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Original Russian Text V.A. Zverev, P.I. Korotin, A.A. Stromkov, 2009, published in Akusticheski Zhurnal, 2009, Vol. 55, No. 1, pp. 6273.
OCEAN ACOUSTICS
AND UNDERWATER SOUND
AbstractA method is proposed for calculating the time-reversed wave field generated by a point source in a
waveguide by using signals received by a vertical antenna array. The procedure of time reversal is based on representing the wave field in the form of the decomposition into modes of the ideal waveguide. In contrast to the
earlier proposed simplified numerical method of time reversal of waves, the method presented here allows one
to obtain the reversed field for the entire thickness of the waveguide. The method is successfully applied to a
shallow-water sea with a depth of 120 m, at distances of 7, 10.5, and 12 km. It is shown that an opportunity
arises to increase the gain of the array; to determine the parameters of the medium, including its stability in the
presence of currents; and to match the point of transmission of an arbitrary received signal and the point of
transmission of the reversed signal.
PACS numbers: 43.60.Tj, 43.30.Vh, 43.30.Wi, 43.39.Bp
DOI: 10.1134/S1063771009010096
INTRODUCTION
Time reversal of waves (TRW) [1, 2] allows one to
focus the transmitted signal passing through a composite scattering and dispersing medium. Such a technique
has been successfully used in the shallow-water sea [3
10]. The focusing is performed with the use of two vertical antenna arrays. Let them be denoted as A1 and A2.
The A1 array is used for receiving the signal to be
reversed and then for transmitting the time-reversed
received signal. The A2 array serves to transmit the
reversed signal from one of its elements and to receive
the reversed signal transmitted by the A1 array into the
medium for determining the vertical distribution of the
reversed field. It was proposed in [9] to substantially
simplify the procedure of determining the shape of the
focal spot formed in the medium by time reversal of the
wave. This proposal consists in using a single vertical
array, A1, and a single point sound source instead of the
A2 array.
It is shown in [9] that the field calculated with the
use of that technique coincides with the reversed field
at only a single point. However, that point is the center
of the reversed field: here, the maximum of the reversed
field exists. As for the rest of the points, the field decays
at them, just as the reversed field does. There are no
other similarities between the calculated and reversed
fields. One cannot calculate the full reversed field by
the method proposed in [9] if the signal to be reversed
is transmitted from a single point.
The calculation of the reversed wave requires knowing the frequency response (FR) of the medium
between all the points of the A1 and A2 arrays. However, the use of a single transmitting point allows one to
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ZVEREV et al.
UN ( n, m ) = sin ---- nm .
N
(1)
Here, n is the ordinal number of the element of the vertical array covering the entire water layer (if the array is
not insufficiently long, signals of the missing elements
are specified to be zero); m is the ordinal number of the
mode; and N is the number of elements in the array covering the entire layer. In our case, N coincides with the
number of all propagating modes for the central frequency of the band [11]. The mode number m is an integer only in the case of a perfectly soft bottom [11]. For
the bottom that has some impedance, the mode number
is not an integer. The bottom impedance is unknown.
Therefore, we use the approach proposed in [1214] to
calculate Eq. (1). Quantity m is not specified as an integer but it is defined in the form of a continuous series of
numbers with an arbitrary step (0.2 in our case), up to
some upper limit.
Actually, in a real waveguide, the form of the mode
profile can differ from that of Eq. (1). Nevertheless, one
can represent the real field in the waveguide as an
expansion in functions corresponding to Eq. (1). For
such an expansion to be efficient, it is necessary and
sufficient that the obtained series should show good
convergence. To that end, the field must be excited by a
point source, and the mode shapes of the natural
waveguide must not significantly differ from Eq. (1). It
is shown in [1214] that the expansion in functions of
Eq. (1), which represents the field in the waveguide at
hand, converges well. According to [13], the angular
spectrum of individual terms in the decomposition onto
modes of the ideal waveguide coincides well with the
theoretically calculated angular spectrum of the signals
corresponding to individual modes of the ideal
waveguide. Such a coincidence can be explained by the
fact that, for our experiment, the sound speed is nearly
independent of depth (the vertical distribution of the
sound speed is presented in [13] for that experiment)
and the bottom is sufficiently plain and uniform.
The factors of the expansion in functions (1) were
calculated in accordance with the usual mathematical
procedure that, in the case of the ideal waveguide, has
the following form for the Fourier spectra of the modes
[13, 14]:
MA1 ( , m ) =
UN ( n, m )PA1 ( , n ),
(2)
where PA1(, n) are complex Fourier spectra of the signals received by the nth element of the A1 array.
Let us introduce function ZM (, m) which represents the MFR for the mth individual mode of the
waveguide. The Fourier spectrum of the signal for the
mth mode selected by the A1 array can be expressed in
terms of the MFR in the following way [10]:
MA1 ( , m ) = ZM ( , m )UN ( j, m )G ( ).
(3)
Here, j is the ordinal number of the element of the virtual A2 array. That element transmits the reversed signal with the Fourier spectrum G(). In the expression
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for MA1, number j is omitted because the corresponding information cannot be used in reversing the signal.
Thus, if Eq. (3) is divided by the spectrum of the transmitted signal, one will obtain the MFR of the mth mode
with the accuracy up to the excitation factor for the corresponding mode, UN( j, m). That factor is redundant
and even undesired for us because its appearance in the
time-reversed field leads to the loss of information on
the depth at which the signal to be reversed was transmitted. That depth can be arbitrarily chosen in the time
reversal procedure.
2. TIME REVERSAL OF WAVES IN MODES
OF IDEAL WAVEGUIDE
Until now, we have used the considerations published in [9, 10, 1214]. Now, let us make an important
step. Let us consider a virtual A2 array that has a sound
source as one of its elements. By using Eq. (3), one can
perform reversal of waves in the signals of modes of the
ideal waveguide, that is, decompose the field into those
signals at the virtual A2 array. The spectra of the mode
signals at the A2 array are obtained by multiplying the
spectra of the mode signals (3) by the complex-conjugated MFR. However, the latter cannot be explicitly
determined from the data of our experiment. Instead of
the MFR, we use the following function that is completely determined by the known signals:
F()
ZMO ( w, m ) = MA1 ( , m ) -------------,
G()
(4)
(5)
(6)
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83
(7)
ZM* ( , m )ZM ( , m )
----------------------------------------------------ZM ( , m )
m
(8)
( UN ( j, m ) )
------------------------------UN ( , m )UN ( q, m )G ( ).
UN ( j, m )
2
Equation (8) shows that the thus-performed calculations solve the main problem; namely, this expression
really reverses the wave field because it contains the
product of the actual MFR of the waveguide and the
complex-conjugated expression.
Let us now consider to what extent the reversal of
the wave field according to Eq. (8) corresponds to the
TRW result. To do so, let us perform a mental experiment. Assume that we can transmit the signals received
by the A1 array in the time-reversed form and receive
those signals by the real A2 array. In such a mental
experiment, the Fourier spectrum of the signal at the
A2 array is given by the following formula [10]:
PA2 ( , v , j ) =
ZM ( )UN ( , m )ZM* ( )
m
(9)
UN ( j, m )G* ( ).
Factor ZM() appearing in Eq. (9) describes signal
propagation from A1 to A2 in the form of modes (it
makes no difference in which direction the signal propagates [4]). According to Eq. (3), the last three multipliers represent the time-reversed Fourier spectrum of the
signal at A1 in the form of the decomposition into
modes of the waveguide. Factor UN(, m) and summing over m serve to inversely transform the signal represented as the waveguide modes into the Fourier spectrum of the wave field.
The field reversed with the use of transmitting the
reversed signal into the medium also contains a member with the product of the waveguide MFR and the
complex-conjugated function. Comparing Eqs. (8) and
(9) shows that the dependence on parameter j in Eq. (8)
is not quite the same as in Eq. (9), which provides for
focusing the reversed field at the place where the source
of the signal to be reversed exists. However, Eqs. (7)
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ZVEREV et al.
(a)
50
(b)
(c)
(d)
50
0
100
100
50
100
(e)
150
5
10 0 10 10 0 10 10 0 10
10
(f)
(g)
(h)
15
10
10
20
5
20
40
60
80
10 0 10 10 0 10 10 0
10
Fig. 1. Upper row: signals received by A1 at a distance of (a) 10.5 km and by A2 at distances of (b) 7, (c) 10.5, and (d) 12 km. Lower
row: the result of decomposing the field into modes of the ideal waveguide at A1, at a distance of (e) 10.5 km, and at A2, at distances
of (f) 7, (g) 10.5, and (h) 12 km. Time (in ms) is laid along the horizontal axis. In vertical: (ad) sea depth (in m) and (eh) mode
numbers. The range of brightness is 20 dB.
and (8) are added with such a member that the reversed
signal would be focused at the place chosen by us.
3. DATA OF THE IN-SEA EXPERIMENT
In the experiment, the vertical receiving array consisting of 32 hydrophones equidistantly spaced with a
step of 3 m over a 93-m length was bottom-moored at a
depth of 120 m. The array was fixed and self-contained.
Signals from all the array elements were multi-channelly memorized. Pulsed broadband (100300 Hz) linearly frequency-modulated (LFM) signals with a duration of about 5 s were transmitted from a vessel drifting
with an embedded sound source. Thus, it was possible
to obtain signals transmitted from different distances.
The thickness H of the water layer was greater than the
length of the array. For this reason, signals of the eight
upper elements of the array were replaced by zeros.
The experimentally obtained data are shown in the
figures. Figure 1 presents the key features of the exper-
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85
A1 ( t, n ),
(10)
where A1(t, n) is the signal received by the nth element of the A1 array at time t. Let us denote this
method as K.
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ZVEREV et al.
(a)
50
0
100
5
0
(b)
10
15
50
20
100
0
Fig. 2. Moduli of the signal obtained by modal time reversal at distances of (a) 7 and (b) 12 km. The scale of brightness is logarithmic, with a range of 20 dB. Time (in s) and sea depth (in m) are laid along horizontal and vertical axes, respectively.
(a)
10
5
0
0
0
(b)
(b)
5
10
10
15
20
Fig. 3. Moduli of the mode signals of the waveguide obtained by modal time reversal at distances of (a) 7 and (b) 12 km. The scale
of brightness is logarithmic, with a range of 20 dB. Time (in s) and sea depth (in m) are laid along horizontal and vertical axes,
respectively.
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5000
5000
1.25
1.30
1.35
1.40
Fig. 4. Fragment of oscillograms of the signals received by the A1 array at a distance of 12 km and processed by the methods F, S,
and K (upper, middle, and lower plots, respectively). Time (in s) and the oscillograms on a linear scale are shown in horizontal and
vertical, respectively.
1.0
10
0.8
0.6
20
0.4
30
K
5
10
40
50
60
0.10 0.08 0.06 0.04 0.02
0.02
0.04
0.06
0.08
Fig. 5. Coefficients of correlation between the signals received by the A1 array at a distance of 12 km and the initial signal processed
by the methods F, S, and K (solid line, circles, and crosses, respectively). Time (in s) and the level of the correlation coefficient (in
dB) are laid along horizontal and vertical axes, respectively. Maximal values of the correlation coefficient are shown in the box for
all three processing methods.
ZS* ( )g ( , n ).
(11)
j, n
Here, PS(j, ) is the Fourier spectrum of the thus-processed signal, ZSj, n() is the frequency response of the
medium between the point j of the signal transmission
and the nth element of the receiving A1 array, and g(, n)
is the Fourier spectrum of the signal received by the nth
element of the A1 array:
g ( , n ) = ZS j, n ( )G ( ).
(12)
Frequency response ZSj, n() of the medium is determined with use of Eq. (10) [9, 10] by dividing the complex Fourier spectrum of the signal received by each
nth element of the A1 array by the complex Fourier
spectrum of the signal transmitted into the medium. Let
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ZVEREV et al.
Q = 0 dB
Q = 32.003 dB
0
0
5
300
300
10
15
200
200
20
12
25
100
100
16
30
20
35
0
Fig. 6. Moduli of current spectra of the signals received at a distance of 12 km and processed by the K method. Time (in s) and
frequency (in Hz) are laid along horizontal and vertical aces, respectively. The current spectrum within a dynamic range of 36 dB
is shown at the left. At the right, the same spectrum with eliminated signals higher than 32 dB is presented. Quantity Q characterizes the level of the maximal signal relative to the initial one which is shown at the left.
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20
40
60
80
100
120
sound source into the medium with the same FR. The
aforementioned example shows the possibility of using
the focused signal for determining the position of the
sound source relative to the position of the reversed signal. Signal S2 is focused only slightly. This fact means
that the S2 signal is transmitted from a point other than
the point of transmission of the main signal. This example shows that the point from which a signal emanates
can be determined relative to the point from which the
testing signal was transmitted.
CONCLUSIONS
Let us consider some conclusions of the study performed. It seems that, for calculating the reversed field
without transmitting the signal into the medium, one
requires much information on the medium because of
its complexity. This is especially true for the case of a
signal propagating in a shallow-water sea, at a distance
of 12 km. It seems that large number of surveys of the
medium must be carried out, and then the obtained data
should be accounted for in a complex computer code.
In fact, there is no need for all those procedures and one
does not require any information on the medium. The
only thing that is needed is the shape of the signal transmitted into the medium. This information offers the
opportunity to obtain the complex FR of the medium,
which accounts for all the features of signal propagation, including both the dispersion and various time
delays. With the use of the obtained MFR for the ideal
waveguide, one can focus the signal and eliminate the
changes introduced in it by sound propagation in the
medium. In some cases, one needs no a priori information at all. This situation takes place when signals that
are usually used for studying the FRs of different
devices and media are transmitted into the medium. In
particular, such signals include short individual pulses
and linearly frequency-modulated signals that were
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used in our studies. In these studies, the transmitted signal was not known a priori because the frequency of
transmitting was not thoroughly fixed but formed automatically.
Knowing the shape of the transmitted signal, one
can obtain the FR of the medium, study it, and get some
features of signal propagation, which cannot be
obtained in other equally simple and reliable ways.
Because of the compensation for the distortions
caused by the medium, the time reversal in a shallowwater sea increases the noise immunity of signal detection. Moreover, the proposed method offers additional
opportunities for studying the features of sound propagation on the path. For instance, Fig. 3 exhibits a bend
in the curves of modes as a function of the current frequency of the signal. Such a bend can be treated as a
sign of change in the bottom parameters along the path
for different signal frequencies. Note that the classical
TRW procedure with transmitting signals of A1 into the
medium cannot be used for achieving an additional
noise immunity, and there is no way to obtain any additional information on the medium (only the compensation takes place). The term modal reversal of waves
emphasizes the applicability of the method only to
waveguides, in contrast to the general TRW method
that can be applied to arbitrary media.
The method proposed and considered here allows
one to study the stability of the medium as well. In that
task, the modal time reversal differs only slightly from
the classic TRW but exceeds the latter in the possibility
of studying the media with any currents, in contrast to
the TRW. To study the stability of the medium, the signal received by the A1 array at a certain time should be
processed with the use of the signals received by the
same array at other times, with subsequent observation
of time differences in the reversed signals. The medium
is stable in the case when there are no significant differences in the time-reversed signals.
ACKNOWLEDGMENTS
This work was supported by Russian Foundation for
Basic Research, projects nos. 08-02-00818 and 07-0201205.
APPENDIX
DETECTING SIGNALS WITH DYNAMIC FILTER
An important characteristic of the noise immunity
of an antenna array with the use of different methods of
signal processing is the signal-to-noise ratio. To determine that characteristic on the basis of a time realization in which signal and noise exist simultaneously, one
should extract the signal and noise separately and then
calculate their ratio. The specificity of the LFM signal
used by us is that such a signal has a narrow spectrum
within each sufficiently short time interval while the
noise has a wide spectrum in an arbitrary time interval.
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ZVEREV et al.
(a)
(b)
(c)
(d)
(e)
(f)
300
200
100
0
300
200
100
0
Fig. 9. FF filters and the signals extracted by them: (a) filter of the LFM signal and (d) signal extracted by it; (b) filter of the S2 signal
and (e) the signal itself; (c) filter of the S1 signal and (f) the signal itself. Time nT (in s) and the frequency (in Hz) are laid along
horizontal and vertical axes, respectively.
F ( nT , ) =
f ( t ) exp ( it ) dt.
(A.1)
nT
(A.2)
of the signal filtered with the use of the FF, it is sufficient to perform the following transformation:
0.5
fp ( t ) =
n 0.5
d
FP ( nT , ) exp ( it ) ------- ,
2
(A.3)
where is the sampling frequency. Here, each individual summand represents the signal starting at time t =
nT and terminating at time t = (n + 1)T. Summation over
n in Eq. (A.3) means combining all the intervals, each
of which has duration T, into a mutual interval with the
duration of the entire realization.
Function FF can be formed in another way. The signals that have certain positions in the current spectrum
represented in coordinates nT, can be extracted (or
eliminated) from this spectrum.
Figure 9 shows examples of functions FF and the
signal extracted with the use of them, namely, the main
LFM signal and the S1 and S2 ones.
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Translated by E. Kopyl
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