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An acoustic remote sensing method for high-precision propeller rotation and speed estimation of unmanned underwater vehicles
The Journal of the Acoustical Society of America ( IF 2.4 ) Pub Date : 2020-12-23 , DOI: 10.1121/10.0002954
Kristen Railey 1 , Dino DiBiaso 2 , Henrik Schmidt 1
Affiliation  

Understanding the dominant sources of acoustic noise in unmanned underwater vehicles (UUVs) is important for passively tracking these platforms and for designing quieter propulsion systems. This work describes how the vehicle's propeller rotation can be passively measured by the unique high frequency acoustic signature of a brushless DC motor propulsion system and compares this method to Detection of Envelope Modulation on Noise (DEMON) measurements. First, causes of high frequency tones were determined through direct measurements of two micro-UUVs and an isolated thruster at a range of speeds. From this analysis, common and dominant features of noise were established: strong tones at the motor's pulse-width modulated frequency and its second harmonic, with sideband spacings at the propeller rotation frequency multiplied by the poles of the motor. In shallow water field experiments, measuring motor noise was a superior method to the DEMON algorithm for estimating UUV speed. In negligible currents, and when the UUV turn-per-knot ratio was known, measuring motor noise produced speed predictions within the error range of the vehicle's inertial navigation system's reported speed. These findings are applicable to other vehicles that rely on brushless DC motors and can be easily integrated into passive acoustic systems for target motion analysis.

中文翻译:

高精度螺旋桨旋转与无人水下航行器速度估算的声学遥感方法

了解无人水下航行器(UUV)的主要噪声源对于被动跟踪这些平台和设计更安静的推进系统非常重要。这项工作描述了如何通过无刷直流电动机推进系统的独特高频声学特征被动地测量车辆的螺旋桨旋转,并将这种方法与噪声包络调制检测(DEMON)测量进行了比较。首先,通过在一定的速度范围内直接测量两个微型UUV和一个孤立的推进器来确定高频音的原因。通过此分析,可以确定噪声的共同特征和主要特征:电动机脉冲宽度调制频率及其二次谐波处的强烈音调,螺旋桨旋转频率上的边带间距乘以电动机的极数。在浅水领域实验中,测量电机噪声是DEMON算法估算UUV速度的一种较好方法。在微不足道的电流中,并且当UUV的每节匝数比已知时,测量电动机噪声会在车辆惯性导航系统报告的速度的误差范围内产生速度预测。这些发现适用于其他依赖无刷直流电动机的车辆,并且可以轻松地集成到无源声学系统中以进行目标运动分析。测量电动机噪声会在车辆惯性导航系统报告的速度误差范围内产生速度预测。这些发现适用于其他依赖无刷直流电动机的车辆,并且可以轻松地集成到无源声学系统中以进行目标运动分析。测量电动机噪声会在车辆惯性导航系统报告的速度误差范围内产生速度预测。这些发现适用于其他依赖无刷直流电动机的车辆,并且可以轻松地集成到无源声学系统中以进行目标运动分析。
更新日期:2020-12-23
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