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Wyniki wyszukiwania dla: SONAR EQUIPMENT , NAVIGATION , MATHEMATICAL MODEL , ACOUSTIC WAVES , UNDERWATER VEHICLES , DOPPLER SHIFT
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Underwater Navigation Ssystem Based on Doppler Shift – Measurements and Error Estimations
PublikacjaA new acoustic navigation system was developed to determine the position and speed of moving underwater objects such as divers and underwater vehicles. The path of an object and its speed were determined by the Doppler shifts of acoustic signals emitted by a transmitter placed on the object and received by four hydrophones installed at the periphery of the monitored body of water. The position and speed measurements were affected...
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UUV and AUV Vehicles as the autonomous systems for naval applications
PublikacjaThere is a growing pressure to investigate how to design and build the unmanned underwater vehicles of different types which are devoted towards performing many tasks under the water surface according to the data missions. During the recent years the Department of Ship Design and Subsea Robotics, Faculty of Ocean Engineering and Ship Technology, Gdansk University of Technology designed and built a few types of unmanned underwater...
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Underwater Navigation System Based on Doppler Shifts of a Continuous Wave
PublikacjaThe paper describes a concept of an underwater navigation system designed to determine the location and speed of its ROVs or divers. Conducted by the Department of Marine Electronic Systems at the Gdansk University of Technology for several years, research has focused on navigation systems which determine positions on the basis of Doppler shifts of echo signals reflected from a moving object. This article presents a different version...
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Doppler effect in the CW FM sonar
PublikacjaWhen sonars are used for military purposes they have to ensure unobtrusive operation, a feature that can be potentially secured by 'silent sonar' or continuous wave frequency modulation sonars (CW FM sonars). The article presents how these sonars operate and identifies the relations between their parameters. The Doppler effect and its impact on the CW FM sonar are studied to identify how it affects the sonar's parameters. The results...
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Underwater Acoustic Imaging of the Sea
PublikacjaAcoustic waves are a carrier of information mainly in environments where the use of other types of waves, for example electromagnetic waves, is limited. The term acoustical imaging is widely used in the ultrasonic engineering to imaging areas in which the acoustic waves propagate. In particular, ultrasound is widely used in the visualization of human organs - ultrasonography (Nowicki, 2010). Expanding the concept, acoustical imaging...
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Acoustic Processor of the MCM Sonar
PublikacjaThis paper presents the concept of an acoustic processor of the mine countermeasure sonar. Developed at the Department of Marine Electronics Systems, Gdansk University of Technology, the acoustic processor is an element of the MG-89, a modernised underwater acoustic station. The focus of the article is on the modules of the processor. They are responsible for sampling analogue signals and implementing the algorithms controlling...
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Integration of inertial sensors and GPS system data for underwater navigation
PublikacjaThe Inertial Navigation System (INS) is usually employed to determine the position of an underwater vehicles, like Remotely Operated Vehicles (ROV) and, more recently, Autonomous Underwater Vehicle (AUV). The accuracy of the position provided by the INS, which uses accelerometers and gyroscopes, deteriorates with time. An external aiding sources such as the Global Positioning System (GPS) can be employed to reduce the error growth...
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Considerations of Adaptive Digital Communications in Underwater Acoustic Channel
PublikacjaDown-link communication (DLC) and air transportable communication (ATAC) buoys as well as autonomous underwater vehicles (AUV) use acoustic links for gathering oceanographic data from underwater monitoring systems. The underwater channel propagation conditions are diverse in nature and require a special adaptive approach to the communication system design. The article presents a methodology for the communication systems design,...
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Acoustic Processor of the Mine Countermeasure Sonar
PublikacjaThis paper presents the concept of an acoustic processor of the mine countermeasure sonar. Developed at the Department of Marine Electronics Systems, Gdansk University of Technology, the acoustic processor is an element of the MG-89, an underwater acoustic station. The focus of the article is on the modules of the processor. They are responsible for sampling analogue signals and implementing the algorithms controlling the measurement...
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Methodology for Processing of 3D Multibeam Sonar Big Data for Comparative Navigation
PublikacjaAutonomous navigation is an important task for unmanned vehicles operating both on the surface and underwater. A sophisticated solution for autonomous non-global navigational satellite system navigation is comparative (terrain reference) navigation. We present a method for fast processing of 3D multibeam sonar data to make depth area comparable with depth areas from bathymetric electronic navigational charts as source maps during...
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MSIS sonar image segmentation method based on underwater viewshed analysis and high-density seabed model
PublikacjaHigh resolution images of Mechanically Scanned Imaging Sonars can bring detailed representation of underwater area if favorable conditions for acoustic signal to propagate are provided. However to properly asses underwater situation based solely on such data can be challenging for less than proficient interpreter. In this paper we propose a method to enhance interpretative potential of MSIS image by dividing it in to subareas depending...
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Seafloor Characterisation Using Underwater Acoustic Devices
PublikacjaThe problem of seafloor characterisation is important in the context of management as well as investigation and protection of the marine environment. In the first part of the paper, a review of underwater acoustic technology and methodology used in seafloor characterisation is presented. It consists of the techniques based on the use of singlebeam echosounders and seismic sources, along with those developed for the use of sidescan...
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Counting and tracking vehicles using acoustic vector sensors
PublikacjaA method is presented for counting vehicles and for determining their movement direction by means of acoustic vector sensor application. The assumptions of the method employing spatial distribution of sound intensity determined with the help of an integrated 3D intensity probe are discussed. The intensity probe developed by the authors was used for the experiments. The mode of operation of the algorithm is presented in conjunction...
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Stationary underwater channel experiment: Acoustic measurements and characteristics in the Bornholm area for model validations
PublikacjaThe underwater acoustical channel is time-variant, and even on small time scales there is often existing no ‘acoustical frozen ocean’. Popular is the use of WSSUS-channel transmission modeling (Wide-Sense Stationary Uncorrelated Scattering) for the stochastic description of bandpass signals in GSM mobile phones with moving participants; since this results in a halved number of model parameters. For underwater sound applications...
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Comparing traffic intensity estimates employing passive acoustic radar and microwave Doppler radar sensor
PublikacjaThe purpose of our applied research project is to develop an autonomous road sign with built-in radar devices of our design. In this paper, we show that it is possible to calibrate the acoustic vector sensor so that it can be used to measure traffic volume and count the vehicles involved in the traffic through the analysis of the noise emitted by them. Signals obtained from a Doppler radar are used as a reference source. Although...
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Estimating Traffic Intensity Employing Passive Acoustic Radar and Enhanced Microwave Doppler Radar Sensor
PublikacjaInnovative road signs that can autonomously display the speed limit in cases where the trac situation requires it are under development. The autonomous road sign contains many types of sensors, of which the subject of interest in this article is the Doppler sensor that we have improved and the constructed and calibrated acoustic probe. An algorithm for performing vehicle detection and tracking, as well as vehicle speed measurement,...
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Dynamic GNSS Mission Planning Using DTM for Precise Navigation of Autonomous Vehicles
PublikacjaNowadays, the most widely used method for estimating location of autonomous vehicles in real time is the use of Global Navigation Satellite Systems (GNSS). However, positioning in urban environments using GNSS is hampered by poor satellite geometry due to signal obstruction created by both man-made and natural features of the urban environment. The presence of obstacles is the reason for the decreased number of observed satellites...
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Application of OFDM technique to underwater acoustic data transmission
PublikacjaPerformances of underwater acoustic communication (UAC) digital systems are strongly related to specific transmission properties of the underwater channel. Depending on the characteristics of the channel, an architecture and modulation techniques are usually implemented that are known as reliable solutions for data transmission in difficult radio channels. The OFDM technique seems to be the most promising nowadays. The parameters...
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Shallow Water Experiment of OFDM Underwater Acoustic Communications
PublikacjaThe large variability of communication properties of underwater acoustic channels, and especially the strongly varying instantaneous conditions in shallow waters, is a challenge for the designers of underwater acoustic communication (UAC) systems. The use of phase modulated signals does not allow reliable data transmission through such a tough communication channel. However, orthogonal frequency-division multiplexing (OFDM), being...
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Probe signal processing for channel estimation in underwater acoustic communication system
PublikacjaUnderwater acoustic communication channels are characterized by a large variety of propagation conditions. Designing a reliable communication system requires knowledge of the transmission parameters of the channel, namely multipath delay spread, Doppler spread, coherence time, and coherence bandwidth. However, the possibilities of its estimation in a realtime underwater communication system are limited, mainly due to the computational...