水下无人系统学报

2023, 31(4): 509-509.

[Abstract](58) [FullText HTML] (23) [PDF 224KB](25)

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Development Trend of Target Non-Acoustic Detection Technology Based on Unmanned Undersea Vehicles

LI Gege, JIA Shikun, ZHAO Haitong, LAN Shiquan, SUN Tongshuai, YANG Shaoqiong

2023, 31(4): 510-520. doi: 10.11993/j.issn.2096-3920.2023-0060

[Abstract](293) [FullText HTML] (28) [PDF 2666KB](161)

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Unmanned undersea vehicles(UUVs) represented by autonomous undersea vehicles and autonomous underwater gliders have the advantages of low cost, good concealment, high mobility, and easy deployment in flexible networks in underwater target detection. With the development and mature application of anechoic technology, the self-noise of submarines and other large underwater vehicles is close to the background noise of the ocean, and the underwater target detection technology relying on only acoustic information no longer has universal advantages, and non-acoustic detection technologies involving light, electricity, and magnetism have gradually shown superiority. Utilizing the navigational advantages of UUVs, carrying optical, electrical, magnetic, and other non-acoustic detection sensors to carry out target discovery attempts has gradually become a new development and application direction. Based on the analysis and summary of the types, principles, and applications of non-acoustic detection sensors already carried by current UUVs, this paper pointed out the main research directions and progress of magnetic anomaly detection, laser detection, electric field detection, gravity gradient detection, and biological detection and summarized the current key technical problems and technical difficulties of non-acoustic detection based on UUVs. It also predicted the development direction, so as to provide some references for enhancing non-acoustic detection technologies.

Review of Non-Acoustic Detection Technologies of Submarines

LIU Tengjiao, WANG Dan, LIU Jinguo

2023, 31(4): 521-526. doi: 10.11993/j.issn.2096-3920.2023-0054

[Abstract](301) [FullText HTML] (109) [PDF 969KB](184)

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Due to the complexity of the combat environment, the traditional acoustic detection technologies of submarines are gradually limited, and the importance of non-acoustic detection technologies of submarines is increasingly shown. This article respectively introduced the magnetic anomaly detection technology, laser detection technology, wake detection technology, electric field detection technology, and other non-acoustic detection technologies of submarines, described the advantages and limitations of these technologies, and predicted their development trend, so as to provide a reference for the development of detection technologies of submarines.

Overview of Underwater Electric Filed Measurement Technology Research

CHEN Kai, LUO Xianhu, SU Jianye, SUN Zhen, TIAN Ji, DENG Xianming

2023, 31(4): 527-544. doi: 10.11993/j.issn.2096-3920.2023-0070

[Abstract](137) [FullText HTML] (134) [PDF 4948KB](96)

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Underwater electric fields have the characteristics of complex field sources, high dynamic range, and broad frequency band, making high-precision observation difficult. They put forward high requirements for observation methods, measurement sensors, instrument equipment, and signal processing methods. Underwater electric field measurement technology is widely used in various disciplines such as underwater target detection, geophysical exploration, deep geological structure research, and physical oceanography. This paper briefly reviewed the development process of underwater electric field measurement technology, summarized the current research in China and abroad, and clarified the key issues and difficulties in the research on underwater electric field measurement technology. The paper also reviewed the equipment, platform, and signal processing methods related to underwater electric field measurement technology, listed representative application cases in multiple disciplines such as underwater target detection, geophysical exploration, deep geological structure research, and physical ocean observation separately, and analyzed the problems and shortcomings of current underwater electric field measurement technology. On this basis, the prospects for technological development were envisioned, and some constructive suggestions were put forward.

Underwater Potential Characteristics of Static Electric Field Related to Ship Corrosion

YANG Pengcheng, YANG Jinghao, JIANG Runxiang

2023, 31(4): 545-551. doi: 10.11993/j.issn.2096-3920.2023-0056

[Abstract](67) [FullText HTML] (26) [PDF 4427KB](24)

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In order to deeply analyze the characteristics of the ship’s static electric field signals, the underwater potential characteristics of static electric field related to ship corrosion were studied based on the ship model test and the measured data of the planar potential measurement array at sea. Firstly, based on the ship model test, the characteristics of the ship’s static electric field signals under the cathodic protection system were analyzed, and it was found that the cathodic protection system had a great influence on the magnitude of static electric field signals. Secondly, the time domain and frequency domain of underwater potential signals of typical ships obtained from the measured data at sea were analyzed. The results show that the static electric field energy is mainly concentrated in the frequency band of 0-0.1 Hz. Finally, according to the distribution rule of underwater potential, it is found that when 12 dB is taken as the detection threshold, and the distance between adjacent sensors is no more than 320 m at a shallow depth of 240 m, the sensor array can accurately detect the ship’s electric field with a surface equivalent source intensity of 10 A·m.

Electrochemical Characteristics of Typical Ship Materials in Low-Temperature Seawater

ZHOU Tong, YU Dingfeng, ZHENG Panfeng, YANG Shuai

2023, 31(4): 552-558. doi: 10.11993/j.issn.2096-3920.2023-0058

[Abstract](68) [FullText HTML] (11) [PDF 2262KB](23)

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The electrochemical characteristic of ship metal materials in marine environments is an important factor affecting the generation of ship electric field characteristics. For a long time, researchers have mainly focused on the electrochemical characteristics of metal materials in normal-temperature seawater but paid less attention to the electrochemical characteristics of metal materials in low-temperature seawater. For three typical ship materials, experiments were designed based on the influence of different temperatures and salinity changes, and the polarization potential, polarization curve, and polarization resistance were compared in the low-temperature seawater. The results show that with the decrease in seawater temperature, the open circuit potential of metal materials and self-corrosion potential increase, but the degree of dissolution activation decreases. The proposed method may provide a reference for the study of electric field characteristic control and analysis and evaluation.

Characterization and Application of Underwater Extremely Low Frequency Magnetic Fields

YUE Ruiyong, JIANG Kaina, WU Yuanzhe, ZHAO Zhe

2023, 31(4): 559-567. doi: 10.11993/j.issn.2096-3920.2023-0065

[Abstract](199) [FullText HTML] (34) [PDF 5088KB](70)

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Underwater extremely low frequency magnetic field mainly comes from the rotation of the ship’s stern shaft and has obvious line spectrum characteristics, long propagation distance, and strong correlation with the ship’s motion in marine environments, which can be used as a feature source of non-acoustic detection. The study of underwater extremely low frequency magnetic field models, propagation, and spatial distribution properties is of great value in promoting applications of extremely low frequency magnetic field detection. Shaft-rate magnetic field is an important component of underwater extremely low frequency magnetic field. In this paper, the generation mechanism of the shaft-rate magnetic field was analyzed, and the time-harmonic dipole model of the shaft-rate magnetic field generated by the corrosion current under the effect of internal modulation was established. The propagation and spatial distribution characteristics of the shaft-rate magnetic field in the marine environment were simulated, and the decay law of the shaft-rate magnetic field was initially given. The dipole model was validated by the controlled simulation source sea test. The results show that the shaft-rate magnetic field generated by the horizontal time-harmonic electric dipole has the largest energy in the horizontal component, followed by the vertical component, and the energy in the longitudinal component is the smallest. At the same time, the shaft-rate magnetic field has a certain directional distribution, and the detection utilizing the horizontal and vertical components can effectively make up the detection blind area by a single component. The multi-path propagation characteristics of the shaft-rate magnetic field generated by the horizontal time-harmonic electric dipole in the shallow water environment exist, and they are dominated by direct and reflected waves in the near region and by direct waves from the sea surface in the far region. The frequency characteristics of the shaft-rate magnetic field are correlated with the ship’s speed and number of blades, which can be used as an effective feature for target identification. The above conclusions can provide support for the identification of extremely low frequency magnetic field detection.

Weak Magnetic Anomaly Signal Extraction Method Based on EEMD and DWT

NING Wenxi, WANG Yanhua, FAN Liming, ZHANG Xiaojun, XIE Zhizhen

2023, 31(4): 568-574. doi: 10.11993/j.issn.2096-3920.2023-0069

[Abstract](88) [FullText HTML] (18) [PDF 1222KB](49)

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Magnetic anomaly signal contains rich feature information of targets, which is the basis for target localization and identification. However, the magnetic anomaly generated by the target rapidly attenuates with detection distance, making the weak magnetic anomaly signals of distant targets typically buried in magnetic noise. In view of extracting weak magnetic anomaly signals with a low signal-to-noise ratio, the method of weak magnetic anomaly signal extraction based on ensemble empirical mode decomposition(EEMD) and discrete wavelet transform(DWT) was proposed. Firstly, EEMD was used to decompose the weak magnetic anomaly signal into signal-domain magnetic signal and noise-domain magnetic signal. Then, the approximate coefficient of DWT was used to characterize the characteristics of the low-frequency signal and obtain the low-frequency noise-domain magnetic signal. Finally, the signal-domain magnetic signal was combined with the low-frequency noise-domain magnetic signal to obtain the weak magnetic anomaly signal. In order to validate the effectiveness of this method, simulation experiments and field experiments were carried out. The experimental results show that this method can effectively suppress background magnetic noise and extract weak magnetic anomaly signals of targets. This method can also offer effective data for the localization and identification of distant targets.

Ground Calibration Method of Magnetic Compensation Parameters forMagnetometer Towfish

HAN Qi, LI You, XUE Qi, QIAO Zhi, WANG Chen, TONG Xiaojun

2023, 31(4): 575-581. doi: 10.11993/j.issn.2096-3920.2023-0059

[Abstract](99) [FullText HTML] (14) [PDF 4156KB](37)

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Magnetometer towfish can be utilized for underwater and aerial towed magnetic field measurements. Although they lack propulsion systems, significant magnetic interference persists, necessitating magnetic interference compensation. However, as towfish possess no maneuverability, they cannot employ calibration methods akin to those of airborne platforms for determining magnetic compensation parameters. This article proposed a ground calibration method of magnetic compensation parameters for magnetometer towfish and designed a ground magnetic interference calibration device to impose certain constraints on the magnetic field environment. Based on the equivalence analysis with the aeromagnetic compensation parameter calibration scheme, a ground calibration method tailored for magnetometer towfish was designed and subsequently subjected to ground calibration experiments and dynamic noise validation in actual environments. Experimental results reveal that the method possesses remarkable efficacy for calibrating magnetic compensation parameters of towfish by using towed magnetic field measurement devices, yielding a quality akin to that of aircraft platforms. The improvement ratio for magnetic compensation calibration exceeds 16.

Two-Point Positioning Method with Magnetic Gradient Tensor Invariant Constraints

CHI Cheng, WANG Dan, YU Zhentao, YU Lu, QIN Feng, ZHU Shangming

2023, 31(4): 582-587. doi: 10.11993/j.issn.2096-3920.2023-0055

[Abstract](54) [FullText HTML] (11) [PDF 1034KB](27)

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Single-point magnetic gradient tensor positioning methods are greatly affected by geomagnetic field estimation errors, and multi-point magnetic gradient tensor positioning methods are easy to get trapped in local optima. To address these issues, a two-point magnetic gradient tensor positioning method was proposed. Based on the single-point magnetic gradient tensor positioning algorithm, this method used two-point magnetic gradient tensor measurement data and superimposed the constraints of tensor geometric invariants to construct a nonlinear objective function about the target position coordinates, and it used the natural selection-based particle swarm optimization(NSPSO) algorithm to solve the target position coordinates. Simulation experiments demonstrate that the proposed method is less affected by geomagnetic field estimation errors and can search for global optima. It exhibits high localization accuracy. The simulation analysis considers the positioning performance of the proposed method for magnetic targets under different system baseline lengths and magnetometer sensitivities. The results indicate that as the system baseline length and the magnetometer sensitivity improve, the positioning error for magnetic targets decreases.

Correlation of Low-Frequency Line Spectrum Characteristics of Underwater Typical Physical Fields of Ships

JIANG Runxiang, WANG Jiarui, ZHU Kui, ZHANG Jiawei

2023, 31(4): 588-592. doi: 10.11993/j.issn.2096-3920.2023-0057

[Abstract](77) [FullText HTML] (50) [PDF 1617KB](39)

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To study the correlation of low-frequency line spectrum characteristics of underwater typical physical fields, an underwater joint measuring device was developed, which integrated the measurement functions of acoustic field, electric field, magnetic field, and pressure field. Secondly, the underwater physical field signals of more than 30 ships with different targets were obtained through tests in a sea area. Finally, based on the measured data, the correlation between the low-frequency (below 100 Hz) line spectrum characteristics of the acoustic field, electric field, magnetic field, and pressure field of typical ships was analyzed. The results show that the line spectrum characteristics of low-frequency pressure signal and low-frequency electric field are strongly correlated and have common sources. The line spectra of the low-frequency acoustic field, pressure field, and low-frequency electric field signal are correlated and have common sources at some frequency points, which provides a new idea for the joint detection and identification of targets based on underwater physical fields.

Extraction of Shaft-Rate Electromagnetic Field of Ships Based on Adaptive Fourier Decomposition

XU Zhenhuan, WU Yongfei, PEI Jianxin

2023, 31(4): 593-599. doi: 10.11993/j.issn.2096-3920.2023-0049

[Abstract](70) [FullText HTML] (23) [PDF 2618KB](34)

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The shaft-rate electromagnetic field is a crucial feature of ships and undersea vehicles. However, due to the presence of static electromagnetic fields, the signal-to-noise ratio of the shaft-rate electromagnetic fields is greatly reduced. To effectively detect weak shaft-rate electromagnetic field signals under low signal-to-noise ratio conditions, this paper proposed a signal extraction method based on adaptive Fourier decomposition(AFD). It could adaptively decompose complex non-stationary signals from low frequency to high frequency into a series of single components with instantaneous frequency. Through simulation and measured data processing, the results show that this algorithm can overcome the shortcomings of methods such as short-time Fourier transform, wavelet transform, and empirical mode decomposition. It can quickly and effectively extract shaft-rate electromagnetic field signals, thereby providing a reference for positioning and tracking other ships and undersea vehicles.

Design of an Underwater Real-Time Integrated Electromagnetic Detection System

CHEN Jialin, XU Hao, YUAN Yibo, LIU Lanjun, LIAN Bochao

2023, 31(4): 600-606. doi: 10.11993/j.issn.2096-3920.2023-0068

[Abstract](98) [FullText HTML] (15) [PDF 1661KB](48)

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To address the issues of single physical quantity detection, poor real-time performance, and weak comprehensive adaptability in current underwater target electromagnetic detection systems, an underwater real-time integrated electromagnetic detection system was developed by using the technology of ultra-low noise signal detection and amplification, automatic gain control, etc. The system achieved high-precision electromagnetic signal acquisition, storage, and network real-time trans- mission within a wide dynamic range. Laboratory tests have validated the system’s ability to acquire high-precision electromagnetic field signals and transmit them in real time. The background noise of the electric field channel is 2 nV/$\sqrt {{\text{Hz}}} $@1 Hz, and that of the magnetic field channel is 0.12 μV/$\sqrt {{\text{Hz}}} $@1 Hz, while the network real-time transmission rate is 6.32 MB/s.

Underwater Detection Method of Highly Conductively Targets Based on Airborne Transient Electromagnetic Method

LI Dingshan, QU Wenzhang, XU Cheng, LUAN Xiaodong, SUN Pu, YAO Bin, RAN Qishun, PAN Xiao, ZHUO Xianjun, GUO Rui, YAN Jianfeng

2023, 31(4): 607-613. doi: 10.11993/j.issn.2096-3920.2023-0063

[Abstract](65) [FullText HTML] (6) [PDF 2008KB](28)

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With the rapid development of acoustic and magnetic stealth technology, the effectiveness of mainstream acoustic detection and passive magnetic detection has been greatly reduced. The classical airborne transient electromagnetic method(ATEM), with the advantages of active detection, sensitivity to highly conductive targets, and high detection speed, has great potential in the field of underwater detection of highly conductive targets. Based on the principle of the airborne transient electromagnetic method, this paper obtained the vertical magnetic field response formula in the time domain based on the form of a circular central loop device and studied the vertical magnetic field response characteristics in the one-dimensional model with different depths of the target layer and different transmitting and receiving heights by constructing the layered model of seawater-highly conductive layer–seawater–seabed rock. Based on the three-dimensional time domain finite volume method, the forward calculation of the underwater cuboid with high conductivity was carried out, and the attenuation curve of dBz/dt at the center of the receiving coil was obtained. The one-dimensional and three-dimensional simulation results all show that the vertical magnetic field response characteristics are significantly different when there is a target with high conductivity in seawater, compared with the condition with no target. In the inversion imaging, the simulation data of different signal-to-noise ratios(SNRs) were synthesized by Gaussian white noise, and the one-dimensional calculation of underwater targets was carried out in combination with OCCAM inversion algorithm, so as to compare the detection effect of underwater targets under different SNRs. Inversion results show that when the SNR is greater than or equal to 10 dB, the highly conductive layer in the water can be effectively detected; when it reaches 40 dB, the depth and thickness information of the highly conductive layer can also be well judged. Finally, at an SNR of 40 dB, the resistivity value of the high conductive layer is reduced proportionally, and it is found that this method still has a significant response to the depth information of the target layer. According to the above forward and inversion calculation processes, the feasibility of this method in the field of underwater detection of highly conductive targets is effectively verified.

Underwater In-Situ Monitoring Technology for Marine Organisms and Its Information Expansion in Polarization Dimensionn

KE Jianhan, YUE Junbai, CHENG Xuemin, BI Hongsheng

2023, 31(4): 614-623. doi: 10.11993/j.issn.2096-3920.2023-0067

[Abstract](116) [FullText HTML] (16) [PDF 1903KB](31)

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Monitoring and regulating the marine environment and reasonably developing and utilizing marine natural resources require advanced observation methods. Marine optical technology, as a mature information perception method with high spatio-temporal resolution and high-throughput data collection capabilities, plays an important role in marine scientific research. The research on polarization optics has expanded the information modality of traditional optical imaging and measurement technologies, and a large number of research and applications in ocean observation and its derivative fields represented by ecology have emerged. This paper reviewed the research progress of polarization optics technology in the field of marine environmental observation and marine biological observation. On the one hand, polarization optics assists in the in-depth analysis of complex physical processes and environmental physicochemical properties. On the other hand, polarization optics achieves incremental functions in the field of biological observation, such as expanding imaging dimensions, detecting specific targets, and recognizing biophysical and chemical characteristics. This paper also systematically introduced the models of polarization optical imaging and measurement schemes. In addition, combined with a series of works carried out by the research team in the field of underwater in-situ biological monitoring, the paper discussed the prospects of introducing polarization optics to achieve a new generation of real-time on-site monitoring systems.

Underwater Polarization Imaging Based on Mueller Matrix

HAN Pingli, FAN Yingying, YANG Bo, LIU Fei, SHAO Xiaopeng

2023, 31(4): 624-632. doi: 10.11993/j.issn.2096-3920.2023-0080

[Abstract](71) [FullText HTML] (12) [PDF 5845KB](21)

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Underwater polarization imaging method uses the polarization characteristic difference between the target information light and the backscattered light to achieve clear imaging, which is of great value in the field of underwater target detection and recognition. However, due to the differences in the reflection and depolarization effects on the surface of objects made of diverse materials, the polarization characteristic difference cannot be effectively extracted. To address this issue, an underwater polarization imaging method based on Mueller matrix was proposed. The Mueller matrix was used to detect the light intensity information and the polarization information of the underwater target and the water, and the polarization information of the background scattered light and the target in the turbid water was accurately solved. Combined with traditional underwater imaging methods, an underwater polarization imaging method based on Mueller matrix was constructed to effectively separate the target information light from the background scattered light, improve the imaging quality, and clearly reconstruct underwater objects made of diverse materials.

Research on Fast in Situ Sensing Technology for Marine Gross Primary Productivity Based on Fluorescence Dynamics Method

YIN Gaofang, ZHAO Nanjing, DONG Ming, MA Mingjun, GAN Tingting, QIN Zhisong, WANG Xiang, HUANG Peng, HU Xiang

2023, 31(4): 633-639. doi: 10.11993/j.issn.2096-3920.2023-0072

[Abstract](64) [FullText HTML] (10) [PDF 3523KB](15)

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Marine gross primary productivity(GPP) constitutes a fundamental element of the biological matter cycle and energy flow within the marine ecosystem, serving as a key indicator for assessing the sate of marine ecological environment. Traditional methods of measuring GPP are often laborious, with long measurement period and poor immediacy. To address the pressing need for expeditious monitoring of marine GPP in ecological surveys and carbon sink assessment, we explored multi-wavelength variable light pulse-induced fluorescence kinetic technology. This approach leverages chlorophyll fluorescence as a probe of phytoplankton photosynthetic activity and culminated in the development of an in-situ sensor. Subsequently, we applied this sensor in trials across the Arctic, Yellow Sea, Bohai Sea, and South China Sea. The resulting spatial distribution of GPP across these regions has yielded extensive real-time observational data, contributing substantially to the monitoring and scientific research of the marine ecological environment. Sea trials outcomes demonstrate that the multi-band variable light pulse-induced fluorescence kinetic technology can rapidly and accurately estimate GPP, offering notable advantages such as speed, accuracy, stability, and reliability in measurement. This ultimately provides an advanced technical resource for marine ecological investigations and carbon sink assessments.

High-Precision Three-dimensional Reconstruction of Deep-Sea Microtopography Based on Monocular Camera

CAO Youwen, LIU Qingsheng, WEI Zihao, ZHANG Xilin, SUN Zhilei, LU Zeyu, GUO Jinjia

2023, 31(4): 640-647. doi: 10.11993/j.issn.2096-3920.2023-0081

[Abstract](82) [FullText HTML] (9) [PDF 6547KB](44)

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In the exploration of deep-sea mineral resources and detection of extreme environments, the use of optical cameras mounted on mobile underwater platforms to obtain optical image data of the seafloor now becomes an important method of deep-sea fine detection. To meet the demand for high-precision detection of deep-sea microtopography, the high-precision three-dimensional(3D) reconstruction method of deep-sea microtopography based on a monocular camera was studied. The monocular camera mounted on the underwater remotely operated vehicle acquired many images of the hydrate-rich areas in China waters. On this basis, the 3D seafloor models of the sand wave area, carbonate rock area, and cold spring area in the typical sea area were constructed using the structure from motion(SFM) method, and the topographic and geomorphological features and bio-ecological information were finely delineated. The results show that this method can provide important support for the exploration of deep-sea epigenetic mineral resources and the detection of extreme environments.

Difference between Underwater Imaging with Illumination Sources with Different Colors

SUN Jie, WANG Hongping, ZHANG Dan, YU Yide

2023, 31(4): 648-653. doi: 10.11993/j.issn.2096-3920.2023-0046

[Abstract](61) [FullText HTML] (10) [PDF 1641KB](29)

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Since the observation ability of underwater imaging systems is limited in the environment of low illumination and turbid water, the experimental scheme of the pool was designed from the perspective of an auxiliary illumination source. The influence of spectral characteristics of illumination source on scattering characteristics of water medium under different turbidity conditions was analyzed. The analysis of measured data shows that the scattering coefficients of water bodies are different under the auxiliary illumination sources with different colors. The scattering coefficient of blue light is larger in water with low concentration, and the imaging with blue light is not ideal. The scattering coefficient of red light is larger than that of blue light with increasing concentration. The research results not only help to optimize the parameters of illumination sources in underwater imaging systems but also provide strong technical and theoretical support for applying de-scattering methods and obtaining high-quality underwater observation videos.

Application of Blue-Green Optical Communication in Networking of Unmanned Undersea Vehicles

NIE Wenchao, LI Huailiang, WEI Jiaguang, ZHANG Xiwei, LI Peng, FENG Xiaowei, LIAO Peixuan, LI Guangying

2023, 31(4): 654-659. doi: 10.11993/j.issn.2096-3920.2023-0038

[Abstract](95) [FullText HTML] (31) [PDF 2420KB](56)

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The clustered development of unmanned undersea vehicles(UUVs) in the future urgently requires high-speed and reliable underwater communication networks. The water channel has a low loss window in visible light, which refers to the blue-green light with a wavelength of 450–570 nm. Underwater optical communication can realize high-speed and high-security transmission of large-capacity data over medium and short distances, which thus has become one of the research hotspots in underwater communication. This paper investigated the current status of UUV networking communication technology based on underwater acoustic communication and wireless optical communication and introduced the research progress and engineering application level of underwater blue-green optical communication. The paper also proposed an underwater local mobile networking scheme based on narrow-beam and long-distance laser communication of laser diodes(LDs) and quasi-omnidirectional optical communication of light emitting diodes(LEDs), which will not only improve the information-sharing ability of UUVs but also provide technical support for the development of an integrated underwater observation and striking network and an underwater terminal penetration system.

2023, 31(4): 660-660.

[Abstract](61) [FullText HTML] (19) [PDF 580KB](24)

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2023 Vol. 31, No. 4

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