Acoustic Doppler Research Articles

Long-range LBL underwater acoustic navigation considering Earth curvature and Doppler effect

The accuracy of underwater acoustic navigation is significantly influenced by geometry configuration and systematic errors coming from geophysical environment. Long baseline (LBL) systems exhibit superior positioning precision than other acoustic navigation systems, primarily attributable to the better Geometric Dilution of Precision (GDOP). However, the geometry configuration tends to degrade when the underwater vehicle is far away from the seafloor beacons. Factors such as acoustic ray bending error, Doppler effect and Earth curvature may seriously affect the navigation accuracy. To address these issues, we present a robust Kalman filter with systematic error compensation for long-range LBL systems. Firstly, a reversed acoustic ray tracking method is proposed for a unique phenomenon in acoustic wave propagation. Following that, we construct an acoustic positioning model with a time bias parameter, to weaken the impact of Doppler effect on acoustic ranging. This additional parameter was estimated with the state of the user vehicle in real time. At last, an observation equation of pressure gauge considering Earth curvature is presented for depth constraint. Long-range LBL experiments conducted in the South China Sea is employed to validate the performance of the proposed methods, taking the positioning results of inverted ultra-short baseline (iUSBL) system as reference. The results show that the proposed method outperform traditional method with a decrease of about 60 % in the three-dimensional root mean square (3DRMS) of navigation errors. With mentioned three improvements, the 3DRMS of the long-range LBL system with the longest distance of 20 km from the beacon center is less than 14 m. These findings can provide theoretical basis for other long-range LBL systems.

Monopile-induced turbulence and sediment redistribution form visible wakes in offshore wind farms

Offshore wind farms are becoming an increasingly common feature in the marine environment as a renewable energy source. There is a growing body of evidence on the effects of wind farms on the seabed and its organisms. However, an important and understudied aspect of site development is the interaction of turbine foundations on the surrounding marine environment. Structures exert significant disturbance on tides, waves and currents; these are visible as optically-distinct, elongate wakes at the sea surface with elevated suspended particulate matter. Despite this, there is uncertainty on the mechanisms that lead to the visible manifestation of wakes at turbine foundations, primarily due to a lack of direct measurements. Here, in situ measurements along with a 15-year time series of satellite images of the Thanet offshore wind farm, located within the Thames Estuary, were used to investigate the formation of visible monopile wakes, and the effects these have on the surrounding water column. We show the optically distinct wakes are near-constant at Thanet; visible in >90% of all satellite images, yet no regional change in sea surface turbidity could be attributed to wind farm construction or operation. Monopile wake in situ water samples and acoustic Doppler current profiler (ADCP) backscatter measurements demonstrated colour change related to elevated sea surface sediment concentration. However, averaged water column measurements of suspended sediment within wakes, and upstream of monopiles, remained consistent. These measurements demonstrate that sediment was redistributed towards surface waters, rather than additional sediment becoming suspended in the wake. ADCP velocity measurements supported a mechanism of sediment lofting towards the surface, with enhanced vertically upwards flow recorded in wakes.

Performance evaluation of a nonstandard Parshall flume and comparison of experimental techniques for its verification in a drinking water treatment plant

ABSTRACT This article investigates a nonstandard Parshall flume (Pf) to assess the impact of engineering deficiencies on flow rate (Q) estimation and compare experimental techniques for evaluating its performance in Q quantification and velocity gradient (G) appraisal during rapid mixing. Considering construction and instrumentation issues in the studied Pf, Q estimates were 10% lower than those derived from the standard rating curve (SRC), with 9% of this discrepancy attributable to the high placement of the stilling well scale and 1% to the position of the connecting pipe to the gauging section. When contrasting Q estimates from the SRC to the current rating curve in use and a set of rating curves fitted using salt dilution gauging (SDG), acoustic Doppler velocimetry (ADV), and numerical modeling (CFD), the average differences were −10.2, −8.3, −2.2, and 0.2%, respectively, for the current rating curve in use and those fitted to ADV, SDG, and CFD data. Considering only the instrumental measuring techniques, the SDG exhibited superior fittings (R2 = 0.99), followed by ADV (R2 = 0.95). Calculations of G aligned (9.3%) with CFD estimates support these methods as reliable tools for evaluating and verifying nonstandard Pf performance.

Utility of an Instantaneous Salt Dilution Method for Measuring Streamflow in Headwater Streams.

Streamflow records are biased toward large streams and rivers, yet small headwater streams are often the focus of ecological research in response to climate change. Conventional flow measurement instruments such as acoustic Doppler velocimeters (ADVs) do not perform well during low-flow conditions in small streams, truncating the development of rating curves during critical baseflow conditions dominated by groundwater inflow. We revisited an instantaneous solute tracer injection method as an alternative to ADVs based on paired measurements to compare their precision, efficiency, and feasibility within headwater streams across a range of flow conditions. We show that the precision of discharge measurements using salt dilution by slug injection and ADV methods were comparable overall, but salt dilution was more precise during the lowest flows and required less time to implement. Often, headwater streams were at or below the depth threshold where ADV measurements could even be attempted and transects were complicated by coarse bed material and cobbles. We discuss the methodological benefits and limitations of salt dilution by slug injection and conclude that the method could facilitate a proliferation of streamflow observation across headwater stream networks that are highly undersampled compared to larger streams.

Assessing uncertainties of a remote sensing-based discharge reflectance model for applications to large rivers of the Congo Basin

ABSTRACT Adequate monitoring of river discharge is crucial for effective water resource management. However, this objective remains difficult to achieve in the context of large and ungauged river basins. This study assesses the performance of remote sensing applications for discharge monitoring in the lower reach of the Congo River, where daily discharge information is required to support many water resource operations. The approach is based on the use of Moderate Resolution Imaging Spectroradiometer (MODIS) remote sensing imagery to produce a daily time series of a ratio of reflectance values (C/M) for discharge monitoring. The validation of the approach is performed based on three-year water level data collected at the outlet gauging site and limited in situ Acoustic Doppler Current Profiler (ADCP) cross-section measurements for high and low flow seasons. The simulated discharge closely matches the observed values and falls within acceptable ranges, with errors below 10% and Nash-Sutcliffe coefficients ranging from 0.65 to 0.76 for ADCP and gauging station, respectively.

Submerged rigid vegetation effects on flow hydrodynamics within the pool morphology

AbstractThis research is centered on a comprehensive investigation into the impact of turbulence on the movement and dispersion of materials within a three‐dimensional (3D) bedform, specifically when there is a continuous presence of rigid vegetation submerged in the flow. To achieve our research objectives, we conducted extensive velocity measurements within a channel featuring this submerged vegetation. The measurements were carried out using an Acoustic Doppler Velocimeter (ADV). Additionally, our study delved into the intricate structures and turbulent characteristics of the flow, considering the coexistence of submerged vegetation and a 3D gravel pool. This pool featured entrance and exit slopes measuring 3 and 2.5°, respectively. Our experimental setup took place in a straight flume, measuring 14 m in length, 0.9 m in width, and 0.6 m in depth. The flume was equipped with transparent side walls to facilitate observations. Furthermore, our investigation extended to the spatial variations in velocity and turbulence distributions. We analyzed various parameters including turbulence kinetic energy, integral turbulence lengths, dispersion coefficients, and advective transport. The results revealed that integral length scales offer key insights into turbulent eddy behavior. In the presence of vegetation and a 3D bedform, turbulent eddies undergo notable changes, flattening in the longitudinal direction and expanding in the transverse and vertical directions. Moreover, longitudinal advection is notably higher compared to flows without vegetation in a uniform flow or bare channel, especially for z/H > 0.2. This indicates that the presence of vegetation and a 3D bedform leads to an increase in turbulent kinetic energy (k values) that surpasses the reduction in the time‐averaged velocity component (“U”) in the U × k term, thereby enhancing longitudinal advection.

Effects of Patch Properties of Submerged Vegetation on Sediment Scouring and Deposition

Vegetation plays a key role in trapping sediments and further controlling pollutants. However, few studies were conducted to clarify the erosion and deposition laws of sediments and the influence factors caused by vegetation patch properties, which is not conducive to the revelation of riverbank protection and erosion prevention. Therefore, this study investigated the change in scouring and deposition characteristics around submerged vegetation patches of nine kinds of typical configurations and their influencing factors. Vegetation patches were assembled from three vegetation densities (G/d = 0.83, 1.3, and 1.77, representing dense, medium, and sparse, respectively), and three vegetation patch thicknesses (dn = 170, 400, and 630, representing narrow, usual, and wide, respectively), to measure vegetation patch property influences. Flow velocity, scouring, and deposition characteristics under nine patches were determined by a hydraulic flume experiment, three-dimensional acoustic Doppler velocimetry (ADV), and three-dimensional laser scanner, and then ten geometry and morphology indices were measured and calculated based on the results of laser scanning. Results showed that both vegetation patch density and thickness were positively related to the turbulence kinetic energy (TKE) above the vegetation canopy, and only vegetation patch density was negatively related to the flow velocity above the vegetation canopy. The relation between the product of density and vegetation patch thickness and erosion area in planform (EA) showed a power function (R2 = 0.644). Both density and vegetation patch thickness determined the scouring degree, but deposition location and amount did not rely on each one simply. On average, medium density showed the smallest maximum erosion length (MEL), EA, deposition area in planform (DA), and average deposition length (ADL) and a minimum of the above parameters also occurred at narrow vegetation patch thickness. The shape factor of the erosion volume (SFEV), the shape factor of the deposition volume (SFDV), ADL, and MEL of medium density and narrow thickness vegetation patch (G/d = 1.3, dn = 170) were significantly smaller than that of other types of patches. DA and equivalent prismatic erosion depth on the erosion area (EPED) were significantly linearly related (R2 = 0.766). Consequently, most sediment was deposited close to the vegetation patch edge. It is suggested that vegetation patch thickness and density should be given to control sediment transport. In particular, natural vegetation growth changes vegetation patch density and then alters vegetation patch thickness. Management and repair need to be first considered. The results of this study shed light on riparian zone recovery and vegetation filter strip mechanism.

Impact of flexible vegetation on hydraulic characteristics in compound channels with converging floodplains

ABSTRACT Floodplains in natural rivers are curved and narrow, rather than following a straight path and the presence of vegetation and varying depth of flow affects the flow parameters of the channels. The purpose of this study is to investigate the effects of the convergence of the channel and relative depth of flow on the depth-averaged velocity (DAV) and boundary shear stress (BSS) of a converging compound channel. The effect of vegetation on DAV and BSS was also deliberated. To examine the effect of vegetation, synthetic grass 8 cm in height was used as a flexible vegetation to depict the natural conditions of the rivers. The DAV was calculated using an acoustic Doppler velocimeter (ADV) and the measurement of BSS was done using the Preston tube technique. After analysing the data, it was revealed that as the convergence of floodplains increases, maximum DAV increases. The presence of vegetation reduces the velocity specifically at lower flow depths. BSS increases with the convergence as well as vegetation. This research provides valuable data and results which will be helpful in better flood management, river restoration, and designing effective hydraulic structures.

On the Performance of a Horizontally Mounted ADCP in an Energetic Tidal Environment for Floating Tidal Turbine Applications.

Incident flow measurement is key in the tidal industry for conducting power performance assessments. This paper explores the use of a horizontally mounted Nortek Signature 500 Acoustic Doppler Current Profiler (ADCP) as a means for incident flow measurement onboard a utility-scale tidal turbine. This study shows that the measurement range of an ADCP mounted horizontally in highly dynamic tidal flow (up to 4 m/s) is less than the maximum range stated by the manufacturer. The ability for the horizontal ADCP to accurately resolve velocities in a multi-beam configuration is also analysed. Effects from both vertical shear and beam selection result in incident flow velocities that differ from a single horizontal beam recording. The maximum measurement range of the instrument is found to depend on current speed and on the proportion of data loss that is acceptable to the user. The ability of the ADCP to record data from the free-stream velocity two equivalent diameters upstream of the O2, as set out by IEC TS 62600-200, is considered. It is found that at this distance, there is 90% data loss. Accepting only 10% data loss across all flow speeds resulted in a maximum range of 31 m for a Nortek Signature 500 in this study. While some limitations of an ADCP deployed horizontally in highly energetic tidal flow are identified, the benefits of mounting the sensor close to the rotor facing horizontally into the incoming flow mean that valuable data are still produced for tidal turbine operators.

Fine Sediment in Mixed Sand‐Silt Environments Impacts Bedform Geometry by Altering Sediment Mobility

AbstractGeometric characteristics of subaqueous bedforms, such as height, length and leeside angle, are crucial for determining hydraulic form roughness and interpreting sedimentary records. Traditionally, bedform existence and geometry predictors are primarily based on uniform, cohesionless sediments. However, mixtures of sand, silt and clay are common in deltaic, estuarine, and lowland river environments, where bedforms are ubiquitous. Therefore, we investigate the impact of fine sand and silt in sand‐silt mixtures on bedform geometry, based on laboratory experiments conducted in a recirculating flume. We systematically varied the fraction of sand and silt for different discharges, and utilized an acoustic Doppler velocimeter to measure flow velocity profiles. The final bed geometry was captured using a line laser scanner. Our findings reveal that the response of bedforms to an altered fine sediment percentage is ambiguous, and likely depends on, among others, bimodality‐driven bed mobility and sediment cohesiveness. When fine, non‐cohesive material (fine sand or coarse silt) is mixed with the base material (medium sand), an increased dune height and length is observed, possibly caused by the hiding‐exposure effect, resulting in enhanced mobility of the coarser material. However, weakly cohesive fine silt suppresses dune height and length, possibly caused by reduced sediment mobility. Finally, in the transition from dunes to upper stage plane bed, there are indications that the bed becomes unstable and dune heights vary over time. The composition of the bed material does not significantly impact the hydraulic roughness, but mainly affects roughness via the bed morphology, especially the leeside angle.

Complementary Coding-Based Waveform Design for Broadband Acoustic Doppler Current Profilers

Complementary Coding-Based Waveform Design for Broadband Acoustic Doppler Current Profilers

Mesoscale Eddies and Near-Inertial Internal Waves Modulate Seasonal Variations of Vertical Shear Variance in the Northern South China Sea

Abstract Diapycnal mixing in the South China Sea (SCS) is commonly attributed to the vertical shear variance S2 of horizontal ocean current velocity, but the seasonal modulation of S2 is still poorly understood due to the scarcity of long-term velocity observations. Here, this issue is explored in detail based on nearly 10-yr-long acoustic Doppler current profiler (ADCP) velocity data from a mooring in the northern SCS. We find that S2 in the northern SCS exhibits significant seasonal variations at both the near-surface (90–180 m) and subsurface (180–400 m) layers, but their seasonal cycles and modulation mechanisms are quite different. For the near-surface layer, S2 is stronger in late summer, autumn, and winter but weaker in spring and early summer, while in the subsurface layer, it is much stronger in winter than in other seasons. Further analysis suggests that in the near-surface layer, the stronger S2 in autumn and winter is primarily caused by typhoon-induced near-inertial internal waves (NIWs) and the large subinertial (SI) velocity shear of the baroclinic mesoscale eddies, respectively. With respect to the subsurface layer, the enhanced wintertime S2 is primarily associated with the “inertial chimney” effect of anticyclonic eddies, trapping wind-forced downward-propagating NIWs and significantly increasing the near-inertial shear at the critical layer. The findings in this study highlight the potentially important roles of mesoscale eddies and NIWs in modulating the seasonality of upper-ocean mixing in the northern SCS. This modulation is attributed not only to the strong shear of these features but also to their interactions. Significance Statement Vertical shear variance of velocity S2 significantly modulates turbulent mixing in the thermocline, but its climatologically seasonal variations and the associated mechanisms are still obscure due to the scarcity of long-term in situ velocity data. By analyzing nearly a decade of velocity data, we reveal significant seasonal variations in S2 at different ocean layers in the northern SCS and uncover different seasonal cycles and modulation mechanisms. The study sheds light on the pivotal roles of mesoscale eddies and near-inertial internal waves in modulating seasonality of S2 in the upper ocean. These findings have important implications for improving mixing parameterizations in numerical models.

A magnetic anomaly and particle velocity array correlator for the detection of internal waves in the ocean

Related literature has shown that internal waves (IWs) observed in the ocean are capable of producing secondary magnetic fields with a small signal-to-noise ratio due to the flow of dissolved salts. It can be difficult to characterize these signals since they are relatively weak, highly transient, and capable of being multi-modal. Using data collected by an array of magnetometers and acoustic Doppler current profilers, a technique called magnetic anomaly and particle velocity array correlator was developed for the detection of IWs. By using a combination of filtering techniques and a multi-variate correlation step, peak correlations above 90% were shown between the magnetic and water particle velocity records of potential IWs.

Reach-Scale Mapping of Surface Flow Velocities from Thermal Images Acquired by an Uncrewed Aircraft System along the Sacramento River, California, USA

An innovative payload containing a sensitive mid-wave infrared camera was flown on an uncrewed aircraft system (UAS) to acquire thermal imagery along a reach of the Sacramento River, California, USA. The imagery was used as input for an ensemble particle image velocimetry (PIV) algorithm to produce near-continuous maps of surface flow velocity along a reach approximately 1 km in length. To assess the accuracy of PIV velocity estimates, in situ measurements of flow velocity were obtained with an acoustic Doppler current profiler (ADCP). ADCP measurements were collected along pre-planned cross-section lines within the area covered by the imagery. The PIV velocities showed good agreement with the depth-averaged velocity measured by the ADCP, with R2 values ranging from 0.59–0.97 across eight transects. Velocity maps derived from the thermal image sequences acquired on consecutive days during a period of steady flow were compared. These maps showed consistent spatial patterns of velocity vector magnitude and orientation, indicating that the technique is repeatable and robust. PIV of thermal imagery can yield velocity estimates in situations where natural water-surface textures or tracers are either insufficient or absent in visible imagery. Future work could be directed toward defining optimal environmental conditions, as well as limitations for mapping flow velocities based on thermal images acquired via UAS.

Anisotropic turbulence modeling for natural channel flow: A numerical approach with finite element method

In this study, we propose a numerical model aimed at improving the understanding and prediction of flow velocities in natural channels. This model specifically focuses on the challenges presented by anisotropic turbulence and bottom roughness. By incorporating the mixing length concept into an algebraic turbulence model and employing the finite element method with Streamline-Upwind/Petrov–Galerkin (SUPG) stabilization, our model seeks to refine the simulation of axial velocity distribution and secondary motions. Validation was achieved through Acoustic Doppler Current Profiler (ADCP) measurements in three sections of the Canal do Rodeador, showing our model’s predictions of discharge and average velocity to have a deviation of approximately 9.34% from experimental data. The results underline the significance of secondary currents and turbulence anisotropy in shaping channel flow behaviors, offering new insights into the interactions between flow characteristics and channel bed features. This model stands out as a robust tool for hydraulic structure design and hydrokinetic potential evaluation, providing a non-intrusive, cost-effective alternative to traditional methods.

Challenge for multifaceted data acquisition around active volcanoes using uncrewed surface vessel

Monitoring of volcanic eruptions, the atmosphere, and the ocean, along with their scientific understanding, can be achieved through multifaceted observations that include camera images, topographic deformations, elastic waves, geology, and the chemical constituents and temperatures of air and water. However, regions of increased volcanic activity and/or shallow waters are difficult to access by crewed ship due to danger or grounding risk. To overcome these difficulties, we used an uncrewed surface vessel (USV), Bluebottle, to operate multiple observation around oceanic volcanoes in the Bonin Island arc in May 2023. Even under adverse sea conditions, the USV successfully reached a remote observation site, Nishinoshima volcano, which is about 130 km away from Chichijima Island where the USV started out from. The USV conducted five days of observations at shallower than 500 m water depth around Nishinoshima Island, the first time after violent eruptions of Nishinoshima in June 2020. The USV is equipped with various sensors and data collection technologies, including a single-beam echosounder, oceanographic and meteorological sensors, an Acoustic Doppler Current Profiler, and a time-lapse camera. These tools have provided a multi-dimensional view of the underwater landscape and marine conditions near the volcano for the first time in the world. We obtained new bathymetric data, sub-bottom images, and measurements of temperature, salinity, and pH. This study leverages advanced technologies and innovative methodologies to enhance our understanding of marine and geological phenomena.

Multiyear surface wave dataset from the subsurface “DeepLev” eastern Levantine moored station

Abstract. Processed and analyzed sea surface wave characteristics derived from an up-looking acoustic Doppler current profiler (ADCP) for the period 2016–2022 are presented as a dataset available from the public open-access repository of SEA scieNtific Open data Edition (SEANOE) at https://doi.org/10.17882/96904 (Haim et al., 2022). The collected data include full two-dimensional wave fields, along with computed bulk parameters, such as wave heights, periods, and directions of propagation. The ADCP was mounted on the submerged Deep Levantine (DeepLev) mooring station located 50 km off the Israeli coast to the west of Haifa (bottom depth ∼1470 m). It meets the need for accurate and reliable in situ measurements in the eastern Mediterranean Sea as the area significantly lacks wave data compared to other Mediterranean sub-basins. The developed long-term time series of wave parameters contribute to the monitoring and analysis of the region's wave climate and the quality of wind–wave forecasting models.

Depth‐Partitioning of Particulate Organic Carbon Composition in the Rising and Falling Stages of the Amazon River

AbstractThe Amazon River mobilizes organic carbon across one of the world's largest terrestrial carbon reservoirs. Quantifying the sources of particulate organic carbon (POC) to this flux is typically challenging in large systems such as the Amazon River due to hydrodynamic sorting of sediments. Here, we analyze the composition of POC collected from multiple total suspended sediment (TSS) profiles in the mainstem at Óbidos, and surface samples from the Madeira, Solimões and Tapajós Rivers. As hypothesized, TSS and POC concentrations in the mainstem increased with depth and fit well to Rouse models for sediment sorting by grain size. Coupling these profiles with Acoustic Doppler Current Profiler discharge data, we estimate a large decrease in POC flux (from 540 to 370 kg per second) between the rising and falling stages of the Amazon River mainstem. The C/N ratio and stable and radiocarbon signatures of bulk POC are less variable within the cross‐section at Óbidos and suggest that riverine POC in the Amazon River is predominantly soil‐derived. However, smaller shifts in these compositional metrics with depth, including leaf wax n‐alkanes and fatty acids, are consistent with the perspective that deeper and larger particles carry fresher, less degraded organic matter sources (i.e., vegetation debris) through the mainstem. Overall, our cross‐sectional surveys at Óbidos highlight the importance of depth‐specific sampling for estimating riverine export fluxes. At the same time, they imply that this approach to sampling is perhaps less essential with respect to characterizing the composition of POC sources exported by the river.

Siting Considerations for Satellite Observation of River Discharge

AbstractWith growing global capability for satellite measurement of river discharge (flow) comes a need to understand and reduce error in satellite‐based discharge measurements. Satellite‐based discharge estimates are based on measurements of water surface width, elevation, slope, and potentially velocity. Site selection is important for reducing error and uncertainty in both conventional and satellite‐based discharge measurements because geomorphic river characteristics have strong control over the relationships between discharge and width, water surface elevation (or depth), slope, and velocity. A large ground‐truth data set of 8,445 conventional hydraulic measurements, collected by acoustic Doppler current profilers at 503 stations in the United States, was developed and quality assured to examine correlation between river discharge and water surface width, depth, velocity, and cross‐sectional area. A separate database of river surface slope and discharge time‐series was developed from paired continuous monitoring stations to examine slope‐discharge correlations. Results show that discharge correlates most strongly with velocity, cross‐sectional area, depth, width, and slope, in that order. Uncertainty of satellite discharge estimates is affected by observed hydraulic variable and reach‐specific variability in observed variable(s) characteristics including range of variability, georegistration accuracy, and stability over time of relationships between discharge and observed hydraulic variable.

In situ measurements and simulations of a net cage in currents

Accurate predictions of net cages’ deformation under current loads are vitally important for the welfare of stocked fish and the safety of cage structures. In this study, a scaled cage model was deployed at a fish farm. The incoming flow profile was measured through an Acoustic Doppler Current Profiler (ADCP) with high resolution in the depth direction, and the flow inside the cage was measured through an Acoustic Doppler Vector (ADV). Pressure tags were applied to capture the lifting of the cage under varying current conditions. The incoming flow velocity shows a good correlation with the lifting of the cage, and in general the rate of the cage being lifted by the flow increases with flow speed. However, the flow speed measured inside the cage is much less correlated to the upstream flow and cage deformation. Numerical cage models consisting of truss elements were developed; two flow reduction factors r = 0.9 and 0.8 derived from empirical formulas and measurements inside cages in previous studies were applied. The numerical model with r = 0.8 can predict the cage deformation well, with most relative deviations in the depth directions being less than 15%. The study indicates the feasibility of applying pressure tags with high precision to estimate current-induced cage deformation in situ, especially when a cage is experiencing obvious deformation.