Application of complex acoustic signals in the long-range navigation of underwater objects

Abstract

The creation of modern technical means of research and exploration of the ocean based on submersibles of different designations is a priority field of science and technology development. Creation of intellectual autonomous unmanned submersibles (AUS), which provide multidisciplinary wide-scale study of sea basins and the ocean bottom and new basic knowledge in oceanography, marine geology, biology, and power engineering, is a pressing issue [1]. Significant progress in the development of electric power systems promoted the creation of an AUS with an operating coverage range of hundreds of kilometers. It has become reasonable to equip them with systems of transmitting and receiving low-frequency acoustic signals with a propagation range not smaller than the operating range of the submersibles as means for remote control of the operation and mutual maneuvering during their group operation. Up to the present, the development of such systems has been hampered by a lack of technical solutions for the measurement of the time of signal propagation from a sound source to a receiver over a distance of hundreds of kilometers with the required accuracy. In this work, we present the results of experimental studies of the propagation of low-frequency broadband pulse signals in an underwater sound channel (USC) using state-of-the-art technologies for synchronizing the receiving and transmitting channels. This allowed us to acquire unique data on the stability of acoustic wave propagation velocity in the USC for developing the technology of measurement of the distance between the sound source and the receiver. The main objective of the experiment was to discriminate the part of the signal propagating closest to the USC axis and to measure the time of its propagation from the source to the receiver. In order to do this, the method developed by the authors for sounding the sea medium by complex phase-manipulated signals was used. This technology allows us to distinguish and identify the arrivals of acoustic energy over different beam trajectories [2, 3]. The experiment was carried out in August 2006 in the Sea of Japan. Figure 1 shows the schematic geometry and methodological peculiarities of the experiment. According to the commands of the receiving vessel, complex signals (M-sequences, 511 symbols, and 4 periods of the carrier frequency per symbol) were transmitted with an interval of 5 min at a frequency of 600 Hz by the sound source stationary located near the bottom at a depth of 40 m and a distance of 450 m from the coast. The receiving vessel was represented by a yacht, which was used to deploy the radio hydroacoustic buoy with a hydrophone. The yacht was maneuvering under sail in the zone of reliable recording of radio signals. The hydrophone was lowered approximately to the USC axis, whose location was found from the measurement of the vertical distribution of sound velocity using the hydrological profiler from the yacht (Fig. 2). Signals were received at six points of the path at a distance from the transmitter ranging from 55 km to 368 km (Table 1). The buoy with the hydrophone was drifting in this process, and the coordinates were measured from the yacht using a GPS navigator when the yacht was passing close to the buoy. The signal information and marks of the common time system were recorded on a PC. The systems of common time based on thermally stabilized generators were included into the transmitting and receiving systems and were started before the beginning of the experiment. This allowed us to measure the times of signal propagation between the corresponding points with an accuracy not less than 10 ‐8 s. Processing of the information consisted in the calculation of the cross-correlation function between the received signals and the mask of the transmitted signal preliminary recorded by the PC. From two to four arrivals of acoustic energy, which propagated over different beam trajectories, were recorded in the pulse characteristics obtained using this method. The latest and maximal (in amplitude) arrival was identified as the one that passed near the USC axis, because it propagated near the minimum of sound velocity along the shortest path