Towed Hydrophone Array Research Articles

A high-order time-delay difference estimation method for signal enhancement in the distorted towed hydrophone array.

In passive sonar systems, deviations from an ideal linear configuration can significantly impair the beamforming performance of towed hydrophone arrays. This paper presents a method aimed at improving the underwater acoustic signals in the presence of array distortion. The method is centered on a high-order time-delay difference estimation technique utilizing time-frequency autofocus. Initially, a detailed signal model is established that captures the distinctive characteristics of distorted arrays. Subsequently, an algorithm is introduced for high-order time-delay difference estimation to enhance signal fidelity by leveraging phase information within narrowband components originating from incidental acoustic sources. Additionally, a quality metric to evaluate these components is introduced, facilitating the practical implementation of the method. The effectiveness of the proposed approach is validated through both simulation and experimental results, demonstrating its superiority over existing techniques. Importantly, this method does not require prior knowledge of the distortion pattern, making it adaptable to various non-linear array configurations.

Direction-Finding Study of a 1.7 mm Diameter Towed Hydrophone Array Based on UWFBG.

This paper investigates a 1.7 mm diameter ultra-weak fiber Bragg grating (UWFBG) hydrophone towed array cable for acoustic direction finding. The mechanism of the underwater acoustic waves received by this integrated-coating sensitizing optical cable is deduced, and it is shown that the amplitude of its response varies with the direction of the sound wave. An anechoic pool experiment is carried out to test the performance of such a hydrophone array. The test array is a selection of six sensing fibers, each of which is coiled into 9 cm diameter fiber ring suspended in the water to receive acoustic signals. An average sensitivity of -141.2 dB re rad/μPa at frequencies from 2.5 kHz to 6.3 kHz was achieved, validating the detection of the azimuth of underwater acoustic waves. The ultra-thin towing cable system, with free structure, high sensitivity, and underwater target-detection capability has demonstrated great potential for future unmanned underwater vehicle (UUV) applications.

Click detection rate variability of central North Pacific sperm whales from passive acoustic towed arrays.

Passive acoustic monitoring (PAM) is an optimal method for detecting and monitoring cetaceans as they frequently produce sound while underwater. Cue counting, counting acoustic cues of deep-diving cetaceans instead of animals, is an alternative method for density estimation, but requires an average cue production rate to convert cue density to animal density. Limited information about click rates exists for sperm whales in the central North Pacific Ocean. In the absence of acoustic tag data, we used towed hydrophone array data to calculate the first sperm whale click rates from this region and examined their variability based on click type, location, distance of whales from the array, and group size estimated by visual observers. Our findings show click type to be the most important variable, with groups that include codas yielding the highest click rates. We also found a positive relationship between group size and click detection rates that may be useful for acoustic predictions of group size in future studies. Echolocation clicks detected using PAM methods are often the only indicator of deep-diving cetacean presence. Understanding the factors affecting their click rates provides important information for acoustic density estimation.

Acoustic estimates of sperm whale abundance in the Mediterranean Sea as part of the ACCOBAMS Survey Initiative

Acoustic surveys for sperm whales (Physeter macrocephalus) were conducted in the Mediterranean Sea in summer 2018 as part of the vessel-based component of the ACCOBAMS Survey Initiative (ASI). Equal-spaced zigzag transects provided uniform coverage of key sperm whale habitats and were surveyed using a towed hydrophone array deployed from a research vessel at speeds of 5-8 knots. A total of 14,039 km of tracklines were surveyed in the western basin, Hellenic Trench and Libyan waters, with an acoustic coverage of 10% realised for sperm whales. During these surveys, 254 individual sperm whales were detected on the trackline, with an additional 66 individuals off-track. Sperm whales were only seen ten times on-track, with an additional 16 off-track sightings. Estimates of slant range to echolocating whales were used to derive density estimates through both design- and model-based distance sampling methodologies. An acoustic availability of 0.912 (sd = 0.036) was derived from via published models. When correcting for availability bias, a design-based abundance estimates of 2,673 individuals (95% CI 1,739-4,105; CV = 0.21) was derived for the surveyed blocks, which incorporated most known sperm whale habitat in the Mediterranean Sea. The equivalent model-based estimate was 2,825 whales (2,053-3,888; CV = 0.16). Over 97% of detected whales were in the western basin, with highest densities in the Algerian and Liguro-Provencal Basins between Algeria and Spain/France. In the eastern basin, detections were sparse and concentrated along the Hellenic Trench. A density surface modelling (DSM) exercise identified location and benthic aspect as being the most instructive covariates for predicting whale abundance. Distance sampling results were used in a power analysis to quantify the survey effort required to identify population trends. In the most extreme scenario modelled (10% per annum decline with decennial surveys), the population could have dropped by 90% before the decline was identified with high statistical power. Increasing the regularity of surveys would allow population trends to be detected more expediently. Mediterranean sperm whales are listed as Endangered on the IUCN’s Red List and the need for urgent conservation measures to reduce injury and mortality remains paramount for this unique sub-population.

Click-click, who’s there? Acoustically derived estimates of sperm whale size distribution off western Ireland

Understanding the structure of populations is a critical element to the establishment of management and conservation measures. Sperm whales Physeter macrocephalus are characterised by a demographic spatial segregation, associated with a conspicuous sexual dimorphism reflected in their vocalisations. These characteristics make acoustic techniques very relevant to the study of sperm whale population structure, especially in remote, challenging environments. The reliability of using inter-pulse intervals of sperm whale clicks to infer body size has long been verified and extensively used. We provide the first size structure estimates of the sperm whale population in an area where assumptions on population structure mainly relied on sparse observations at sea, whaling records and stranding data. Over 10,000 hours of acoustic data collected using both static acoustic recorders and towed hydrophone arrays in Irish offshore waters were processed using a machine learning-based tool aimed at automatically extracting inter-pulse intervals from sperm whale recordings. Our analyses suggested that, unlike previously thought, large males would not account for the majority of the animals recorded in the area. We showed that adult females/juvenile males (length 9-12 m) were predominant, accounting for 49% (n = 788) of the number of individuals recorded (n = 1,595), while the proportions of immature individuals (length<9 m) and adult males (length >12 m) were well balanced, accounting for 25% (n = 394) and 26% (n = 413) of the recorded whales, respectively. Our data also suggested some size segregation may be occurring within the area, with smaller individuals to the south. The implications of such findings are crucial to the management of the population and provide an important baseline to monitor changes in population structure, particularly relevant under changing habitat conditions.

Underwater Positioning Analysis and System Establishment of the Towed Underwater Hydrophone Array System

The aim of this study is to establish an underwater towed hydrophone array detection and positioning system, which serves as a rescue device for detecting flight recorders in the event of a maritime accident. By using Time Difference of Arrival (TDOA) to calculate the azimuth of the underwater locator beacon (ULB) which is located inside the black box, the position of the flight recorder can be obtained. The underwater towed hydrophone array detection and positioning system was tested for a three-day experiment in the waters off the southwest coast of Taiwan. The azimuth of the sound source was determined by using two frequencies generated by different types of underwater locator beacons (37.5 kHz and 8.8 kHz) and post-processing. The accuracy of the positioning was achieved by controlling the depth of the underwater hydrophone array. This study can deduce the location of the underwater locator beacon through subsequent positioning analysis, which can be used by search and rescue teams in the future to improve the efficiency of the rescue process.

Robust Doppler compensation for low frequency underwater communications

Impairment caused by Doppler frequency shift and harsh channel condition distinguish underwater acoustic communications from radio communications. Slow speed of acoustic waves produces relatively high Doppler shift and result in expansion or compression in time samples, which is known as Doppler scaling. In particular, the Doppler scaling causes significant carrier frequency offset (CFO) in orthogonal frequency division modulation (OFDM). To compensate the CFO, it is essential to resample signal samples according to the Doppler scale. In theory, the Doppler scale can be estimated by measuring the distance between peaks of the matched filter output of consecutive Doppler-invariant preambles. In practice, multi-path reflections and non-orthogonality between the HFM and OFDM payload produce large numbers of local false peaks. In this paper, we propose a robust Doppler estimation technique by employing constant false alarm rate (CFAR) filter to remove false peaks. We validate the performance of the proposed scheme through two sea-trials carried out in shallow water near Jervis Bay, Australia. In the sea-trials, a slow-moving towed hydrophone array was deployed as the receiver and the source was a stationary, low source level, vertical transmit array. Sea-trial results demonstrated up to 112bps information rate using bit-interleaved coded OFDM over 400 Hz bandwidth.

Combining passive acoustic data from a towed hydrophone array with visual line transect data to estimate abundance and availability bias of sperm whales (Physeter macrocephalus).

Visual line transect (VLT) surveys are central to the monitoring and study of marine mammals. However, for cryptic species such as deep diving cetaceans VLT surveys alone suffer from problems of low sample sizes and availability bias where animals below the surface are not available to be detected. The advent of passive acoustic monitoring (PAM) technology offers important opportunities to observe deep diving cetaceans but statistical challenges remain particularly when trying to integrate VLT and PAM data. Herein, we present a general framework to combine these data streams to estimate abundance when both surveys are conducted simultaneously. Secondarily, our approach can also be used to derive an estimate of availability bias. We outline three methods that vary in complexity and data requirements which are (1) a simple distance sampling (DS) method that treats the two datasets independently (DS-DS Method), (2) a fully integrated approach that applies a capture-mark recapture (CMR) analysis to the PAM data (CMR-DS Method) and (3) a hybrid approach that requires only a subset of the PAM CMR data (Hybrid Method). To evaluate their performance, we use simulations based on known diving and vocalizing behavior of sperm whales (Physeter macrocephalus). As a case study, we applied the Hybrid Method to data from a shipboard survey of sperm whales and compared estimates to a VLT only analysis. Simulation results demonstrated that the CMR-DS Method and Hybrid Method reduced bias by >90% for both abundance and availability bias in comparison to the simpler DS -DS Method. Overall, the CMR-DS Method was the least biased and most precise. For the case study, our application of the Hybrid Method to the sperm whale dataset produced estimates of abundance and availability bias that were comparable to estimates from the VLT only analysis but with considerably higher precision. Integrating multiple sources of data is an important goal with clear benefits. As a step towards that goal we have developed a novel framework. Results from this study are promising although challenges still remain. Future work may focus on applying this method to other deep-diving species and comparing the proposed method to other statistical approaches that aim to combine information from multiple data sources.

Acoustic recordings, biological observations, and genetic identification of a rare(?) beaked whale in the North Pacific: Mesoplodon carlhubbsi

AbstractAlthough Hubbs' beaked whale (Mesoplodon carlhubbsi) was previously known from over 60 strandings on both sides of the North Pacific, it had been identified alive in the wild only once, off Oregon in 1994. In September 2021, we conducted a search effort for beaked whales off the coast of Oregon using a towed hydrophone array and a visual search team. Approximately 350 km off the Columbia River mouth, we detected the vocalizations of an unidentified mesoplodont whale; we stopped our vessel and waited in the area until two unidentified juvenile Mesoplodon surfaced and stayed near our vessel for almost 2 hr. During that time, we took numerous photographs and videos, made behavioral observations, and recorded their vocalizations. The DNA sequence from a biopsy sample identified them as M. carlhubbsi. In this paper, we discuss our biological observations, including color patterning and acquired markings, behavioral observations, and describe for the first time the acoustic characteristics of this species. We confirm that M. carlhubbsi is the source of a previously unidentified acoustic signal known as BW37V, and we update what is known about the at‐sea distribution of this species based on previous recordings and observational records.

Acoustic density estimates of beaked whales off the mid-Atlantic coast of the USA in winter and spring

Increasing amounts of noise have been introduced into the marine environment by commercial, military and recreational activities over recent decades. Ziphiids (beaked whales in the Family Ziphiidae) are particularly sensitive to anthropogenic noise, which can lead to behavioural and physiological changes that may cause death in extreme cases. Despite these concerns, there are significant gaps in our knowledge of ziphiid distribution and density in areas exposed to noise. This study presents data from acoustic and visual vessel surveys conducted across the Outer Continental Shelf of North and South Carolina and southern Virginia in the USA (NOAA permits 14,809-03 and 16,473) with the aim of addressing data gaps for this region in spring and winter. Echolocation click trains were attributed to either Cuvier's (Ziphius cavirostris) or Gervais' (Mesoplodon europaeus) beaked whales based on peak frequency, 3 dB and 10 dB bandwidths, and inter-click interval. Estimates of click depth were used to correct estimates of perpendicular distance and improve detection functions used in Multiple Covariate Distance Sampling. Availability bias was quantified using tag data from other regions modified with local dive data. Swell height and sea surface temperature were found to affect the detection function and were therefore included in the final model. Incorporating cruise identity (winter vs. spring), candidate species (Cuvier's vs. Gervais' beaked whale) and/or cluster size did not improve model fit, suggesting there was no discernible seasonal effect, variation in detectability by species or increased probability of detection for larger groups. Design-based estimates of global beaked whale density (1.64 individuals per 100 km2: CI 0.88–3.03) and abundance (2963: CI 1597-5497) were then made incorporating a g(0) estimate of 0.43. These represent the first abundance estimates made for ziphiids using a towed hydrophone array off the USA's eastern seaboard. A Density Surface Model suggested slope and Sea Surface Temperature may influence ziphiid density in the region. This study provides seasonal data on deep diving beaked whales that can be used to inform management decisions regarding anthropogenic activities in this region.

Characterizing coastal cod vocalization using a towed hydrophone array

Abstract To better understand spawning vocalizations of Norwegian coastal cod (Gadus morhua), a prototype eight-element coherent hydrophone array was deployed in stationary vertical and towed horizontal modes to monitor cod sounds during an experiment in spring 2019. Depth distribution of cod aggregations was monitored concurrently with an ultrasonic echosounder. Cod vocalizations recorded on the hydrophone array are analysed to provide time–frequency characteristics, and source level distribution after correcting for one-way transmission losses from cod locations to the hydrophone array. The recorded cod vocalization frequencies range from ∼20 to 600 Hz with a peak power frequency of ∼60 Hz, average duration of 300 ms, and mean source level of 163.5 ± 7.9 dB re 1 μPa at 1 m. Spatial dependence of received cod vocalization rates is estimated using hydrophone array measurements as the array is towed horizontally from deeper surrounding waters to shallow water inlet areas of the experimental site. The bathymetric-dependent probability of detection regions for cod vocalizations are quantified and are found to be significantly reduced in shallow-water areas of the inlet. We show that the towable hydrophone array deployed from a moving vessel is invaluable because it can survey cod vocalization activity at multiple locations, providing continuous spatial coverage that is complementary to fixed sensor systems that provide continuous temporal coverage at a given location.

Impacts of seabed characteristics on short-range acoustic propagation in seismic surveys

An abundance of marine seismic reflection surveys with publicly available datasets have been collected over the last several decades to study the composition of the seabed up to multiple kilometers below the sea floor. In these surveys, a loud impulsive airgun source broadcasts sound into the seabed and the reflections from the seafloor and seabed layers are measured on a long (up to ∼15 km) towed hydrophone array. In these surveys, both the shallow seabed layers (several hundred meters below the seafloor) and deeper layers (multiple kilometers below the seafloor) can significantly impact the acoustic field in the water column at close ranges. Experimental data have shown instances of sound exposure levels (SEL) at ranges between ∼8 and 15 km that exceeded levels predicted by cylindrical spreading models by nearly 15 dB. This work aims to use the abundance of seismic data available to explore the relationship between seabed and sub-seabed characteristics and the acoustic field in the water column. Inversion results that provide seabed sound speed profiles and reflection characteristics will be used to understand the seabed characteristics and its potential effects on SELs or sound pressure levels evaluated along the towed array. [Work supported by ONR.]

Acoustic seabed characterization with autonomous underwater vehicles

Autonomous underwater vehicles (AUVs) have been proven to be useful platforms to for acoustic seabed surveys with a variety of sonar systems. In this talk, results from two recent field experiments will be presented. One of the experiments was conducted in the New England shelf and upper slope areas using an AUV equipped with a towed hydrophone array and a 3.5 kHz sound source. The objective was to study the fine grained sediment (mud) layer on the shelf and the mutli-layer sub-bottom stratigraphy on the upper slope. The highlight of this first experiment is on the internal reflections from the mud layer at lower grazing angles, as well as the sub-bottom layering structure near a submarine landslide site. The other experiment took place at the Atlantis II Seamounts, and a deep water AUV was utilized with payloads including a multibeam echosounder, a sidescan sonar, a sub-bottom profiler, and a still image camera. The objective was to investigate the seafloor condition on the seamount summit plateau, of which the area is about 15 km × 5 km. Survey results showing sediment distributions and benthic marine life habitats will be presented. [Work supported by the Office of Naval Research.]

A wave glider-based, towed hydrophone array system for autonomous, real-time, passive acoustic marine mammal monitoring.

An autonomous surface vehicle known as a wave glider, instrumented with a low-power towed hydrophone array and embedded digital signal processor, is demonstrated as a viable low-noise system for the passive acoustic monitoring of marine mammals. Other key design elements include high spatial resolution beamforming on a 32-channel towed hydrophone array, deep array deployment depth, vertical motion isolation, and bandwidth-efficient real-time acoustic data transmission. Using at-sea data collected during a simultaneous deployment of three wave glider-based acoustic detection systems near Stellwagen Bank National Marine Sanctuary in September 2019, the capability of a low-frequency towed hydrophone array to spatially reject noise and to resolve baleen whale vocalizations from anthropogenic acoustic clutter is demonstrated. In particular, mean measured array gain of 15.3 dB at the aperture design frequency results in a post-beamformer signal-to-noise ratio that significantly exceeds that of a single hydrophone. Further, it is shown that with overlapping detections on multiple collaborating systems, precise localization of vocalizing individuals is achievable at long ranges. Last, model predictions showing a 4× detection range, or 16× area coverage, advantage of a 32-channel towed array over a single hydrophone against the North Atlantic right whale upcall are presented for the continental shelf environment south of Martha's Vineyard.

Insights into acoustic behavior of false killer whales

The Hawaiian Archipelago is home to three distinct populations of false killer whales (Pseudorca crassidens), including one currently listed as endangered. These delphinids are known to interact with fishing gear, leading to whale mortality or injury. Hence, it is critical to assess the abundance of these populations typically achieved through visual-based sighting surveys. However, these surveys are complicated by a number of biases and uncertainties specific to this species. Passive acoustics could aid in monitoring of their population status, but the knowledge is limited about the patterns in their acoustic repertoire and behavior, which hinders our ability to derive reliable acoustics-based abundance estimates. Here, we discuss insights into the acoustic behaviour of false killer whales in the wild, gained by simultaneous tracking of both narrowband whistles and broadband echolocation clicks from towed hydrophone arrays. The results indicate a diverse acoustic behaviour between different subgroups within the same encounter, where 23.8% of subgroups (N total = 408) only echolocate, 18.9% only whistle, and 57.3% emit both types of vocalizations. Such increased understanding of false killer whale vocal behavior can contribute information from passive acoustic data for management and conservation purposes.

Are dolphins modulating whistles in interspecific group contexts?

ABSTRACT Cetaceans depend highly on acoustic signals, such as whistles, for social communication. Mixed-species associations (MSAs), temporary or long-term encounters between different species, may play an important role on the acoustic dynamics of the species involved. Because of whistles’ communication function, we used these sounds to investigate the acoustic relationships of Tursiops truncatus when involved in different group contexts: in MSAs with two other delphinid species and in single species group. Acoustic recordings of T. truncatus single species groups and in associations with Globicephala melas and Grampus griseus were collected in the Western South Atlantic Ocean through a towed array of hydrophones. A total of 1267 whistles were analysed and acoustical parameters were extracted. To verify the differences among whistles produced in such contexts a support vector machine and random forest analysis were implemented. Both analyses revealed a clear separation of whistles from the single species versus the MSA as well as between both MSAs. The results indicate that interspecific associations may influence the whistle structure and suggests that T. truncatus whistles can be modified during interspecific interactions. These findings are useful to elucidate the possible factors underlying behavioural plasticity and interspecific associations and to understand dolphins’ acoustic communication.

Soft and Hard Iron Compensation for the Compasses of an Operational Towed Hydrophone Array without Sensor Motion by a Helmholtz Coil.

Usually, towed hydrophone arrays are instrumented with a set of compasses. Data from these sensors are utilized while beamforming the acoustic signal for target bearing estimation. However, elements of the hydrophone array mounted in the neighborhood of a compass can affect the Earth’s magnetic field detection. The effects depend upon the materials and magnetic environment present in the vicinity of the platform hosting the compass. If the disturbances are constant in time, they can be compensated for by means of a magnetic calibration procedure. This process is commonly known as soft and hard iron compensation. In this paper, a solution is presented for carrying out the magnetic calibration of a COTS (Commercial Off the Shelf) digital compass without sensor motion. This approach is particularly suited in applications where a physical rotation of the platform that hosts the sensor is unfeasible. In our case, the platform consists in an assembled and operational towed hydrophone array. A standard calibration process relies on physical rotation of the platform and thus on the use of the geomagnetic field as a reference during the compensation. As a variation on this approach, we generate an artificial reference magnetic field to simulate the impractical physical rotation. We obtain this by using a tri-axial Helmholtz coil, which enables programmability of the reference magnetic field and assures the required field uniformity. In our work, the simulated geomagnetic field is characterized in terms of its uncertainty. The analysis indicates that our method and experimental set-up represent a suitably accurate approach for the soft and hard iron compensation of the compasses equipped in the hydrophone array under test.

A Time-Frequency Joint Time-Delay Difference Estimation Method for Signal Enhancement in the Distorted towed Hydrophone Array

To acquire the enhanced underwater ship-radiated noise signal in the presence of array shape distortion in a passive sonar system, the phase difference of the line-spectrum component in ship-radiated noise is often exploited to estimate the time-delay difference for the beamforming-based signal enhancement. However, the time-delay difference estimation performance drastically degrades with decreases of the signal-to-noise ratio (SNR) of the line-spectrum component. Meanwhile, although the time-delay difference estimation performance of the high-frequency line-spectrum components is generally superior to that of the low-frequency one, the phase difference measurements of the high-frequency line-spectrum component often easily encounter the issue of modulus 2π ambiguity. To address the above issues, a novel time-frequency joint time-delay difference estimation method is proposed in this paper. The proposed method establishes a data-driven hidden Markov model with robustness to phase difference ambiguity by fully exploiting the underlying property of slowly changing the time-delay difference over time. Thus, the phase difference measurements available for time-delay difference estimation are extended from that of low-frequency line-spectrum components in a single frame to that of all detected line-spectrum components in multiple frames. By jointly taking advantage of the phase difference measurements in both time and frequency dimensions, the proposed method can acquire enhanced time-delay difference estimates even in a low SNR case. Both simulation and at-sea experimental results have demonstrated the effectiveness of the proposed method.

Distributed acoustic sensing for near-surface imaging using submarine telecommunication cable: A case study in the Trondheimsfjord, Norway

Distributed acoustic sensing (DAS) transforms submarine telecommunication cables into densely sampled seismic receivers. To demonstrate DAS applications for seismic imaging, we have used an optical cable on the seafloor in the Trondheimsfjord, Norway, to record seismic data generated by a controlled seismic source. The data are simultaneously recorded by a towed hydrophone array and the fiber-optic cable. Following our data processing methods, we can produce seismic images of the seafloor and underlying geologic structures from the hydrophone array and DAS data. We find that the hydrophone and DAS data have a comparable signal-to-noise ratio. Moreover, DAS images can be improved by using a seismic source that has sufficiently large energy within the frequency range matching the spatial resolution of DAS. The temporal resolution of the DAS images can be improved by minimizing the crossline offset between seismic sources and the DAS cable. The seismic images from DAS can be used to support geohazard analysis and various subsurface exploration activities.

Whistles of the pantropical spotted dolphin (Stenella attenuata) in Santos Basin, western South Atlantic Ocean.

The vocal repertoire of the pantropical spotted dolphin (Stenella attenuata) is poorly documented, with no published information about acoustic signals from South Atlantic Ocean populations. We conducted passive acoustic monitoring and recording of S. attenuata population in the Santos Basin, Brazil, using a towed hydrophone array during line-transects surveys. Our monitoring yielded whistle samples derived from eight groups of S. attenuata, from which we selected 155 whistles for further analysis. Approximately 48% of the whistles presented ultrasonic frequency values, with maximum frequencies up to 31.1 kHz. Across the sample, the number of steps ranged from 0 to 20 and inflection points ranged from 0 to 8. On average, end frequencies were higher than start frequencies, and whistles generally presented wide frequency ranges, with an average of 11.3 kHz. The most predominant whistle contour category was "ascending-descending." Our study provides new information regarding the acoustic repertoire of this poorly documented species and will aid efforts for using acoustics to identify and monitor cetaceans in this region.