Aspect-dependent radiated noise analysis of an underway autonomous underwater vehicle

Abstract

This paper presents an analysis of the acoustic emissions emitted by an underway REMUS-100 autonomous underwater vehicle (AUV) that were obtained near Honolulu Harbor, HI using a fixed, bottom-mounted horizontal line array (HLA). Spectral analysis, beamforming, and cross-correlation facilitate identification of independent sources of noise originating from the AUV. Fusion of navigational records from the AUV with acoustic data from the HLA allows for an aspect-dependent presentation of calculated source levels of the strongest propulsion tone.

An acoustic remote sensing method for high-precision propeller rotation and speed estimation of unmanned underwater vehicles

“…20 In the field, Gebbie et al analyzed the angular dependence of radiated noise from an underway REMUS-100 UUV via a bottom-mounted horizontal line array in a quiet ocean environment. 21 The authors were able to track the UUV by a single tone of 1065 Hz, which they attributed to originate from the propulsion system. Zhang et al discussed how the Doppler effect on symmetric spectral lines around the switching frequency of an inverter-fed motor can be measured to estimate radial velocity.…”

Ocean sound levels in the northeast Pacific recorded from an autonomous underwater glider

“…Wings convert hydrodynamic lift to a horizontal force that propels the glider forward, while rudder systems and mass balance controls enable horizontal navigation [2, 3]. The buoyancy driven descent/ascent, slow glide speeds (25 cm/s) and extended endurance capability to cover hundreds to several thousands of kilometers, make ocean gliders an attractive mobile platform for passive acoustic research when compared to louder, propulsion-driven autonomous underwater vehicles (AUVs) [5]. The glider’s stealth mobility and dive capabilities (up to 6000 m on Deepglider ™ ) provide unique advantages for ecological studies of acoustically active animals by minimizing disturbance to sensitive marine mammals and fish that may otherwise avoid the noise emissions from louder vehicle platforms operating in remote and acoustically undisturbed ocean areas.…”

Demonstration of passive acoustic detection and tracking of unmanned underwater vehicles

“…UUVto investigate the noise source[34].In terms of tracking UUVs, Gebbie et al demonstrated passively tracking a UUV with a bottom mounted horizontal line array hydrophone system[50]. They tracked an underway REMUS-100 by its acoustic doppler current profiler (ADCP), broadband modem noise, and a single strong frequency from the propulsion system[50].…”

“…UUVto investigate the noise source[34].In terms of tracking UUVs, Gebbie et al demonstrated passively tracking a UUV with a bottom mounted horizontal line array hydrophone system[50]. They tracked an underway REMUS-100 by its acoustic doppler current profiler (ADCP), broadband modem noise, and a single strong frequency from the propulsion system[50]. The same research group characterized the acoustic profile of the REMUS-100 with an onboard acoustic modem, which they used in OASES, propagation modeling software, to predict transmission loss and multipath arrival of the signal[86].Related to tracking UUVs, work has been done in detecting noisy surface targets like small boats and analyzing the multipath arrivals on a passive acoustic array[51] [52].…”