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研究生： 劉冠汶
Liu, Kuan-Wen
論文名稱： 運用被動時間反轉法及聲線法建立水中聲源定位之方法
Underwater Sound Source Localization Based on Passive Time-Reversal Mirror and Ray Theory
指導教授： 黃清哲
Huang, Ching-Jer
學位類別： 博士
Doctor
系所名稱： 工學院 - 水利及海洋工程學系
Department of Hydraulic & Ocean Engineering
論文出版年： 2022
畢業學年度： 110
語文別： 英文
論文頁數： 89
中文關鍵詞： 水中聲源定位 、時間反轉法 、聲線法 、資料浮標 、水中環境噪音
外文關鍵詞： Underwater sound source localization, Time-reversal mirror, Ray theory, Data buoy, Underwater ambient noise
ResearchGate： https://www.researchgate.net/profile/Kuan-Wen-Liu-2
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    • 臺灣四周環海且海域環境複雜，水中環境噪音難以估算。水中環境噪音是影響聲納偵蒐效能的重要指標，現今臺灣地理戰略位置越顯重要，水中環境噪音之蒐集勢在必行。過去蒐集水中環境噪音的方式為在海底布放水聽器和電纜，然而此方法所費不貲，且儀器不易維護。因此，本研究以開發一座具成本競爭力且能夠長期作業的水中聲音監測系統(USMS)為前提，加上即時回傳所量得的水中環境噪音頻譜，來進行後續的研究。
    　　本研究將一支水聽器加掛於臺灣澎湖七美與屏東南灣兩座資料浮標上，並長期收錄水中環境噪音。透過分析水中環境噪音的聲壓資料與浮標上原有的波浪儀所量測到的波高資料，則可得到該海域波高與水中環境噪音聲壓級(SPL)之關係。臺灣現運作中的二十幾座資料浮標上，大多有配備波浪儀，卻很少裝設水聽器。因此，透過本研究得到的波高與水中環境噪音變化之關係，可以輕易推估目標海域的SPL。
    　　成功建立USMS後，本研究將原本的一支水聽器，增加為四支水聽器，組成垂直陣列，並應用被動時間反轉法與聲線法，建立水中聲源二維及三維定位的方法。二維定位方法中，利用一含有4支水聽器的垂直陣列收錄水中聲源發出的訊號，再利用基於聲線法發展出的BELLHOP程式，計算出水聽器收到的聲波經時間反轉後反向發出所產生的聲壓場，基於時間反轉法反向聚焦(retrofocus)的特性，聲壓最大處即為聲源位置。由於BELLHOP程式的限制，此種方法只能定位出聲源的深度及其與垂直水聽器陣列間的距離，而無法求出方位。本研究在拖航水槽及屏東縣鹽埔漁港外海與小琉球東南方海域進行聲源二維定位的實驗，試驗結果顯示利用本研究所發展的方法可得到二維定位不錯的結果。在聲源三維定位的方法上，本研究使用含垂直及水平陣列的十字形水聽器陣列。由於聲線法中二維圓柱座標 r-z 平面上的聲線方程式與三維直角座標中 x-y 平面上的聲線方程式兩者的型式完全相同；因此，先由垂直陣列上水聽器所接收到的聲音訊號，求出聲源的二維座標 (r, z)。如同上述二維定位方法，也利用BELLHOP程式，由水平陣列上水聽器所接收到的聲音訊號，計算 x-y 平面的聲場，求出聲源在x-y平面上的座標 (x, y)。由上述結果，即可得到水中聲源之三維位置 (x, y, z)。本研究所提出的水中聲源三維定位方法，經拖航水槽試驗證實此方法的可行性及準確性，後續可於實海域中進一步測試其實用性。

    Taiwan is located in a crucial strategic area surrounded by the quick-changing ocean, and the neighboring underwater acoustic environment remains elusive. It is common to place hydrophones and cables at the seabed to detect sound signals, but the cost is enormous, and the instruments are not easy to maintain. This study aims to develop a cost-effective underwater sound monitoring system (USMS) to obtain long-term and real-time underwater ambient noises and their spectra. The USMS is implemented by installing a hydrophone to a buoy that is usually used to obtain long-term and real-time oceanic and meteorological data. Furthermore, by replacing the single hydrophone with a vertical hydrophone array or a cross-shaped array, the USMS can be used to obtain the real-time 2-D or 3-D position of an underwater sound source.
    In this study, a relation between wave height and underwater sound pressure level (SPL) is obtained in the waters near the southwestern coast of Taiwan. Based on this relation, once the wave height in specific waters is known, the corresponding underwater ambient noises in terms of SPL can be derived.
    This study proposes techniques for 2-D and 3-D localizations of an underwater sound source based on the passive time-reversal method (TRM) and acoustic ray method. For the 2-D localization, a vertical array with four hydrophones is used to collect the sound signals emitted from a sound source. The ray-tracing code BELLHOP is then used to determine the acoustic pressure field generated by the time-reversed signals received by the hydrophones. Based on the retrofocus characteristic of the TRM, the position with the maximum pressure is taken as the location of the sound source. Laboratory experiments performed in a towing tank and the field tests conducted in the offshore regions off Yanpu Harbor and Small Liuqiu Island, Pingtung County, Taiwan, reveal that the estimated source location is close to the actual location. For the 3-D localization, a cross-shaped hydrophone array consisting of a vertical array and a horizontal array is used to collect sound signals. Because the 3-D ray equations in the x-y plane of the Cartesian coordinates have the same form as the 2-D ray equation in the r-z plane of the cylindrical polar coordinates, after the 2-D position of the source is determined from the signals collected by the vertical hydrophones, the BELLHOP code is used to determine the pressure field in the x-y plane from the signals collected by the horizontal hydrophones, and the position with maximum pressure is set as the location of the source. In this way, the 3-D location of the source is obtained. Experiments conducted in a towing tank reveal that the estimated 3-D source location is close to the actual 3-D source location.

    摘要 i Abstract iii 誌謝 v Table of Contents vi List of Tables ix List of Figures x Notation xiii Chapter 1. Introduction 1 1.1 Underwater sound monitoring 1 1.2 Underwater sound source localization 3 1.3 Objectives and overview of the dissertation 10 Chapter 2. Methodology 13 2.1 Fast Fourier transform 13 2.2 Sound pressure level (SPL) 14 2.3 Time-reversal mirror (TRM) 15 2.3.1 Time reversal and phase conjugation 16 2.3.2 Implementation of TRM 18 2.3.3 TRM in the time domain 19 2.3.4 Practical implementation of TRM 22 2.4 Ray theory 22 2.4.1 Ray equations 23 2.4.2 Transport equation 26 2.4.3 Dynamic ray tracing 29 2.4.4 Geometric beams 31 2.5 Acoustic Toolbox User-interface and Post processor (AcTUP) 32 Chapter 3. Wave effect on ambient noise 33 3.1 Experimental setup and instrumentation 33 3.2 Field experiments 36 Chapter 4. Sound source 2-D localization 42 4.1 Features of the main components of the USMS 42 4.2 Procedures for underwater localization 45 4.3 Laboratory experiments 46 4.4 Field testing 52 4.4.1 Field test at offshore Yanpu Harbor 53 4.4.2 Field test offshore of Small Liuqiu Island 58 Chapter 5. Sound source 3-D localization 68 5.1 Process of sound source 3-D localization 70 5.2 The 3-D localization experiment in the towing tank 71 Chapter 6. Conclusions and suggestions 77 6.1 Summary 77 6.2 Recommendations and future works 79 References 80

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