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Matched field processing is a parameter estimation technique for localizing the range, depth, and bearing of a point source from the signal field propagating in an acoustic waveguide. The signal is observed at an array in the presence of additive, spatially correlated noise that also propagates in the same ocean environment as the signal. In a weak signal-to-noise situation this parameter estimation requires the maximum exploitation of the physics of both the signal and noise structure which then must be coupled to optimum methods for the signal processing. We study the physics of this processing by modeling the ocean environment as a waveguide that is horizontally stratified with an arbitrary sound-speed profile in the vertical. Thus, the wave equation describes the underlying structure of the signal and noise, and the signal processing via the generation of the replica fields. Two methods of array processing are examined: (i) the linear cross correlator (Bartlett) and (ii) the maximum likelihood method (MLM) for the parameter estimation procedure. The optimum potential resolution is evaluated using a generalized Cramer–Rao bound. The two processing methods and the lower bound demonstrate that the ability to reject ambiguities is determined not only by the signal-to-noise ratio but also by the relative spatial structures of the signal and noise. Simulations of both the array processing methods and the bounds for shallow water and Arctic environments using full wave modeling of the signal and noise fields illustrate the coupling of the ocean environment to the localization performance.

A new solution technique for wave propagation in horizontally stratified viscoelastic media is presented. The model provides a full wave solution for the field generated by a single source as well as for that generated by a vertical source array. It allows the spatial distribution of the acoustic field to be evaluated at least one order of magnitude faster than with existing models based on the Thomson–Haskell solution technique. The computational efficiency of the numerical code is demonstrated by providing exact numerical solutions for the reflectivity pattern associated with narrow ultrasonic beams incident on a fluid–solid interface near the Rayleigh angle.

This paper presents preliminary results of a recent study whose overall objectives are to determine the mechanisms contributing significantly to subcritical acoustic penetration into ocean sediments, and to quantify the results for use in sonar performance prediction for the detection of buried objects. In situ acoustic measurements were performed on a sandy bottom whose geoacoustical and geomorphological properties were also measured. A parametric array mounted on a tower moving on a rail was used to insonify hydrophones located above and below the sediment interface. Data covering grazing angles both above and below the nominal critical angle and in the frequency range 2-15 kHz were acquired and processed. The results are compared to two models that account for scattering of sound at the rough water-sediment interface into the sediment. Although all possible mechanisms for subcritical penetration are not modeled, the levels predicted by both models are consistent with the levels observed in the experimental data. For the specific seafloor and experimental conditions examined, the analysis suggests that for frequencies below 5-7 kHz sound penetration into the sediment at subcritical insonification is dominated by the evanescent field, while scattering due to surface roughness is the dominant mechanism at higher frequencies.

Abstract-This paper describes an on-going research effort to achieve real-time cooperative localization of multiple autonomous underwater vehicles. We describe a series of experiments that utilize autonomous surface craft (ASC), equiped with undersea acoustic modems, GPS, and 802.11b wireless ethernet communications, to acquire data and develop software for cooperative localization of distributed vehicle networks. Our experiments demonstrate the capability of the Woods Hole acoustic modems to provide accurate round-trip and one-way range measurements, as well as data transfer, for a fully mobile network of vehicles in formation flight. Finally, we present preliminary results from initial experiments involving cooperative operation of an Odyssey III AUV and two ASCs, demonstrating ranging and data transfer from the ASCs to the Odyssey III.

This paper presents an acoustic localization system for small and low-cost autonomous underwater vehicles (AUVs). Accurate and robust localization for low-cost AUVs would lower the barrier toward multi-AUV research in river and ocean environments. However, these AUVs introduce size, power, and cost constraints that prevent the use of conventional AUV sensors and acoustic positioning systems, adding great difficulty to the problem of underwater localization. Our system uses a single acoustic transmitter placed at a reference point and is acoustically passive on the AUV, reducing cost and power use, and enabling multi-AUV localization. The AUV has an ultrashort baseline (USBL) receiver array that uses one-way traveltime (OWTT) and phased-array beamforming to calculate range, azimuth, and inclination to the transmitter, providing an instantaneous estimate of the vehicle location. This estimate is fed to a particle filter and graph-based smoothing algorithm to generate a consistent AUV trajectory. We describe the complete processing pipeline of our system, and present results based on experiments using a low-cost AUV. To the authors' knowledge, this work constitutes the first practical demonstration of the feasibility of OWTT inverted USBL navigation for AUVs.

The use of low-frequency sonars (2-15 kHz) is explored to better exploit scattering features of buried targets that can contribute to their detection and classification. Compared to conventional mine countermeasure sonars, sound penetrates better into the sediment at these frequencies, and the excitation of structural waves in the targets is enhanced. The main contributions to target echo are the specular reflection, geometric diffraction effects, and the structural response, with the latter being particularly important for man-made elastic objects possessing particular symmetries such as bodies of revolution. The resonance response derives from elastic periodic phenomena such as surface circumferential waves revolving around the target. The GOATS'98 experiment, conducted jointly by SACLANTCEN and MIT off the island of Elba, involved controlled monostatic measurements of scattering by spherical shells which were partially and completely buried in sand, and suspended in the water column. The analysis mainly addresses a study of the effect of burial on the dynamics of backscattered elastic waves, which can be clearly identified in the target responses, and is based on the comparison of measurements with appropriate scattering models. Data interpretation results are in good agreement with theory. This positive result demonstrates the applicability of low-frequency methodologies based on resonance analysis to the classification of buried objects.

Historically, ambient noise in arctic ocean is predominately produced by diffuse thermal ice cracking events or ice ridge grinding. Isotropic, range-distributed noise sources models are typically utilized to simulate this environment. However, the presence of the Beaufort Lens and changes in the arctic climate have altered its ambient noise environment. Specifically, the new noise environment consists mostly of ice cracking events which occur at discrete ranges and bearings. As a result, these noise models may no longer be adequate. This study analyzes ambient noise data collected in the Beaufort Sea during the 2016 ICEX US Navy Exercise to characterize the new arctic ambient noise environment. Points of focus include determining whether ice cracking noises in the new environment are discrete in time or continuous as is the result from analysis of the SIMI’94 arctic ambient noise data. Statistics on the ice cracking events in the new noise environment, such as the events’ amplitude distribution, are also presented with the motivation of better describing the environment so that more precise models may be created.