Effects of seasonal environmental variation on surface acoustic localization in the half convergence zone area of deep sea
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摘要: 针对深海声定位受海洋环境变化影响明显、需考虑测量系统的环境适应性和宽容性设计问题，提出一种评估海水环境变化对定位性能影响的仿真分析方法，将声场计算、误差传播与交会解算联合建模，以西太平洋中纬度海域夏季和冬季环境为代表性场景讨论了季节性环境变化对定位性能的影响方式和影响程度。仿真结果表明，当接收器位于海洋近表层时，在夏季和冬季呈现出两种不同的声信道样式，夏季季节性温跃层影响下的定位精度较差，冬季表面波导影响下的定位精度相对较好，两者均方根误差(RMSE)相差超过50 m；当接收器位于海洋中上层时，直达波有效作用范围的季节性变化引起定位性能差异，冬季定位精度优于夏季，两者RMSE相差15～20 m；当接收器位于海洋近底层时，利用可靠声路径定位精度较高，定位性能季节性变化不明显。研究认为，海水的季节性环境变化能够改变半会聚区尺度水面声定位的声信道特性以及到达声信息、误差传播、交会求解等测量因素，进而对接收深度位于海洋上层的声定位性能产生明显影响。Abstract: To recognize the environmental effects on underwater acoustic localization in deep sea and improve the measurement system performance against environmental variations, an simulation method for localization performance evaluation under different oceanographic conditions was presented, in which the sound filed calculation, error propagation and crossing solution were integrated by modelling, and the effects of seasonal environmental variation on localization performance were discussed in the case of Western Pacific. According to simulation results, when the receiving depth was near the surface, the sound channel showed different models in summer and winter, such that the accuracy was worse in summer influnced by seasonal thermocline and better in winter influnced by surface duct, the difference of root mean square error (RMSE) beyond 50 m; when the receiving depth was in the upper ocean, the localization performance had an obviously seasonal change caused by the active range of direct wave, and the accuracy was better in winter than that in summer, the difference of RMSE was 15−20 m; when the receiving depth was near the bottom, the better accuracy was obtained using reliable acoustic path, and the localization performance had little change with season. This work indicates that the seasonal environmental variation induces differences in the sound channel as well as the arrival acoustic information, the error propagation and crossing solution for the localization in the half convergence zone area of deep sea, then exert significant effects on localization performance as the receiving depth in the upper ocean.
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图 1 工况及定位原理示意图
Fig. 1 Illustration for operating conditions and localization principle
图 4 典型接收深度的夏季（a）与冬季（b）传播损失曲线
Fig. 4 Transmission loss curve in typical receiving depth in summer (a) and winter (b)
图 5 不同接收深度条件下的本征声线比较
a. RD=50 m，b. RD=500 m，c. RD=5 400 m；RR. 直达波声路径，RB. 一次海底反射波声路径，SD. 表面波导声路径；点线表示声路径到达接收器之后的部分
Fig. 5 Comparison of eigen-rays in different receiving depth
a. RD=50 m, b. RD=500 m, c. RD=5 400 m; RR. Direct wave ray path, RB: seabed first-reflected wave ray path, SD: surface duct ray path; the dotted line denotes the ray paths after receivers
图 6 不同接收深度条件下的信噪比随距离变化曲线比较
a. RD=50 m，b. RD=500 m，c. RD=5 400 m；RR. 直达波声路径，RB. 一次海底反射波声路径，SD. 表面波导声路径；信噪比为10 dB的虚线表示检测阈
Fig. 6 Comparison of signal to noise ratio curve with range under different receiving depth conditions
a. RD=50 m, b. RD=500 m, c. RD=5 400 m; RR. Direct wave ray path, RB. seabed first-reflected wave ray path, SD. surface duct ray path; the dotted line denotes the detection threshold of signal to noise ratio is 10 dB
图 7 不同接收深度条件下的到达时延随距离变化曲线比较
RR. 直达波声路径，RB. 一次海底反射波声路径，SD. 表面波导声路径；垂向虚线位置表示直达波作用距离边界
Fig. 7 Comparison of time delay curve with range under different receiving depth conditions
RR. Direct wave ray path, RB. seabed first-reflected wave ray path, SD. surface duct ray path; the dotted line in vertical denotes the maximum active range of direct waves
图 8 夏季和冬季信噪比水平分布比较
目标位于X=2 km，Z=2 km处，由黑色三角形表示；基站位置由黑色正方形表示；测量区域由虚线表示；直达波作用距离由圆型实线表示
Fig. 8 Comparison of signal to noise ratio horizontal distribution in summer and winter
The target locates at X=2 km, Z=2 km, marked by black triangle; the base stations are marked by black square; the test sea area is marked by dashed line; the active range of direct wave is marked by circular full line
图 9 夏季（a）和冬季（b）环境下迭代解算中的定位偏差箱型图（RD=500 m）
Fig. 9 Box-plot of localization bias in iteration under summer (a) and winter (b) environment（RD=500 m）
图 10 时差交会解算示意图（RD=500 m）
Fig. 10 Illustration of time difference intersection and solution (RD=500 m)
表 1 不同接收深度夏季和冬季环境下的RMSE比较
Tab. 1 Comparison of RMSE in different receiving depth under summer and winter environment
接收深度 季节 未迭加站址误差 迭加站址误差 RMSE的X分量/m RMSE的Z分量/m RMSE/m RMSE的X分量/m RMSE的Z分量/m RMSE/m RD=50 m 夏季 59.3 59.5 84.0 59.7 60.5 85.1 冬季 23.0 23.0 32.5 23.1 23.1 32.7 RD=500 m 夏季 27.9 28.0 39.6 28.2 28.4 40.0 冬季 14.9 14.7 20.9 15.3 15.3 21.6 RD=5 400 m 夏季 8.2 8.1 11.5 20.2 20.1 28.5 冬季 8.3 8.1 11.6 20.1 20.0 28.3 
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表 2 目标声信号到达各基站参数比较（真值）
Tab. 2 Comparison of arrival parameters to each base station (the truth value)
接收深度 季节 参数类型 1#基站 2#基站 3#基站 4#基站 5#基站 RD=50 m 夏季 本征声线类型 RB RB RB RB RB 到达时延/s 7.27 10.69 11.85 10.69 9.33 冬季 本征声线类型 SD SD SD SD SD 到达时延/s 1.87 7.70 9.35 7.70 5.60 RD=500 m 夏季 本征声线类型 RR RB RB RB RB 到达时延/s 1.88 10.53 11.70 10.53 9.17 冬季 本征声线类型 RR RR RR RR RR 到达时延/s 1.92 7.70 9.37 7.70 5.60 RD=5 400 m 夏季 本征声线类型 RR RR RR RR RR 到达时延/s 3.99 8.58 10.00 8.58 6.85 冬季 本征声线类型 RR RR RR RR RR 到达时延/s 4.03 8.58 10.00 8.58 6.86
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