ABSTRACT
A technique is presented for passively localizing multiple noise-producing targets by cross-correlating the elevation beams of a compact volumetric array on separate bearings. A target's multipath structure inherently contains information about its range; however, unknown, random noise waveforms make time separation of individual arrivals difficult. Ocean ambient noise has previously been used to measure multipath delays to the seabed by cross-correlating the beams of a vertical line array [Siderius, Song, Gerstoft, Hodgkiss, Hursky, and Harrison, J. Acoust. Soc. Am. 127, 2193–2200 (2010)], but this methodology has not been applied to distant noise sources having non-vertical arrivals. The technique presented in this paper uses a compact volumetric array mounted to an autonomous underwater vehicle to measure the three-dimensional directionality and time delays of multipath arrivals, while adaptively rejecting clutter and multi-target interference. This is validated with experimental results in a shallow ocean environment in which a small workboat maneuvered in the vicinity. Short ranges could be estimated reliably using straight ray paths, but longer ranges required accounting for ray refraction.
ACKNOWLEDGMENTS
The authors would like to acknowledge support from the Centre for Maritime Research and Experimentation (CMRE), the Office of Naval Research (ONR), and Portland State University (PSU). We thank CMRE for designing and building the array, and for providing use of the NRV Alliance. We thank Steven Crocker and Jennifer Giard for assistance during the deployment. We also thank Charles Holland and Daniel Rouseff for helpful discussions.
- 1. Aulanier, F., Nicolas, B., Mars, J. I., Roux, P., and Brossier, R. (2013). “ Shallow-water acoustic tomography from angle measurements instead of travel-time measurements,” J. Acoust. Soc. Am. 134, EL373–EL379. https://doi.org/10.1121/1.4820468 , Google ScholarScitation
- 2. Badriasl, L., Dogancay, K., and Arulampalam, S. (2011). “ 3D passive localization in shallow water using bearing and multipath time-delay measurements,” in Seventh International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP) (IEEE, New York), p. 473–478. Google ScholarCrossref
- 3. Capon, J. (1969). “ High-resolution frequency-wave-number spectrum analysis,” Proc. IEEE 57, 1408–1418. https://doi.org/10.1109/PROC.1969.7278 , Google ScholarCrossref
- 4. Carter, G., and Knapp, C. (1976). “ Time delay estimation,” in IEEE International Conference on Acoustics, Speech, and Signal Processing (IEEE, New York), Vol. 1, pp. 357–360. Google ScholarCrossref
- 5. Gerstoft, P., Hodgkiss, W. S., Siderius, M., Huang, C.-F., and Harrison, C. H. (2008). “ Passive fathometer processing,” J. Acoust. Soc. Am. 123, 1297–1305. https://doi.org/10.1121/1.2831930 , Google ScholarScitation, ISI
- 6. Hahn, W. R. (1975). “ Optimum signal processing for passive sonar range and bearing estimation,” J. Acoust. Soc. Am. 58, 201–207. https://doi.org/10.1121/1.380646 , Google ScholarScitation
- 7. Hamilton, M., and Schultheiss, P. M. (1992). “ Passive ranging in multipath dominant environments. I. Known multipath parameters,” IEEE Trans. Signal Processing 40, 1–12. https://doi.org/10.1109/78.157176 , Google ScholarCrossref
- 8. Harrison, C. H. (2011). “ The relation between the waveguide invariant, multipath impulse response, and ray cycles,” J. Acoust. Soc. Am. 129, 2863–2877. https://doi.org/10.1121/1.3569701 , Google ScholarScitation, ISI
- 9. Harrison, C. H., and Siderius, M. (2008). “ Bottom profiling by correlating beam-steered noise sequences,” J. Acoust. Soc. Am. 123, 1282–1296. https://doi.org/10.1121/1.2835416 , Google ScholarScitation, ISI
- 10. Holland, C. W., and Osler, J. (2000). “ High-resolution geoacoustic inversion in shallow water: A joint time- and frequency-domain technique,” J. Acoust. Soc. Am. 107, 1263–1279. https://doi.org/10.1121/1.428415 , Google ScholarScitation, ISI
- 11. Jensen, F. B., Kuperman, W. A., Porter, M. B., and Schmidt, H. (2011). “ Ray methods,” in Computational Ocean Acoustics, 2nd ed., edited by W. M. Hartmann (Springer New York, New York), Chap. 3, pp. 115–232. Google ScholarCrossref
- 12. Koch, R. A., and Knobles, D. P. (2005). “ Geoacoustic inversion with ships as sources,” J. Acoust. Soc. Am. 117, 626–637. https://doi.org/10.1121/1.1848175 , Google ScholarScitation, ISI
- 13. Lani, S. W., Sabra, K. G., Hodgkiss, W. S., Kuperman, W. A., and Roux, P. (2013). “ Coherent processing of shipping noise for ocean monitoring,” J. Acoust. Soc. Am. 133, EL108–EL113. https://doi.org/10.1121/1.4776775 , Google ScholarScitation, ISI
- 14. Leroy, C., Lani, S., Sabra, K. G., Hodgkiss, W. S., Kuperman, W. A., and Roux, P. (2012). “ Enhancing the emergence rate of coherent wavefronts from ocean ambient noise correlations using spatio-temporal filters,” J. Acoust. Soc. Am. 132, 883–893. https://doi.org/10.1121/1.4731231 , Google ScholarScitation
- 14. Mathias, D., Thode, A. M., Straley, J., and Andrews, R. D. (2013). “ Acoustic tracking of sperm whales in the Gulf of Alaska using a two-element vertical array and tags,” J. Acoust. Soc. Am. 134(3), 2446–2461. https://doi.org/10.1121/1.4816565 , Google ScholarScitation, ISI
- 15. Means, S. L., and Siderius, M. (2009). “ Effects of sea-surface conditions on passive fathometry and bottom characterization,” J. Acoust. Soc. Am. 126, 2234–2241. https://doi.org/10.1121/1.3216915 , Google ScholarScitation, ISI
- 16. Menon, R., and Gerstoft, P. (2013). “ High resolution beamforming using l1 minimization,” Proc. Meet. Acoust. 19, 1–4. https://doi.org/10.1121/1.4799519 , Google ScholarScitation
- 17. Nosal, E., and Neilfrazer, L. (2006). “ Track of a sperm whale from delays between direct and surface-reflected clicks,” Appl. Acoust. 67, 1187–1201. https://doi.org/10.1016/j.apacoust.2006.05.005 , Google ScholarCrossref, ISI
- 18. Porter, M. B., and Bucker, H. P. (1987). “ Gaussian beam tracing for computing ocean acoustic fields,” J. Acoust. Soc. Am. 82, 1349–1359. https://doi.org/10.1121/1.395269 , Google ScholarScitation, ISI
- 19. Rakotonarivo, S. T., and Kuperman, W. A. (2012). “ Model-independent range localization of a moving source in shallow water,” J. Acoust. Soc. Am. 132, 2218. https://doi.org/10.1121/1.4748795 , Google ScholarScitation, ISI
- 20. Rouseff, D., and Zurk, L. M. (2011). “ Striation-based beamforming for estimating the waveguide invariant with passive sonar,” J. Acoust. Soc. Am. 130, EL76–EL81. https://doi.org/10.1121/1.3606571 , Google ScholarScitation, ISI
- 21. Roux, P., Cornuelle, B. D., Kuperman, W. A., and Hodgkiss, W. S. (2008). “ The structure of raylike arrivals in a shallow-water waveguide,” J. Acoust. Soc. Am. 124, 3430–3439. https://doi.org/10.1121/1.2996330 , Google ScholarScitation, ISI
- 22. Sarkar, J., Cornuelle, B. D., and Kuperman, W. A. (2011). “ Information and linearity of time-domain complex demodulated amplitude and phase data in shallow water,” J. Acoust. Soc. Am. 130, 1242. https://doi.org/10.1121/1.3613709 , Google ScholarScitation, ISI
- 23. Siderius, M., Harrison, C. H., and Porter, M. B. (2006). “ A passive fathometer technique for imaging seabed layering using ambient noise,” J. Acoust. Soc. Am. 120, 1315–1323. https://doi.org/10.1121/1.2227371 , Google ScholarScitation, ISI
- 24. Siderius, M., Song, H., Gerstoft, P., Hodgkiss, W. S., Hursky, P., and Harrison, C. (2010). “ Adaptive passive fathometer processing,” J. Acoust. Soc. Am. 127, 2193–2200. https://doi.org/10.1121/1.3303985 , Google ScholarScitation, ISI
- 25. Song, H., Kuperman, W. A., Hodgkiss, W. S., Gerstoft, P., and Kim, J. S. (2003). “ Null broadening with snapshot-deficient covariance matrices in passive sonar,” IEEE J. Oceanic Eng. 28, 250–261. https://doi.org/10.1109/JOE.2003.814055 , Google ScholarCrossref, ISI
- 26. Stotts, S. A., Koch, R. A., Joshi, S. M., Nguyen, V. T., Ferreri, V. W., and Knobles, D. P. (2010). “ Geoacoustic inversions of horizontal and vertical line array acoustic data from a surface ship source of opportunity,” IEEE J. Oceanic Eng. 35, 79–102. https://doi.org/10.1109/JOE.2009.2032256 , Google ScholarCrossref
- 27. Thode, A. M. (2000). “ Source ranging with minimal environmental information using a virtual receiver and waveguide invariant theory,” J. Acoust. Soc. Am. 108, 1582. https://doi.org/10.1121/1.1289409 , Google ScholarScitation, ISI
- 28. Tiemann, C. O., Thode, A. M., Straley, J., O'Connell, V., and Folkert, K. (2006). “ Three-dimensional localization of sperm whales using a single hydrophone,” J. Acoust. Soc. Am. 120, 2355–2365. https://doi.org/10.1121/1.2335577 , Google ScholarScitation, ISI
- 29. Van Trees, H. L. (2002a). “ Correlated and coherent signals,” in Optimum Array Processing, Detection, Estimation, and Modulation Theory, Part IV, 1st ed. (John Wiley and Sons, New York), Chap. 9.6, pp. 1233–1243. Google Scholar
- 30. Van Trees, H. L. (2002b). “ Mismatched MVDR and MPDR beamformers,” in Optimum Array Processing, Detection, Estimation, and Modulation Theory, Part IV, 1st ed. (John Wiley and Sons, New York), Chap. 6.6, pp. 488–513. Google Scholar
- 31. Van Trees, H. L. (2002c). “ Sample matrix inversion (SMI),” in Optimum Array Processing, Detection, Estimation, and Modulation Theory, Part IV, 1st ed. (John Wiley and Sons, New York), Chap. 7.3, pp. 728–752. Google Scholar
- 32. Weston, D. E., and Stevens, K. J. (1972). “ Interference of wide-band sound in shallow water,” J. Sound Vib. 21, 57–64. https://doi.org/10.1016/0022-460X(72)90205-2 , Google ScholarCrossref
Please Note: The number of views represents the full text views from December 2016 to date. Article views prior to December 2016 are not included.

