WA, USA, in 2019. Comparison of inversion output with ground-truth measurements demonstrates the effectiveness and robustness of the algorithm in seafloor characterization with multibeam sonars.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"1325-1343"},"PeriodicalIF":3.8,"publicationDate":"2024-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852403","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0