Small aperture acoustic velocity sensor
A small aperture acoustic velocity sensor and a method for velocity measurement are disclosed. In one aspect, the disclosed technology uses spatially-shifted sub-arrays for projection and/or hydrophone receipt and cross-correlation of successive pulses to improve correlation and reduce bias. The spatial shift can be created physically by selection of groups of elements or virtually by weighting the contributions of fixed sub-arrays. Spatial modulation can be used to form a projected signal and measured spatial phase of slope across the set of sub-arrays allows correction of both long- and short-term errors. The disclosed technology uses spatial and/or temporal interpolation.
1. An underwater active sonar system, comprising:
a plurality of transducer sub-arrays configured to spatially modulate and project a plurality of acoustic beams in different directions, receive and spatially demodulate a spatiotemporal pattern of backscattered acoustic signals corresponding to echoes of the projected acoustic beams from a plurality of scatterers while preserving the relative phase relationship of the backscattered acoustic signals; and
a processor configured to separate received backscattered acoustic signals backscattered from different ones of the projected acoustic beams, linearly combine the acoustic signals received over each of the transducer sub-arrays, and measure vehicle velocity and/or water velocity components in response to the linearly combined acoustic signals,
wherein each transducer sub-array includes a plurality of array elements, and wherein the plurality of transducer sub-arrays are connected to a plurality of channels for the linearly combining, and
wherein the processor is configured to use a phase of a cross-correlation function at or near a lag equal to a Doppler-shifted pulse repetition interval in multiple acoustic beams to measure velocity.
2. The system of claim 1 , wherein the processor is configured to apply beamforming processing to separate received acoustic signals.
3. The system of claim 1 , wherein the processor is configured to fit a parametric model to an amplitude and phase of an interference pattern of the received acoustic signals.
4. The system of claim 1 , wherein the processor is configured to measure vehicle velocity based on backscattering sound off a bottom surface of a body of water.
5. The system of claim 1 , wherein the processor is configured to measure vehicle velocity and/or water velocity by processing the backscattered acoustic signals received from volume scatterers within a body of water.
6. The system of claim 1 , wherein at least one of the transducer sub-arrays projects a gated monotone pulse to produce a narrowband signal.
7. The system of claim 1 , wherein at least one of the transducer sub-arrays projects one or more repetitions of a phase-coded or chirped signal to produce a wideband signal.
8. The system of claim 1 , wherein the processor is configured to measure vehicle velocity and/or water velocity components by at least interpolating received acoustic signals, in at least one of time and space, to approximate bistatic invariance geometry, and comparing the interpolated received acoustic signals in pairs at or near the Doppler-shifted pulse repetition interval.
9. The system of claim 1 , wherein each of the transducer sub-arrays comprises at least one of a phased array, an array of phased arrays, a multichannel array, a blazed array, an array of blazed arrays, and a set of piston transducers.
10. The system of claim 1 , wherein a shape of each of the transducer sub-arrays is approximately polygonal, a section of a circle, or a section of an oval.
11. The system of claim 1 , wherein measuring vehicle velocity and/or water velocity components in response to the linearly combined signals includes combining correlation phase information from the plurality of acoustic beams.
12. The system of claim 1 , wherein a total number of channels in the system is in a range between four and sixteen channels.
13. The system of claim 1 , wherein each sub-array of the transducer sub-arrays abuts at least one other sub-array of the transducer sub-arrays.
14. The system of claim 1 , wherein the system comprises at least four channels for each of the sub-arrays.
15. An underwater active sonar system, comprising:
a plurality of transducer sub-arrays configured to spatially modulate and project a plurality of acoustic beams in different directions, receive and spatially demodulate a spatiotemporal pattern of acoustic signals corresponding to echoes of the projected acoustic beams from a plurality of scatterers while preserving the relative phase relationship of the backscattered acoustic signals; and
a processor configured to separate received acoustic signals backscattered from different ones of the projected acoustic beams, linearly combine the acoustic signals received over each of the transducer sub-arrays, and measure vehicle velocity and/or water velocity components in response to the linearly combined acoustic signals,
wherein each sub-array includes a plurality of array elements, and wherein the plurality of sub-arrays are connected to a plurality of channels for the linearly combining,
wherein the processor is configured to interpolate received acoustic signals, in at least one of time and space, to approximate bistatic invariance geometry, and to compare the interpolated received acoustic signals in pairs at or near a Doppler-shifted pulse repetition interval.
16. An underwater active sonar system, comprising:
a plurality of parametric array projectors configured to project a plurality of acoustic beams in different directions;
a plurality of hydrophone sub-arrays configured to receive and spatially demodulate a spatiotemporal pattern of backscattered acoustic signals corresponding to echoes of the projected acoustic beams from a plurality of scatterers in the water while preserving the relative phase relationship of the backscattered acoustic signals; and
a processor configured to separate received backscattered acoustic signals backscattered from different ones of the projected acoustic beams, linearly combine the acoustic signals received over each of the hydrophone sub-arrays, and measure vehicle velocity and/or water velocity components based on the linearly combined acoustic signals,
wherein the parametric array projectors project frequencies that interact non-linearly, and
wherein the processor is configured to use a phase of a cross-correlation function at or near a lag equal to a Doppler-shifted pulse repetition interval in multiple acoustic beams to measure velocity.
17. The system of claim 16 , wherein measuring vehicle velocity and/or water velocity components based on the linearly combined acoustic signals includes combining correlation phase information from the plurality of acoustic beams.
18. The system of claim 16 , wherein the processor is configured to apply beamforming processing to separate received acoustic signals.
19. The system of claim 16 , wherein the processor is configured to fit a parametric model to an amplitude and phase of an interference pattern of the received acoustic signals.
20. The system of claim 16 , wherein the processor is configured to measure vehicle velocity based on backscattering sound off a bottom surface of a body of water.
21. The system of claim 16 , wherein the processor is configured to measure vehicle velocity and/or water velocity by processing backscattered acoustic signals received from volume scatterers within a body of water.
22. The system of claim 16 , wherein the processor is configured to measure vehicle velocity and/or water velocity components by at least interpolating received acoustic signals, in at least one of time and space, to approximate bistatic invariance geometry, and comparing the interpolated received acoustic signals in pairs at or near the Doppler-shifted pulse repetition interval.