• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.1
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• pp.9-15
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• 2016

Source localization has developed in various fields of signal processing including radar, sonar, and wireless communication, etc. Source localization can be found by estimating the time difference of arrival between the each of sensors. Several methods like the NLS(Nonlinear Least Square) cost function have been proposed in order to improve the performance of time delay estimation. In this paper, we propose a clustering method using the four sensors with the same aperture as previous methods of using the three sensors. Clustering method can be improved the source localization performance by grouping similar estimated values. The performance of source localization using clustering method is evaluated by Monte Carlo simulation.

• Journal of the Korean Society for Precision Engineering
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• v.34 no.3
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• pp.191-197
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• 2017

Light detection and ranging (LiDAR) is one of the most efficient technologies to obtain the topographic and bathymetric map of coastal zones, superior to other technologies, such as sound navigation and ranging (SONAR) and synthetic aperture radar (SAR). However, the measurement results using LiDAR are vulnerable to environmental factors. To achieve a correspondence between the acquired LiDAR data and reality, error sources must be considered, such as the water surface slope, water turbidity, and seafloor slope. Based on the knowledge of those factors' effects, error corrections can be applied. We concentrated on the effect of the seafloor slope on LiDAR waveforms while restricting other error sources. A simulation regarding in-water beam scattering was conducted, followed by an investigation of the correlation between the seafloor slope and peak timing of return waveforms. As a result, an equation was derived to correct the depth error caused by the seafloor slope.

• Journal of the Korea Institute of Military Science and Technology
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• v.23 no.6
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• pp.554-564
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• 2020

In environment of torpedo firing, underwater acoustic signal is generated by target and noise. Sound wave which is generated from acoustic signal is propagated by seawater and it is received through the sonar(sound navigation and ranging) system mounted on torpedo. In the ocean, acoustic signal or sound wave from target that is generated by the spread of broadband can be attenuated by ambient noise and can be lost by medium and environment. This research is designed to support teamwork training in Naval operations by constructing a simulation system that is more similar to the real-world conditions. This paper attempts to research the modeling of target detection and to develop the simulation of torpedo sonar(TOSO). In order to develop the realistic simulation, we researched the broadband sound modeling of target and noise source, the modeling of acoustic transmission loss by chemical component of seawater, and the modeling of signal attenuation by ambient noise environment which is approximated by experimental measurements in seawater surrounding the Korea Peninsular and by experience of Navy's actual torpedo firing. This research contributed to constructing more practical simulation of torpedo firing in real time and the results of this research were used to develop a teamwork training system for the Navy and their education.

• The Journal of the Acoustical Society of Korea
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• v.20 no.1
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• pp.68-76
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• 2001

Sonar is the system that detects objects and finds their location in water by using the echo ranging technique. In order to have excellent performance in variable environment, acoustic characteristics of this system must be analyzed accurately. In this paper, based on the finite element analysis, modeling and analysis of acoustic characteristics of underwater acoustic sensors are preformed. Couplings between piezoelectric and elastic materials, and fluid and structure systems associated with the modeling of piezoelectric underwater acoustic sensors are formulated. In the finite element modeling of unbounded acoustic fluid, IWEE (Infinite Eave Envelop Element) is adopted to take into account the infinite domain. When an incidence wave excites the surface of Tonpilz underwater acoustic sensor, the scattered wave on the sensor is founded by satisfying the radiation condition at the artificial boundary approximately. Based on this scattering analysis, the electrical response of the underwater acoustic sensor under incidence, so called RVS (Receiving Voltage Signal) is founded accurately. This will devote to design Sonar systems accurately.

• The Journal of the Acoustical Society of Korea
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• v.28 no.1
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• pp.10-18
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• 2009

A moving surface vessel generates a ship wake which contains a cloud of micro-bubbles with radii ranging between $8{\sim}200{\mu}m$. Such micro-bubbles can be detected by active sonar system for more than ten minutes depending on the size and speed of the surface vessel. In this paper, a reverberation model for the ship wake is presented. The developed model consists of the acoustic scattering model due to the distribution of the micro-bubbles and the kinematic model for the moving active sonar. The acoustic scattering model is based on the volume integration, where the volume scattering strengths are obtained from the spatial distribution of micro-bubbles. Since the directivity and look-direction of active sonar are important factors for moving active sonar, the kinematic model utilizes the Euler transformation to obtain the relative motion between the global and local coordinates. In order to verify the developed model, a series of sea experiment was executed in September 2007 to obtain the spatial-temporal distribution of a bubble cloud, and analyzed to be compared with the simulation results.

• Journal of Ocean Engineering and Technology
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• v.23 no.2
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• pp.58-68
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• 2009

The increased use of unmanned underwater vehicles (UUV) has led to the development of alternative navigational methods that do not employ acoustic beacons and dead reckoning sensors. This paper describes a simultaneous localization and mapping (SLAM) scheme that uses range sonars mounted on a small UUV. A SLAM scheme is an alternative navigation method for measuring the environment through which the vehicle is passing and providing the relative position of the UUV. A technique for a SLAM algorithm that uses several ranging sonars is presented. This technique utilizes an unscented Kalman filter to estimate the locations of the UUV and surrounding objects. In order to work efficiently, the nearest neighbor standard filter is introduced as the data association algorithm in the SLAM for associating the stored targets returned by the sonar at each time step. The proposed SLAM algorithm was tested by experiments under various three degrees of freedom motion conditions. The results of these experiments showed that the proposed SLAM algorithm was capable of estimating the position of the UUV and the surrounding objects and demonstrated that the algorithm will perform well in various environments.

• The Journal of the Acoustical Society of Korea
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• v.26 no.2E
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• pp.44-49
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• 2007

Donghae City - Ulleung Island Line (DC-UI Line) is a representative line for underwater and geoacoustic modeling in the middle western East Sea. In this line, an integrated model of P-wave velocity is proposed for a low-frequency range target (<200 Hz), based on high-resolution seismic profiles (2 - 7 kHz sonar and air-gun), shallow and deep cores (grab, piston, and Portable Remote Operated Drilling), and outcrop geology (Tertiary rocks and the basement on land). The basement comprises 3 geoacoustic layers of P-wave velocity ranging from 3750 to 5550 m/s. The overlying sediments consist of 7 layers of P-wave velocities ranging from 1500 to 1900 m/s. The bottom model shows that the structure is very irregular and the velocity is also variable with both vertical and lateral extension. In this area, seabed and underwater acousticians should consider that low-frequency acoustic modeling is very range-dependent and a detailed geoacoustic model is necessary for better modeling of acoustic propagation such as long-range surveillance of submarines and monitoring of currents.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.418-420
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• 2005

This paper proposed ultrasonic distance measurement module development for correct distance detection with collision escaping or obstacle of mobile robot is traveling self-regulation. Representative ultrasonic module applied in existing was Polaroid company's 6500 series and Devantech company's SRF04/SRF08 series. This ultrasonic sensors are corrupted by systematic errors due mainly to the dependency of sound speed upon surrounding conditions and random errors of uncertain origin. Therefore Ultrasonic distance detecting means of error compensation method and high definition, narrow beam angle, board area distance detecting means to apply to ultrasonic mobile robot control urgently need. In this paper use internal type temperature compensation method to improve problem of ultrasonic distance measurement method instead of that volume that have shortcoming of used correct temperature compensation methods applied big addition device. Compensate error by environment change of temperature. Humidity density etc. and is applicable to mobile robot offering various interface and real-time processing developed possible distance measurement module.

• 한국해양학회지
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• v.29 no.3
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• pp.239-247
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• 1994

Bedform morphology of the giant ripples have been studied on the continental shelf of the Yellow Sea, East China sea and Korea-Tsushima Strait on the basis of side-scan sonar image, sub-bottom profile, sedimentary facies, geomorphology evidence and hydrology. There are well developed giant ripples ranging from 100 to 500 m in wavelengths and from 2 to 10 m in wave height at nine sites in the study area, which are covered by medium to fine sand. Most of them have been formed under the present hydrologic regime where the tidal currents and local currents or turbulence flows are superimposed. In the study area, giant ripples are produced on two different environments. One is at the geomorphic narrow zone such as the Korea Strait where currents are accelerated by the topographic effects, while the other is the sandy flat plain where tidal currents and local currents are harmonized.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.27 no.1
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• pp.1-12
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• 1991

An experiment has been carefully designed and performed to verify the theory for the echointergration technique of estimating the density of fish school by the use of steel spheres in a laboratory tank. The spheres used to simulate a fish school were randomly distributed throughout the insonified volume to produce the acoustic echoes similar to those scattered from real fish schools. The backscattered echoes were measured as a function of target density at tow frequencies of 50kHz and 200kHz. Data acquisition, processing and analysis were performed by means of the microcomputer-based sonar-echo processor including a FFT analyzer. Acoustic scattering characteristics of a 36cm mackerel was investigated by measuring fish echoes with frequencies ranging from 47.8kHz to 52.0kHz. The fluctuation of bottom echoes caused by the effects of fish-school attenuation and multiple scattering which occurred in dense aggregations of fishes was also examined by analyzing the echograms of sardine schools obtained by a 50kHz telesounder in the set-net's bagnet, and the echograms obtained by a scientific echo sounder of 50kHz in the East China Sea, respectively. The results obtained can be summarized as follows: 1. The measured and the calculated echo shapes on the steel sphere used to simulate a fish school were in close agreement. 2. The waveform and amplitude of echo signals by a mackerel without swimbladder fluctuated irregularly with the measuring frequency. 3. When a collection of 30 targets/m super(3) lied the shadow region behind another collection of 5 targets/m super(3), the mean losses in echo energy for the 30 targets/m super(3) were about -0.4dB at 50kHz and about -0.2dB at 200kHz, respectively. 4. In the echograms obtained in the East China Sea, the bottom echoes fluctuated remarkably when the dense aggregations of fish appeared between transducer and seabed. Especially, in the case of the echograms of sardine school obtained in a set-net's bagnet, the disappearance of bottom echoes and the lengthening of the echo trace by fish aggregations were observed. Then the mean density of the sardine school was estimated as 36 fish/m super(3). It suggests that when the distribution density of fishes in oceans is greater than this density, the effects of fish-school attenuation and multiple scattering must be taken into account as a possible source of error in fish abundance estimates. 5. The relationship between mean backscattering strength (, dB) and target density ($\rho$, No./m super(3)) were expressed by the equations: =-46.2+13.7 Log($\rho$) at 50kHz and =-43.9+13.4 Log($\rho$) at 200kHz. 6. The difference between the experimentally derived number and the actual number of targets gradually decreased with an increase in the target density and was within 20% when the density was 30 targets/m super(3). From these results, we concluded that when the number of targets in the insonified volume is large, the validity of the echo-integration technique of estimating the density of fish schools could be expected.