Velocity is fundamental information for ocean engineering. It is difficult for traditional Doppler sonar to provide accurate and wide-range velocity measurement information with a short time lag. Therefore, a frequency-supervised combined Doppler son...
Velocity is vital information for navigation and oceanic engineering. Coherent Doppler sonar is an accurate tool for velocity measurement, but its use is limited due to velocity ambiguity. Velocity measured by frequency shift has no velocity ambiguit...
In the realm of ocean engineering and maintenance of subsea structures, accurate underwater distance quantification plays a crucial role. However, the precision of such measurements is often compromised in underwater environments due to backward scat...
To make an Autonomous Underwater Vehicle (AUV) chase a moving target ship that generates wake, wake-responsive guidance can be used. This scenario is applicable to making an underwater torpedo pursue a moving target ship until hitting the target. The...
This paper proposes a solution for merging the measurements from two perpendicular profiling sonars with different beam-widths, in the context of underwater karst (cave) exploration and mapping. This work is a key step towards the development of a fu...
Low frequency acoustic methods are a common tool for seabed stratigraphy mapping. Due to the efficiency in seabed mapping compared to geotechnical methods, estimating geotechnical sediment properties from acoustic surveying is attractive for many app...
This study developed a sonar scanning scheme for underwater high-rise pile cap foundations (HRPCFs) to improve the efficiency of bridge inspection and prolong structural durability. First, two key factors in the measurement point arrangement that sig...
Water velocity and discharge are essential parameters for monitoring water resources sustainably. Datasets acquired from Unoccupied Aerial Systems (UAS) allow for river monitoring at high spatial and temporal resolution, and may be the only alternati...
Ultrasonic sonar sensors are commonly used for contactless distance measurements in application areas such as automotive and mobile robotics. They can also be used to identify and classify sound reflecting objects. In the presented work, we classify...
Ultrasonic sonar sensors are commonly used for contactless distance measurements in application areas such as automotive and mobile robotics. They can also be exploited to identify and classify sound-reflecting objects (targets), which may then be us...
One of the key sources of uncertainties in sea ice freeboard and thickness estimates derived from satellite radar altimetry results from changes in sea ice surface properties. In this study, we analyse this effect, comparing upward-looking sonar (ULS...
Realistic predictions of the contribution of the uncertainty sources affecting the quality of the bathymetric measurements prior to a survey is of importance. To this end, models predicting these contributions have been developed. The objective of th...
The proposed novel “BathySent” approach for coastal bathymetric mapping, using the Copernicus Sentinel-2 mission, as well as the assessment and specification of the uncertainties of the derived depth results, are the objectives of this re...
In this paper, an improved azimuth angle estimation method with a single acoustic vector sensor (AVS) is proposed based on matched filtering theory. The proposed method is mainly applied in an active sonar detection system. According to the conventio...
This paper considers locating an underwater target, where many sonobuoys are positioned to measure the bearing of the target’s sound. A sonobuoy has very low bearing accuracy, such as 10 degrees. In practice, we can use multiple heterogeneous s...
Acoustic and optical sensing modalities represent two of the primary sensing methods within underwater environments, and both have been researched extensively in previous works. Acoustic sensing is the premier method due to its high transmissivity in...
Accurate estimation of the frequency component is an important issue to identify and track marine objects (e.g., surface ship, submarine, etc.). In general, a passive sonar system consists of a sensor array, and each sensor receives data that have co...
Compressive sensing is a very attractive technique to detect weak signals in a noisy background, and to overcome limitations from traditional Nyquist sampling. A very important part of this approach is the measurement matrix and how it relates to har...
The detection, classification, and localization of targets or features on the seafloor in acoustic data are critical to many disciplines. This is most important in cases where human safety is in jeopardy, such as hazards to navigation, mitigation of...
The methods of data collection, processing, and assessment of the quality of the results of a survey conducted at the Southern Ionian Sea off the Messinian Peninsula, Greece are presented. Data were collected by the GEBCO-Nippon Foundation Alumni Tea...
The linear pseudo-measurements filter is adapted for use in a stochastic observation system with random time delays between the arrival of observations and the actual state of a moving object. The observation model is characterized by limited prior k...
New shipwrecks are usually found during other work at sea. In 2006, the research vessel St. Barbara discovered probably the most massive wreck that lies on the bottom of the Baltic Sea. Its identity was unknown, and the Arctowski was sent to conduct...
Side-scan sonar is designed and used for a variety of survey work, in both military and civilian fields. These systems provide acoustic imageries that play a significant role in a variety of marine and inland applications. For this reason, it is extr...
Differences between conventional sonar and Multiple-Input Multiple-Output (MIMO) sonar systems arise in achieving high angular and range resolution. MIMO sonar uses Matched Filtering (MF) with well-correlated transmitted signals to enhance spatial re...
This paper presents a novel approach to mobile robot localization using sonar sensors. This approach is based on the use of particle filters. Each particle is augmented with local environment information which is updated during the mission execution....
Artificial reef detection in multibeam sonar images is an important measure for the monitoring and assessment of biological resources in marine ranching. With respect to how to accurately detect artificial reefs in multibeam sonar images, this paper...
The covertness of the active sonar is a very important issue and the sonar signal waveform design problem was studied to improve covertness of the system. Many marine mammals produce call pulses for communication and echolocation, and existing interc...
Multibeam sonars are advanced scientific tools for estimating fish school volume and density, using multiple beams to provide comprehensive size measurements of detected targets. However, challenges remain in accurately estimating target dimensions d...
Three-dimensional reconstruction is a crucial technique for mapping and object-search tasks, but it is challenging in sonar imaging because of the nature of acoustics. In underwater sensing, many advanced studies have introduced approaches that have...
The importance of active sonar is increasing due to the quieting of submarines and the increase in maritime traffic. However, the multipath propagation of sound waves and the low signal-to-noise ratio due to multiple clutter make it difficult to dete...
Underwater acoustics has been implemented mostly in the field of sound navigation and ranging (SONAR) procedures for submarine communication, the examination of maritime assets and environment surveying, target and object recognition, and measurement...
From a strategic point of view, it is essential to protect underwater vehicles from being detected by opponents. Modern mono- or bistatic sonar systems are capable of precisely determining the position of a watercraft. In order to triangulate the pos...
Multi-sensor sonar tracking has many advantages, such as the potential to reduce the overall measurement uncertainty and the possibility to hide the receiver. However, the use of multi-target multi-sensor sonar tracking is challenging because of the...
Mechanical Sonar Scanning (MSS) is a recent technology that allows sonar to be used for static measurements in the same way as Terrestrial Laser Scanners (TLS), which makes it an attractive tool for underwater infrastructure surveys. Nevertheless, th...
Unmanned underwater operations using remotely operated vehicles or unmanned surface vehicles are increasing in recent times, and this guarantees human safety and work efficiency. Optical cameras and multi-beam sonars are generally used as imaging sen...
Underwater sonar is the primary remote sensing and imaging modality within turbid environments with poor visibility. The two-dimensional (2-D) images of a target near the air–sea interface (or resting on a hard seabed), acquired by forward-scan...
In response to the absence of standardized work practices, work safety measures, efficient work procedures, and suitable line planning methods for exploring seabed topography using autonomous underwater vehicles (AUVs) equipped with side-scan sonar s...
The “Sonar Hopf” cochlea is a recently much advertised engineering design of an auditory sensor. We analyze this approach based on a recent description by its inventors Hamilton, Tapson, Rapson, Jin, and van Schaik, in which they exhibit the “Sonar H...
In sonar collaborative search tasks, effectively evaluating the collaborative search efficiency is an important way to measure whether a task can be successful, which can also provide strong support for optimizing search schemes. In complex marine en...
Autonomous Underwater Vehicles (AUVs) equipped with Side-Scan Sonar (SSS) play a critical role in seabed mapping, where precise navigation data are essential for mosaicking sonar images to delineate the seafloor’s topography and feature locatio...
Sound backscattered to a sonar from a seabed decreases in intensity with increasing range (
The navigation of autonomous underwater vehicles is a major scientific and technological challenge. The principal difficulty is the opacity of the water media for usual types of radiation except for the acoustic waves. Thus, an acoustic transducer (a...
Nowadays, there are two leading sea sounding technologies: the multibeam echo sounder and the multiphase echo sounder (also known as phase-difference side scan sonar or bathymetric side scan sonar). Both solutions have their advantages and disadvanta...
Active sonar can usually only directly measure the distance and bearing information of underwater targets, and cannot directly obtain target velocity, acceleration and other information. Therefore, the amount of information is relatively small, makin...
Autonomous underwater vehicle inspection in 3D environments presents significant challenges in spatial mapping for obstacle avoidance and motion control. Current solutions rely on either 2D forward-looking sonar or expensive 3D sonar systems. To addr...
In this work, we proposed to include remote sensing techniques as a part of the methodology for natural lake bottom mapping, with a focus on the littoral zone. Due to the inaccessibility of this zone caused by dense vegetation, measurements of the la...
With the prospect to deploy hydrokinetic energy converters in areas with heavy boat traffic, a study was conducted to observe and assess the depth range of cavitating flow produced by ferryboats in narrow channels. This study was conducted in the vic...
Techniques for marine monitoring have been greatly evolved over the past decades, making the acquisition of environmental data safer, more reliable and more efficient. On the other hand, the marine renewable energy sector has introduced dissimilar wa...
As widely applicated in many underwater research fields, conventional side-scan sonars require the sonar height to be at the seabed for geocoding seabed images. However, many interference factors, including compensation with unknown gains, suspended...
The multi-sonar distributed fusion system has been pervasively deployed to jointly detect and track marine targets. In the realistic scenario, the origin of locally transmitted tracks is uncertain due to clutter disturbance and the presence of multi-...
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