Design and Implementation of a Shipborne Echo Sounder Simulator Based on a Seabed Echo Scattering and Noise Model
Abstract
:1. Introduction
2. Materials and Method
2.1. Seabed Echo Scattering Model
2.1.1. Rough Interface Scattering Cross-Section
- (1)
- Large Roughness Scattering Cross-Section
- (2)
- Kirchhoff Approximation
- (3)
- Here, is the reference value, taken as 1 cm.
- (4)
- Interpolation Processing
2.1.2. Volume Scattering Cross-Section of Sediments
2.2. Image Noise Model
2.2.1. Environmental Noise
- (1)
- Initialization: Set the initial coordinate of the noise pixel point to (w, 0) and generate a random number r in the interval [0, 1).
- (2)
- Weight Accumulation: Accumulate the weight values and calculate the proportion of the current weight G1 to the total weight G0.
- (3)
- Position Determination: If the random number r is less than G1/G0, determine the vertical coordinate g and exit the loop. Then, draw the noise pixel at the coordinate (w, g). Otherwise, return to step 2 and continue accumulating weights and calculating proportions.
- (4)
- Move the Image: Repeat the above steps several times and then move the image to the left.
- (5)
- Control Image Width: Repeat the above steps as needed to control the width of the noise image.
2.2.2. Ocean Reverberation Noise
2.3. Seabed Echo Generation Algorithm
- (1)
- If (i.e., ), then .
- (2)
- If (i.e., ), then .
- (1)
- If , then .
- (2)
- If , then .
- (1)
- Input the two endpoints of the line substrate, storing the left endpoint in (xs, ys).
- (2)
- Store (xs, ys) in the frame buffer memory and draw the first point.
- (3)
- Calculate the initial decision parameter: .
- (4)
- Starting from , for each xk along the line substrate, perform the following tests:
- a.
- If , the next point to draw is (xk + 1, yk), and .
- b.
- If , the next point to draw is (xk + 1, yk + 1), and .
- (5)
- Repeat step 4) for Δx − 1 times.
3. Result and Discussion
3.1. Seabed Echo Simulation
3.2. Simulation of Different Sediment Echo Intensity
3.3. Simulation of Gain, Noise and Clutter
3.3.1. Gain
3.3.2. Noise and Clutter
3.4. Echo Sounder Equipment Simulation
3.4.1. Simulation Architecture Design
3.4.2. Simulation Effects
4. Conclusions
- (1)
- Seabed Echo Simulation: A seabed echo rendering algorithm was proposed, which allows the simulated echoes generated by this algorithm to more accurately reproduce the echo images of actual equipment, achieving satisfactory results.
- (2)
- Impact of Incident Angle and Seabed Composition on Seabed Echo Simulation: Using the Jackson sound scattering model, the relationship between echo strength and incident angle for different seabed substrates was determined. Seabed echoes were rendered based on these results, producing images of seabed echoes for various seabed substrates and incident angles, visually illustrating the impact of incident angle and seabed substrate on seabed echo simulation.
- (3)
- Clutter and Noise Simulation: Through analysis and research on marine environmental noise and reverberation noise, the most prominent sources of noise and clutter were summarized, and their respective image simulations were conducted to enhance realism.
- (4)
- Simulation Equipment Development: A simulation architecture for echo sounders was designed, and a complete simulator system was developed. This system effectively realizes the main functions of an echo sounder, such as range setting, gain adjustment, operating frequency setting, and display mode switching. The simulation visuals and operational realism closely approach that of actual equipment.
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Symbol | Definition | Abbreviation |
---|---|---|
ratio of sediment density to seawater density | density ratios | |
ratio of acoustic wave propagation velocity in sediments to that in seawater | sound velocity ratio | |
ratio of imaginary part to real part of wave number in sediments | parameter losses | |
ratio of volume scattering coefficient to absorption coefficient of sedimentary layer | volume parameter | |
spectral index of seabed undulating interface | spectral index | |
spectral intensity of undulating seabed interface | spectrum intensity |
Items | Values |
---|---|
LOA (length overall) | 116 m |
LBP (length between perpendiculars) | 105 m |
B (breadth molded) | 18 m |
D (depth to main deck) | 8.35 m |
V (design speed) | 16.9 kn |
T (design draft) | 5.4 m |
GT (gross tonnage) | 6106 t |
Substrate | Average Size (mm) | Density Ratios | Sound Velocity Ratio | Parameter Losses | Volume Parameter | Spectral Index | Spectrum Intensity (cm4) |
---|---|---|---|---|---|---|---|
rock | — | 2.5 | 2.5 | 0.01374 | 0.002 | 3.25 | 0.01862 |
sand–gravel | — | 2.5 | 1.5 | 0.014 | 0.002 | 3.25 | 0.014 |
very coarse sand | 2.0 | 2.492159 | 1.286925 | 0.0164595 | 0.002 | 3.25 | 0.01293447 |
open sand | 1.0 | 2.3139 | 1.2278 | 0.01566176 | 0.002 | 3.25 | 0.008601511 |
medium sand | 0.5 | 2.151217 | 1.174087 | 0.0157149 | 0.002 | 3.25 | 0.00558833 |
fine sand | 0.25 | 1.615902 | 1.139692 | 0.01610051 | 0.002 | 3.25 | 0.0035 |
mucky | 0.02 | 1.149182 | 0.9881798 | 0.005651104 | 0.001 | 3.25 | 5.175 × 104 |
clay | 0.002 | 1.144875 | 0.9801043 | 0.0014725417 | 0.001 | 3.25 | 5.175 × 104 |
Substrate | Clay | Mucky | Fine Sand | Medium Sand | Open Sand | Very Coarse Sand | Sand–Gravel | Rock |
---|---|---|---|---|---|---|---|---|
Alpha (%) | 17.4 | 17.3 | 10.3 | 7.4 | 6.6 | 6.0 | 4.4 | 4.1 |
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Li, S.; Yang, X.; Ren, H.; Li, C. Design and Implementation of a Shipborne Echo Sounder Simulator Based on a Seabed Echo Scattering and Noise Model. J. Mar. Sci. Eng. 2024, 12, 1762. https://doi.org/10.3390/jmse12101762
Li S, Yang X, Ren H, Li C. Design and Implementation of a Shipborne Echo Sounder Simulator Based on a Seabed Echo Scattering and Noise Model. Journal of Marine Science and Engineering. 2024; 12(10):1762. https://doi.org/10.3390/jmse12101762
Chicago/Turabian StyleLi, Shihao, Xiao Yang, Hongxiang Ren, and Chang Li. 2024. "Design and Implementation of a Shipborne Echo Sounder Simulator Based on a Seabed Echo Scattering and Noise Model" Journal of Marine Science and Engineering 12, no. 10: 1762. https://doi.org/10.3390/jmse12101762
APA StyleLi, S., Yang, X., Ren, H., & Li, C. (2024). Design and Implementation of a Shipborne Echo Sounder Simulator Based on a Seabed Echo Scattering and Noise Model. Journal of Marine Science and Engineering, 12(10), 1762. https://doi.org/10.3390/jmse12101762