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Research Article
Simulation and Statistical Modeling of Acoustic
Scattering of Bubble Wakes
Copyright © 2018 Zhu Ling-Guo et al. This is an open access article distributed under the Creative Commons Attribution License,
which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Ship wakes are large, exist for a long time, and are difficult to disguise or conceal. These characteristics can be used as an important
basis for ship tracking and recognition. However, distinguishing between wakes, underwater targets, and sea surface is a difficult
problem that currently limits acoustic wake homing technology. To solve this problem, in this study, from the viewpoint of feature
recognition, the effects of bubble radius, air volume fraction, frequency, depth, and other parameters on the group bubble were first
investigated. The volume scattering intensity of acoustic wakes at different frequencies and depths was also calculated and analyzed,
and the results of our theoretical calculations were verified through an experiment using a multifrequency single wave sonar dock.
Subsequently, through the single frequency and multibeam sonar sea trial test, a statistical model of target characteristics with a
clear physical mechanism was developed. The developed model can be utilized for the guidance and recognition of acoustic wake
targets. Thus, this study lays the foundation for the practical application of acoustic wake guidance.
1. Introduction the oceanic environment [2, 3]. Miner and Ramberg used the
Navier-Stokes equation and bubble transport theory to study
As a type of underwater acoustic target, a bubble wake is the bubble distribution in warship wakes [4]. Carrica et al.
the main source of information for detecting and identifying calculated the influence of ships on the bubble background
underwater targets by torpedoes and sonars. The tail of a in the ocean using a two-phase flow model [5].
ship is like the tail of a target. After the target has passed, During the middle and late stages of World War II, the
this wake can still remain in its place for a long time. This United States measured and analyzed the acoustic charac-
creates a requirement for the weapon and/or equipment to teristics of wakes of more than ten types of ships, from
be guided by a map. A torpedo, which is guided by the yachts to destroyers, conducting many measurements and
wake’s characteristics, has good anti-interference ability, high compiling the results into monographs [6, 7]. After the
guidance precision, high hit rate, and good damage capability war, torpedoes guided by acoustic wakes were successfully
[1]. Acoustic wake homing has become a major area in developed. In the 90s, the American, French, Canadian
underwater self-guided weapon research and applications. academies of Oceanographic Sciences used multifrequency
Therefore, over the past century, research on wakes has been sonar to measure the acoustic scattering characteristics and
ongoing. geometric features of wakes, as well as other physical features
From the 60s to the 80s, the United States began to [8, 9].
study the wake characteristics of ships on a large scale. In China, Shengwei et al. used fluid mechanics theory to
Researchers have used the Pohl Seidman transport equation study the size, density, distribution, and other characteristics
and Lagrange’s method to study the dynamics of bubbles in of the bubble [10]. Nie et al. used the lattice Boltzmann
2 Mathematical Problems in Engineering
M is the N × N matrix: x
𝑀𝑛𝑛 = 𝜅𝑛 − 𝜔2 𝑚𝑛 + 𝑖𝑤𝑏𝑛 ; s
𝑤2 𝜌𝑒−𝑖𝑘𝑟𝑗𝑛 (4)
𝑀𝑛𝑗 = (𝑛 ≠ 𝑗) .
4𝜋𝑟𝑗𝑛
0
𝑇 P=exp(iwt-ikx)
It can be deduced from the equations that 𝑀 = 𝑀 ,
and the feature vector {𝑢𝑛 }, {𝜆 𝑛 } is the characteristic value
corresponding to the {𝑢𝑛 },
V is represented as 𝑢𝑛 V = ∑𝑁 𝑛=1 𝑐𝑛 𝑢𝑛
Because 𝑢1 represents the first scattering of bubbles, the In x<0, there are incident waves and reflected waves, the
effect is much greater than that of successive scatterings. This amplitude of an incident wave is 1, and the amplitude of a
is reflected in the scattering equation; that is, when 𝑛 > 1, reflected wave is 𝐴 − . The wave equation is [18]
we obtain |𝑐1 | ≫ |𝑐𝑛 |, c is the velocity of sound in water, and
𝑃−0 − 𝑃−∞ = exp (𝑖𝑤𝑡 − 𝑖𝑘𝑥) + 𝐴 − exp (𝑖𝑤𝑡 + 𝑖𝑘𝑥) (12)
MV=P. Therefore,
Only the transmission wave exists to the right x>s of the
𝑁 𝑁
bubble layer, the amplitude of the transmitted wave is 𝐴 + , and
MV = ∑ 𝑐𝑛 𝑀𝑢𝑛 = ∑ 𝑐𝑛 𝜆 𝑛 𝑢𝑛 = P (6)
𝑛=1 𝑛=1
the wave equation is
For 𝑛 > 1, |𝑐1 | ≫ |𝑐𝑛 |, only the first item is available: 𝑐1 = 𝑃+0 − 𝑃∞ = 𝐴 + exp (𝑖𝑤𝑡 − 𝑖𝑘𝑥) (13)
𝑢1 𝑇 𝑝/𝜆 1 . At 0 ≤ 𝑥 ≤ 𝑠, the wave equation in the bubble layer is denoted
Suppose U is a symmetric matrix, then 𝑈𝑈𝑇 = 𝐼, 𝑢𝑇1 𝑢1 ≠ by
0, and therefore,
𝑃 − 𝑃∞ = 𝐵− exp (𝑖𝑤𝑡 + 𝑖𝑘𝑚 𝑥) + 𝐵+ exp (𝑖𝑤𝑡 − 𝑖𝑘𝑚 𝑥) (14)
𝑢𝑇𝑝𝑢1
⟨V⟩ ≈ ⟨𝑐1 𝑢1 ⟩ = ⟨ 1 ⟩ (7) where 𝑘𝑚 is the equivalent wave number in the bubble layer,
𝜆1 𝐵− is the incident wave in the bubble layer, and 𝐵+ is the
reflected wave in the bubble layer.
It is assumed that the N bubbles are symmetrically dis- The phase velocity field in different layers can be
tributed, i.e., the action angles between each pair of bubbles expressed as
are the same; therefore,
1 𝜕𝑃 𝑘 𝑃 − 𝑃∞
1 𝑢= =+ (15)
𝑢𝑇1 = (8) 𝑖𝑤𝜌 𝜕𝑥 𝑤 𝑃
√𝑁 [111 . . . 1 . . . 1] 𝑢𝑛
Applying boundary conditions at x=0, we get
From (5), 𝜆 1 = 𝑢𝑇1𝑀𝑢1
1 + 𝐴 − = 𝐵− + 𝐵+ (16)
∞
𝜆 1 = (𝜅𝑛 − 𝑤2 𝑚𝑛 + 𝑖𝑤𝑏𝑛 ) − 𝑤2 𝜌𝑓 ∫ 𝑟𝑒−𝑖𝑘𝑟 𝑑𝑟 (9) (1 − 𝐴 − ) (𝐵− + 𝐵+ )
0 = (17)
𝑐𝜌 𝑐𝑚 𝜌
Applied to (7), we find ⟨V𝑛 ⟩ = −𝐹𝑛 (1/𝑁) ∑𝑛 𝑝𝑛 /(1 −
∞ Assuming that the bubble layer is very thick and that the
𝐹𝑛 𝑤2 𝜌𝑓𝑛 ∫0 𝑟𝑒−𝑖𝑘𝑟 𝑑𝑟) sound wave cannot pass through the bubble layer, then
𝐹𝑛 = (𝜅𝑛 − 𝜔2 𝑚𝑛 + 𝑖𝑤𝑏𝑛 )
−1
(10) 𝐴 + = 𝐵− = 0 (18)
By applying boundary condition equations (16), (17), and (18),
𝑓𝑛 is the number of bubbles with a radius of 𝑎𝑛 per unit we get
volume.
Therefore (𝑐𝑚 − 𝑐)
𝐴− = (19)
1 1 ∑𝑛 𝜌𝑓𝑛 𝐹𝑛 (𝑐𝑚 + 𝑐)
2
= 2+ ∞ (11)
𝑐𝑚 𝑐 1 − ∑𝑛 𝐹𝑛 𝑤2 𝜌𝑓𝑛 ∫0 𝑟𝑒−𝑖𝑘𝑟 𝑑𝑟 Therefore, the reflection coefficient of the bubble layer, R, is
2
𝑅 = 𝐴 − (20)
2.3. Scattering Strength of Real Bubbles. We assume that
sound waves are coming from an infinite distance to the From the above statements, the scattering of group bubbles
bubble layer, as shown in Figure 2. at a water depth of 2 m is calculated. When the volume
4 Mathematical Problems in Engineering
0 0
a=1e-4
a=3e-4
−10 a=5e-4 −5
a=7e-4
Scattering intensity (dB)
−40 −20
a=1e-5
−50 −25 a=3e-5
a=5e-5
−60 −30 a=7e-5
a=9e-5
−70 −35
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300 350 400
Frequency (kHz) Frequency (kHz)
(a) (b)
0 0
vg=1% depth=1m
vg=0.1% depth=5m
−10 vg=0.01% −5 depth=12m
vg=0.001% depth=20m
Scattering intensity (dB)
−20
−10
−30
−15
−40
−50 −20
−60 −25
−70
0 50 100 150 200 250 300 350 400 −30
0 50 100 150 200 250 300 350 400
Frequency (kHz)
Frequency (kHz)
Figure 4: Relation between scattering intensity and volume frac-
Figure 5: Relation between scattering intensity and depth.
tion.
fraction is 0.1%, the scattering intensities of the bubble groups intensity. At the same frequency, the greater the volume
of each radius are as shown in Figure 3. The results show fraction, the greater the scattering intensity.
that the scattering intensity of the bubble is related to the The volume scattering strength of group bubbles with a
radius of the bubble, and the scattering intensity is larger bubble radius of 80 𝜇m and a volume fraction of 0.1% at
near the resonance frequency. Parameter a is the radius of the depths of 1 m, 5 m, 12 m, and 20 m is shown in Figure 5.
bubble, the transverse axis is the incident frequency, and the The transverse axis is incident frequency, and the longitudinal
longitudinal axis is the scattering intensity. axis is scattering intensity shown for different color-coded
The bubble radius has an influence on the resonance depths. It can be observed that when incident frequency is less
frequency, and the scattering intensity varies with frequency. than the resonant frequency, there is a good relationship with
In the same volume fraction, the bubble radius is different, the depth of the bubble scattering intensity group, and with
and the corresponding frequency response is also different. increasing depth, the scattering intensity decreases. When the
The most fundamental factor is the resonance frequency, and incident frequency is greater than the resonant frequency, the
the scattering intensity is large near the resonance frequency. scattering intensity has a weak relationship with depth.
At the same time, the volume fraction of air influences
the scattering intensity. The larger the volume fraction, the 2.4. Volume Scattering Strength of Wakes. The number, den-
greater the scattering intensity. Taking the bubble radius of sity, and distribution of bubbles in the wake of a ship are
80 𝜇m as an example, the depth scattering intensity of 2 m related to the geometric characteristics of the wakes, as well as
with volume fractions of 1%, 0.1%, 0.01%, and 0.001% is shown the buoyancy, velocity and the dissolution of the bubbles. As
in Figure 4. The volume fraction is VG, the transverse axis the bubbles from the hull and propeller leave the ship, large
is incident frequency, and the longitudinal axis is scattering bubbles will break or float soon afterwards. The minuscule
Mathematical Problems in Engineering 5
1.5 −8 0
−5
−6
−10
Volume fraction
1 −4 −15
−20
Width (m)
−2
−25
0.5 0 −30
−35
2
−40
0 4 −45
0 20 40 60 80 100 120 140
−50
Radius (um) 200 400 600 800 1000
Time (s)
Figure 6: Bubble distribution in wake.
Figure 8: Volume scattering strength of the wake.
0
−5
10
−10
Scattering intensity (dB)
−15
0
−20 Volume scattering intensity (dB)
−25
−30 −10
−35
depth=1m −20
−40 depth=5m
−45 depth=12m
depth=20m
−50 −30
0 50 100 150 200 250 300 350 400
Frequency (kHz)
−40
Figure 7: Volume scattering strength of wakes.
−50
0 200 400 600 800 1000 1200
Time (s)
bubbles will disappear because of dissolution. Only 10 –
300𝜇𝑚 bubbles are left in the wake. There are many methods 100kHz
50kHz
[19] for studying bubble distribution, but the distribution of 400kHz
bubbles in wakes is a military secret. The scattering intensity 200kHz
of the wake, as shown in Figure 7, can be calculated by using
Figure 9: Volume scattering strength of wake volume at 1 m.
the bubble distribution rule shown in Figure 6 [20].
From the calculation results, the scattering intensity of the
wake is related to the emission frequency, which is due to the
resonant frequency effect of the bubble. When the incident volume scattering intensity is about 10 dB smaller than the
frequency is less than the resonance frequency of most of theoretical prediction. From Figure 9, we observe that there
the bubble, the volume scattering intensity decreases with the are obvious multiple reflections between wake bubbles. While
increase in depth. However, when the incident frequency is simulation modeling ignores mutual scattering two times and
greater than the resonant frequency of most of the bubble, above between bubbles, this may be the main reason for the
the scattering intensity increases with the increase in depth. strength deviation of the measured volume scattering inten-
sity. At the same time, because the actual bubble scattering
2.5. Comparison of Theoretical Modeling Results with Actual is more complex, there are many influencing factors. There
Data Analysis Results. In 2013, the frequency characteristics is a large deviation between the scattering intensity near the
of the wake scattering of a landing craft in the Dalian black resonance frequency and the actual wake, and the resonance
mouth wharf bay were tested. Figure 8 shows the results of response under the actual condition is restricted by many
the measurement of the volume scattering intensity of the factors, such as acoustic absorption.
multifrequency single beam sonar simultaneous base test.
The speed is 7 kn. 3. Experimental Details and Results
The test results show that the volume scattering intensity
of the ship wake is related to frequency, depth, and air content, Based on the experimental study of theoretical calculation
and is consistent with the theoretical trend. The measured and terminal verification, the test equipment is placed under
6 Mathematical Problems in Engineering
0 0
0 0
−5 −5
−10 −10
5 −15 5 −15
Width (m)
Width (m)
−20 −20
−25 −25
10 10
−30 −30
−35 −35
15 −40 15 −40
100 200 300 400 500 600 700 50 100 150 200 250 300 350
Time (s) Time (s)
(a) (b)
5 30
0 20
Volume scattering intensity (dB)
Volume scattering intensity (dB)
−5
10
−10
−15 0
−20 −10
−25
−20
−30
−30
−35
−40 −40
0 100 200 300 400 500 600 700 800 0 100 200 300 400 500 600 700 800
Time (s) Time (s)
(c) (d)
Figure 12: Volume scattering strength (a) 13 kn; (b) 5 kn; (c) 1 m; (d) maximum.
of the copy correlation coefficient, and there is no obvious bottom of the ship is stronger than the sea surface, and the
relationship with the depth. When the wake is formed sea surface has some irregularity, so there is little difference
for a period of time, the copy correlation characteristics between the echo envelope and the fluctuation frequency
rapidly decrease, which is caused by the rapid diffusion of of the ship bottom and the sea surface. The db1 wavelet
bubbles and the separation of bubble masses. As shown decomposition is used to process the three levels of detail
in Figure 16, the copy correlation of the wake is gradually information, and the number of the first extreme points of the
reduced. Although the wake echo is the common effect of the first derivative is counted, which is the number of echo signal
scattering of a large number of bubbles, the phase change of mutation times, in order to distinguish between the wake, the
the echo is not very strong and is irregular at the beginning
sea surface, and the bottom signal.
of the wake. The irregular scattering of the bubbles inside the
wake does not exert a great influence on the wake echo. The number of mutations obtained using wavelet trans-
form to detect the signal is shown in Figure 17. The statistical
3.2.6. Parameter 6: Mutation Times N. Wavelet transform results can be seen in the figure: the wake echo signal has the
can detect the edge hopping of the signal. Because of the most mutations, and the number of sea surface and bottom
fluctuation of bubbles in the wake and the scattering and echo signal mutations do not differ significantly, which is
absorption of bubbles, a large number of wavelets will be consistent with the results of our theoretical analysis.
generated by the reflection sound wave, and there will also Based on the statistical analysis of the test data, the
be many fluctuation jitters of each subwave. Consequently, following statistical models (Table 1) were obtained.
the frequency of mutation and fluctuation of the received
signal will also be high. The echo of the ship bottom and the 3.3. Wake Hole. A clear hole phenomenon was found in the
sea surface is basically caused by the mirror reflection. The vertical image of the wake echo, as seen in Figure 18. The
8 Mathematical Problems in Engineering
2
30
20 0
Strength ratio (dB)
10
−2
0
Width (m)
−10 −4
−20
−30 −6
−40
−8
50 100 150 200 250 300
Time (s) −10
0 50 100 150 200 250 300 350 400
13kn
Time (s)
5kn
5kn
Figure 13: Ratio of ship bottom flow to sea surface signal intensity.
13kn
Figure 15: Ship bottom, wake, and sea surface depth change.
7000
6000
0 0
0 0
−10 −10
−20 −20
5 5
Width (m)
Width (m)
−30 −30
−40 −40
10 10
−50 −50
−60 −60
15 −70 15 −70
100 200 300 400 500 600 700 50 100 150 200 250 300 350
Time (s) Time (s)
(a) (b)
700 700
Sea surface Sea surface
Sea surface curve fitting Sea surface curve fitting
600 Bottom 600 Bottom
Bottom curve fitting Bottom curve fitting
Wake
Wake
500 Wake curve fitting 500
Wake curve fitting
Mutation times
Mutation times
400 400
300 300
200 200
100 100
0 0
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140
Signal numberl Signal numberl
(a) (b)
0 18
2 17
4 16
6 15
Depth (m)
Depth (m)
8 14
10 13
12 12
14 11
16 10
30 35 40 45 50 55 60 20 40 60 80 100 120 140 160 180 200
Time (s) Time (s)
(a) (b)
Figure 18: Wake acoustic scattering image: (a) local; (b) the whole.
10 Mathematical Problems in Engineering
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