Ocean Engineering最新文献

英文中文

Cooperative search and rescue for deep-sea submersibles with multi-source localization, probabilistic prediction, and smooth path planning 基于多源定位、概率预测和平滑路径规划的深海潜水器协同搜救

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-04-30 Epub Date: 2026-02-19 DOI: 10.1016/j.oceaneng.2026.124618

Silun Huang, Ruikang Xu, Yunfei Wei, Yihan Shi

Search and rescue (SAR) of deep-sea submersibles is a critical challenge in marine safety, hindered by inaccurate localization, poor prediction, and inefficient search strategies. This study develops an efficient cooperative framework to enhance SAR success rates. An integrated framework is proposed, combining multi-source localization, probabilistic prediction, and intelligent planning. Its core includes three components: (1) A multi-sensor and multi-mode integrated localization model to accurately determine the disabled submersible's initial pose; (2) A Markov Chain Monte Carlo-based probabilistic prediction model simulating the time-varying positional distribution of the submersible under power-loss and complete-failure modes, considering ocean current disturbances; (3) A novel Dynamic-guided Multi-strategy Elite Ant Colony Optimization (DMS-EACO) algorithm considering smoothness to solve the 3D SAR path planning problem. This algorithm improves search efficiency and path smoothness via a Sigmoid decay factor, dynamic guidance mechanism, and turning heuristic function. Moreover, sensitivity analysis evaluates the submersible's dynamic behavior under propulsion failure scenarios. Simulation results show that compared to mainstream optimization algorithms, the proposed algorithm reduces the optimal path length by 19.6% to 77.6% and improves convergence speed by over 54% in two typical failure scenarios, generating significantly smoother trajectories.

深海潜水器的搜索与救援（SAR）是海上安全的一个关键挑战，其定位不准确、预测不佳和搜索策略效率低下。本研究开发了一个有效的合作框架，以提高SAR成功率。提出了一个集多源定位、概率预测和智能规划于一体的集成框架。其核心包括三个部分：(1)多传感器多模式集成定位模型，精确确定失能潜水器的初始位姿；(2)基于马尔科夫链蒙特卡罗的概率预测模型，在考虑海流干扰的情况下，模拟了潜水器在功率损耗和完全失效模式下的时变位置分布；(3)基于光滑性的动态引导多策略精英蚁群优化（DMS-EACO）算法解决三维SAR路径规划问题。该算法通过引入s型衰减因子、动态引导机制和转弯启发式函数，提高了搜索效率和路径平滑度。此外，灵敏度分析评估了潜水器在推进失效情况下的动力行为。仿真结果表明，在两种典型故障场景下，与主流优化算法相比，所提算法将最优路径长度缩短19.6% ~ 77.6%，收敛速度提高54%以上，生成的轨迹明显平滑。

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引用次数: 0

Dynamic behavior of long-span cable-stayed bridge under ship-pylon collision 船塔碰撞下大跨度斜拉桥动力特性研究

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-04-30 Epub Date: 2026-02-19 DOI: 10.1016/j.oceaneng.2026.124666

X. Liu , D. Chen , H. Wu

Ship collision poses a potential risk to bridges crossing navigable waterways. In the present study, the refined finite element (FE) model of a landmark long-span cable-stayed bridge is established, validated and employed to examine its global and local dynamic behaviors under ship-pylon collision. Firstly, the FE model of cable-stayed bridge is explicitly modeled, and material models are validated by simulating single component and existing impact test. Then, a modified mass weighted damping method is proposed to realize the stress initialization of bridge, and its rationality is validated by initialized states. Finally, the bridge dynamic behavior is examined by typical ship-pylon collision scenario with a ship mass of 24024 t and collision velocity of 6 m/s. It indicates that: (i) the cable-stayed bridge escapes from global collapse, while the impacted pylon experiences obvious local damage; (ii) the maximum transverse displacement of pile group foundation reaches 133 mm, which exceeds designed limitations; (iii) the whipping effect of pylon is pronounced with the maximum transverse displacement 355.9 mm reached during free vibration stage; (iv) the girder displacement lead to support failures and varied cable forces; (v) the ship and bridge have absorbed about 95.9 % and 4.1 % of collision energy.

船舶碰撞对通航水道上的桥梁构成潜在危险。本文建立了某标志性大跨度斜拉桥的精细化有限元模型，并对其进行了验证，分析了船塔碰撞作用下斜拉桥的整体和局部动力特性。首先对斜拉桥的有限元模型进行了显式建模，并通过模拟单构件和现有冲击试验对材料模型进行了验证。然后，提出了一种改进的质量加权阻尼法来实现桥梁的应力初始化，并通过初始化状态验证了其合理性。最后，采用船舶质量为24024t、碰撞速度为6m /s的典型船塔碰撞场景，对桥梁的动力特性进行了研究。结果表明：(1)斜拉桥整体失稳，受冲击塔局部损伤明显；（ii）群桩基础最大横向位移达到133 mm，超过设计限值；(3)塔架振荡效应明显，自由振动阶段最大横向位移达355.9 mm；(4)主梁位移导致支座破坏和索力变化；（五）船舶和桥梁分别吸收了95.9%和4.1%的碰撞能量。

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引用次数: 0

Enhanced power conversion in DFIG-based OWC systems via whale-optimized SMC-QPRL 通过鲸鱼优化SMC-QPRL增强基于dfig的OWC系统的功率转换

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-04-30 Epub Date: 2026-02-18 DOI: 10.1016/j.oceaneng.2026.124606

Mohammed Yousri Silaa , Oscar Barambones

Wave energy conversion systems are highly nonlinear and subject to significant uncertainties due to the dynamic marine environment. This paper presents a robust sliding mode control strategy with a quicker power reaching law (SMC-QPRL) for oscillating water column (OWC) systems employing Wells turbines and doubly fed induction generators (DFIGs). To optimize performance, the control parameters are automatically tuned using the whale optimization algorithm (WOA), where the optimization process minimizes the integral of time-weighted absolute error (ITAE) criterion to ensure fast dynamic response and minimal steady-state error. The proposed controller ensures rapid convergence to the sliding surface, eliminates chattering effects, and maintains robustness against external disturbances and parameter uncertainties without requiring prior knowledge of uncertainty bounds. Stability is formally verified using Lyapunov theory. The controller’s effectiveness is validated through comprehensive simulations in MATLAB/Simulink under three distinct operating scenarios: low, high, and irregular pressure drops. Across all cases, the SMC-QPRL outperforms conventional SMC by achieving a 39.64% reduction in RMSE, and over 60% improvement in ISE and ITSE, along with a 12.18% enhancement in ITAE, ensuring smoother control signals and superior dynamic performance. These results highlight the proposed method’s strong potential for enhancing the reliability, efficiency, and grid compatibility of offshore renewable energy systems.

波浪能转换系统是高度非线性的，由于海洋环境的动态变化，具有很大的不确定性。针对采用井式水轮机和双馈感应发电机（DFIGs）的振荡水柱（OWC）系统，提出了一种具有快速功率达到律的鲁棒滑模控制策略（SMC-QPRL）。为了优化性能，采用鲸鱼优化算法（WOA）自动调整控制参数，其中优化过程最小化时间加权绝对误差（ITAE）准则的积分，以确保快速的动态响应和最小的稳态误差。所提出的控制器确保快速收敛到滑动面，消除抖振效应，并保持对外部干扰和参数不确定性的鲁棒性，而无需预先知道不确定性边界。稳定性用李亚普诺夫理论正式验证。在MATLAB/Simulink中对低压降、高压降和不规则压降三种不同工况进行了综合仿真，验证了控制器的有效性。在所有情况下，SMC- qprl优于传统SMC， RMSE降低了39.64%，ISE和ITSE提高了60%以上，ITAE提高了12.18%，确保了更平滑的控制信号和卓越的动态性能。这些结果突出了所提出的方法在提高海上可再生能源系统的可靠性、效率和电网兼容性方面的强大潜力。

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引用次数: 0

Multi-Agent obstacle avoidance path planning for the arctic northeast passage 北极东北航道多智能体避障路径规划

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-04-30 Epub Date: 2026-02-18 DOI: 10.1016/j.oceaneng.2026.124647

Qun Gu , Kaihui Zhang , Adan Wu , Rui Zhang , Liuhao Wang

The Arctic’s unique climate and dynamic sea-ice environment pose major challenges for ship navigation. To improve trajectory smoothness and collision-avoidance responsiveness in multi-ship path planning with dynamic obstacles, this study proposes a Bayesian-PPO algorithm that integrates Bayesian risk inference with control based on continuous actions. The method incorporates prospective risk prediction and multiple auxiliary rewards to enhance real-time avoidance of dynamic ice floes and static obstacles while accelerating policy convergence. Simulation results show that the proposed algorithm achieves collision-avoidance success rates about 12% and 9% higher than PPO and TD3, respectively, and generates smoother trajectories with more stable reward convergence. These results demonstrate the effectiveness and robustness of the Bayesian-PPO approach for cooperative multi-ship collision avoidance, offering a practical solution for intelligent navigation in complex maritime environments and supporting future applications using real navigation data and dynamic environmental factors.

北极独特的气候和多变的海冰环境给船舶航行带来了重大挑战。为了提高动态障碍物下多船路径规划的轨迹平滑性和避碰响应能力，本文提出了一种贝叶斯- ppo算法，该算法将贝叶斯风险推理与基于连续动作的控制相结合。该方法结合前瞻性风险预测和多种辅助奖励，在加速政策趋同的同时，增强了对动态浮冰和静态障碍物的实时规避。仿真结果表明，该算法的避碰成功率比PPO和TD3分别高出12%和9%左右，生成的轨迹更平滑，奖励收敛更稳定。这些结果证明了贝叶斯- ppo方法在多船协同避碰中的有效性和鲁棒性，为复杂海洋环境下的智能导航提供了实用的解决方案，并支持使用真实导航数据和动态环境因素的未来应用。

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引用次数: 0

GAN-ANN-based optimization of graded honeycomb structure for impact load reduction in water entry 基于gan - ann的梯度蜂窝结构减水冲击优化

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-04-30 Epub Date: 2026-02-19 DOI: 10.1016/j.oceaneng.2026.124620

Hao Jin, Yuchao Sheng, Chun Shao

Transient impact loads during high-speed water entry pose significant risks to the vehicle structure. This paper presents a nose-cap integrated protective solution using a thin-walled aluminum honeycomb structure. Through Coupled Eulerian-Lagrangian (CEL) simulations, we analyzed the dynamic response of various honeycomb geometries and thickness parameters, and formulated a multi-objective optimization problem for circular aluminum honeycombs with graded wall thickness to simultaneously maximize lightweighting and impact resistance. We developed an innovative surrogate model merging Generative Adversarial Networks (GAN) with Artificial Neural Networks (ANN), integrated with NSGA-II to accelerate the optimization process. The optimized design demonstrated significant performance at 200 m/s water entry, achieving reductions of 14.1% in peak acceleration, 52.1% in maximum stress, and 52.2% in mass. These findings offer valuable insights for high-speed water entry impact protection design and introduce an effective data-augmentation approach for optimization with limited samples.

高速入水过程中的瞬态冲击载荷对车辆结构构成重大威胁。本文提出了一种采用薄壁铝蜂窝结构的鼻盖综合防护方案。通过耦合欧拉-拉格朗日（CEL）模拟，分析了不同蜂窝几何形状和厚度参数的动态响应，提出了壁厚梯度的圆形铝蜂窝轻量化和抗冲击最大化的多目标优化问题。我们开发了一种创新的代理模型，融合了生成对抗网络（GAN）和人工神经网络（ANN），并集成了NSGA-II来加速优化过程。优化后的设计在200 m/s入水时表现出了显著的性能，峰值加速度降低了14.1%，最大应力降低了52.1%，质量降低了52.2%。这些发现为高速进水冲击防护设计提供了有价值的见解，并为有限样本的优化提供了有效的数据增强方法。

引用次数: 0

Experimental evaluation of flexible protection for local scour mitigation around multi-bucket jacket foundations 多桶套基础局部减冲柔性防护试验评价

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-04-30 Epub Date: 2026-02-19 DOI: 10.1016/j.oceaneng.2026.124741

Jijian Lian , Junwei Yu , Jiale Li , Shunyi Wang , Yaohua Guo , Xiaofeng Dong

The multi-bucket jacket foundation (MBJF), suitable for large-capacity wind turbines, has gradually found practical offshore application. However, exposed bucket tops aggravate local scour, threatening the stability of the foundation. Based on the installation characteristics of submerged bucket foundations, this study proposes a self-deployable flexible protection method (FPM). A sophisticated experimental design enabled high-precision inversion of the bed topography, allowing for systematic investigation of both the flow field and local scour around the MBJF under steady flow. Key parameters (FPM layout, flow intensity, lid elevation) were evaluated for their effects on scour protection efficacy. The results enabled the derivation of a prediction formula for the maximum scour depth under FPM protection, which has an error margin within 20%, and demonstrated that the FPM significantly modifies the surrounding flow field and scour morphology. Maximum scour depth around the foundation decreased from 0.45 to below 0.2 times the bucket height, corresponding to a peak protection efficiency of 74.4%. In practical engineering, fixed FPM deployment maximizes scour mitigation. This research provides valuable theoretical and technical support for addressing local scour in offshore wind turbine foundations.

适用于大容量风力发电机组的多筒夹套基础（MBJF）已逐渐在海上得到实际应用。然而，暴露的桶顶加剧了局部冲刷，威胁到基础的稳定性。根据沉水桶型基础的安装特点，提出了一种可自展开的柔性保护方法。复杂的实验设计实现了床层地形的高精度反演，允许系统地研究流场和稳定流动下MBJF周围的局部冲刷。评价了关键参数（FPM布局、流动强度、盖子高度）对防冲效果的影响。结果表明，在FPM的保护下，最大冲刷深度的预测公式误差在20%以内，FPM显著改变了周围流场和冲刷形态。基础周围最大冲刷深度由0.45倍铲斗高降低到0.2倍以下，峰值防护效率为74.4%。在实际工程中，固定的FPM部署可以最大限度地减少冲刷。该研究为解决海上风机基础局部冲刷问题提供了有价值的理论和技术支持。

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引用次数: 0

A dual-driven method for ship navigation intention recognition: Integrating trajectory prediction and knowledge reasoning 一种融合轨迹预测和知识推理的船舶航行意图识别双驱动方法

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-04-30 Epub Date: 2026-02-23 DOI: 10.1016/j.oceaneng.2026.124595

Junnan Zhao , Chunhui Zhou , Ziyuan Bian , Myo Ko Ko Latt , Zhijiang Li

Ship navigation intention refers to the behavioral patterns and objectives of a vessel under specific environmental conditions, determined by navigational rules, dynamic features, and geographic factors. Unlike traditional trajectory analysis, intention recognition provides higher-level semantic information and is vital for intelligent maritime traffic supervision. This paper proposes a dual-driven method integrating data-driven trajectory prediction with knowledge-driven reasoning. First, a four-level behavioral semantic framework and a ship behavior ontology are constructed, with semantic information inferred via Semantic Web Rule Language (SWRL) rules. Second, a Transformer–Gated Recurrent Unit (T-GRU) model with semantic labels is developed to capture temporal dependencies and improve motion trend prediction. By mapping navigation intentions within the semantic framework and combining predictive dynamics with ontology-based reasoning, inland ship intentions are identified. Case studies demonstrate the method's effectiveness, showing accurate recognition of normal and special operation intentions. The results provide technical support for ship monitoring and risk prevention, enhancing proactive perception and early warning in maritime traffic management.

船舶航行意图是指船舶在特定环境条件下，由航行规则、动力特征和地理因素所决定的行为模式和目标。与传统的轨迹分析不同，意图识别提供了更高层次的语义信息，对智能海上交通监管至关重要。提出了一种将数据驱动轨迹预测与知识驱动推理相结合的双驱动方法。首先，构建了四层行为语义框架和船舶行为本体，并通过语义Web规则语言（SWRL）规则推断出语义信息；其次，开发了具有语义标签的变压器门控循环单元（T-GRU）模型，以捕获时间依赖性并改进运动趋势预测。通过在语义框架内映射导航意图，并将预测动力学与基于本体的推理相结合，识别内河船舶意图。实例分析表明，该方法能够准确识别正常和特殊的操作意图。研究结果为船舶监测和风险防范提供了技术支持，增强了海上交通管理的主动感知和预警能力。

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引用次数: 0

Scour development around spudcan foundations of varying geometries 冲刷发展围绕着不同几何形状的铲球基础

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-04-30 Epub Date: 2026-02-18 DOI: 10.1016/j.oceaneng.2026.124573

Hossein Ameri, Pan Hu, Ming Zhao, Chin Leo

This study experimentally investigated the influence of spudcan geometry on local scour development through steady-current tests on models with conical angles (α) ranging from 60° to 180° and diameters (D) between 50 and 150 mm, under both loaded and unloaded conditions. Additional factors included model material (aluminium versus acrylic), tip geometry, and the time-dependent evolution of bearing area during scour. The results provide new insights into scour development around spudcans, which represent low–aspect–ratio footings on the seabed. Applied vertical load was found to substantially accelerate scour, with strong horseshoe vortices forming at the spudcan shoulder and producing more than twice the scour depth observed in unloaded cases. Model material and tip geometry exerted negligible influence, validating the use of transparent acrylic models without tips for visualisation studies. For α = 60° and 150°, equilibrium upstream scour depth (S_c) was reached within approximately 6 h on the experimental scales, irrespective of conical angle. Increasing the diameter raised the absolute scour depth, while the normalised depth (S_c/D) remained nearly constant, demonstrating geometric similarity. Sharper spudcans (lower α) generated significantly deeper scour, with S_c nearly doubling from blunt to sharp configurations, whereas the flat-base (α = 180°) produced minimal scour due to distributed flow resistance. Downstream scour (S_f/D) showed no systematic dependence on α, reflecting the identical top-shoulder geometry governing wake vortices. The bearing area ratio (ζ) exhibited a two-phase trend: an initial rapid reduction to around 0.20, followed by recovery toward unity as scour cavities stabilised and the spudcan made approximately full contact with the seabed. Sharper spudcans displayed faster loss and earlier recovery, while diameter exerted no significant influence on the evolution of ζ.

在加载和卸载两种条件下，对锥角（α）为60°~ 180°、直径(D)为50 ~ 150 mm的模型进行了稳态流试验，研究了铲斗几何形状对局部冲刷发展的影响。其他因素包括模型材料（铝与丙烯酸），尖端几何形状，以及在冲刷期间承载区域的时间依赖演变。研究结果为spudcans周围的冲刷发展提供了新的见解，spudcans代表海床上的低纵横比基座。研究发现，施加的垂直载荷大大加速了冲刷，在铲斗肩部形成了强烈的马蹄形涡，产生的冲刷深度是未加载情况下的两倍多。模型材料和尖端几何形状的影响可以忽略不计，验证了在可视化研究中使用没有尖端的透明丙烯酸模型。当α = 60°和150°时，无论锥角如何，在实验尺度上，上游平衡冲刷深度（Sc）在约6 h内达到。随着直径的增加，绝对冲刷深度增加，而归一化深度（Sc/D）基本保持不变，表现出几何相似性。较锋利的喷嘴（α值较低）产生较深的冲刷，从钝形到尖形，Sc几乎翻倍，而平坦的喷嘴（α = 180°）由于分布的流动阻力而产生最小的冲刷。下游冲刷（Sf/D）对α没有系统的依赖，反映了相同的顶肩几何形状控制尾流涡。承载面积比（ζ）表现出两阶段的趋势：最初迅速降低到0.20左右，随后随着冲刷空腔稳定和铲球与海床几乎完全接触而恢复到统一。直径越大，ζ的损失越快，恢复越早，而直径对ζ的演化无显著影响。

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引用次数: 0

Dual-amplitude weighted transition dispersion entropy and its application in feature extraction of ship-radiated noise 双幅加权过渡色散熵及其在舰船辐射噪声特征提取中的应用

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-04-30 Epub Date: 2026-02-21 DOI: 10.1016/j.oceaneng.2026.124781

Yuxing Li, Rui Zhang

Link dispersion entropy and its improved methods can effectively quantify the regularity and complexity of time series. However, they have two inherent limitations: (1) the patterns only focus on the amplitude information of time series, failing to take into account the differences between adjacent amplitudes simultaneously; (2) the state transition matrix is weighted in an equal-weight manner, ignoring the non-uniformity of weight allocation. To address these limitations, the dual-amplitude weighted transition dispersion entropy (DWTDE) is proposed in this paper. This method constructs a dual-amplitude coding pattern to simultaneously incorporate both amplitude information and adjacent differential information, and implements similarity-based weighting of the state transition matrix to enhance the rationality and pertinence of weight allocation. Furthermore, its multi-scale version, multi-scale DWTDE (MDWTDE), for characterizing the complexity of complex signals across different time scales. Simulation experiments demonstrate that DWTDE can accurately capture the dynamic changes of signals and exhibits superior robustness against noise. Two actual experiments based on ship-radiated noise signals (SRS) further verify that MDWTDE demonstrates superior feature extraction capability compared with the other four entropy-based methods.

链路色散熵及其改进方法可以有效地量化时间序列的规律性和复杂性。然而，它们有两个固有的局限性：(1)模式只关注时间序列的幅值信息，而没有同时考虑相邻幅值之间的差异；(2)以等权方式对状态转移矩阵进行加权，忽略了权重分配的不均匀性。为了解决这些局限性，本文提出了双振幅加权跃迁色散熵（DWTDE）。该方法构建双幅编码模式，同时包含幅值信息和相邻差分信息，并对状态转移矩阵进行基于相似度的加权，增强权重分配的合理性和针对性。此外，它的多尺度版本，多尺度DWTDE (MDWTDE)，用于表征复杂信号在不同时间尺度上的复杂性。仿真实验表明，该方法能准确捕捉信号的动态变化，对噪声具有较好的鲁棒性。两个基于船舶辐射噪声信号（SRS）的实际实验进一步验证了MDWTDE与其他四种基于熵的方法相比具有更好的特征提取能力。

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引用次数: 0

Passive range-only target motion analysis using array-invariant processing and an extended Kalman filter in shallow-water acoustic waveguides 基于阵列不变处理和扩展卡尔曼滤波的浅水声波导被动距离目标运动分析

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-04-30 Epub Date: 2026-02-18 DOI: 10.1016/j.oceaneng.2026.124732

Hoseok Sul , Taek Lyul Song , Jee Woong Choi

In passive sonar systems, target motion analysis (TMA) traditionally relies on bearing-angle measurements from horizontal line arrays, a technique commonly referred to as bearing-only target motion analysis (BOTMA). This paper presents an alternative TMA approach that incorporates range measurements obtained from two vertical line arrays (VLAs), here termed array invariant-based range-only target motion analysis (AI-ROTMA). The proposed method employs an extended Kalman filter to enhance target tracking accuracy, integrating source-receiver ranges derived from the array invariant method with the two-point localization results. The performance of AI-ROTMA was evaluated using ship-radiated noise data from R/V Onnuri, collected using two VLAs during the Shallow Water Acoustic Variability Experiment (SAVEX-15). Compared with the two-point localization method that uses only range measurements, AI-ROTMA provided significantly more reliable estimates of both range and velocity. These results highlight the potential of integrating array-invariant techniques into passive sonar TMA for enhanced tracking performance in realistic ocean environments.

在被动声纳系统中，目标运动分析（TMA）传统上依赖于水平线阵列的方位角测量，这种技术通常被称为仅方位目标运动分析（BOTMA）。本文提出了一种替代的TMA方法，该方法结合了从两个垂直线阵列（VLAs）获得的距离测量，这里称为基于阵列不变量的仅距离目标运动分析（AI-ROTMA）。该方法采用扩展卡尔曼滤波，将阵列不变量法得到的源接收机距离与两点定位结果相结合，提高目标跟踪精度。AI-ROTMA的性能使用R/V Onnuri的船舶辐射噪声数据进行评估，这些数据是在浅水声学变异性实验（SAVEX-15）期间使用两个VLAs收集的。与仅使用距离测量的两点定位方法相比，AI-ROTMA提供了更可靠的距离和速度估计。这些结果突出了将阵列不变技术集成到被动声呐TMA中的潜力，以增强在现实海洋环境中的跟踪性能。

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