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Paper 2 PDF
Paper 2 PDF
Hou Pin Yoong, Kiam Beng Yeo, Kenneth Tze Kin Teo and Wei Loong Wong
Material and Mineral Research Unit,
School of Engineering and Information Technology,
Universiti Malaysia Sabah, Kota Kinabalu, Malaysia.
yoongpin@ums.edu.my, nooryeo@yahoo.com, ktkteo@ieee.org
Abstract — This paper demonstrates the modeling of seawater acoustic channel to obtain the optimum carrier frequency for
autonomous underwater vehicle (AUV) wireless communication system. The wireless communication distance of an AUV with its
control vessel changes due to the mission at different depths. Current AUV is designed with an operating depth of 0 to 2000m.
Therefore, the existing model had limitation when the operational depth varies based on the mission assignment. This is because
the optimum frequency to noise ratio changes with respect to the distance of the transmission. To overcome the existing modeling
method, this paper presents a ameliorate method to determine the optimum carrier frequency for the AUV wireless
communication system. The mathematical model with the relation of noise, distance and frequency is formulated and simulation
carried out to set the optimum frequencies at various distances. From the frequency band, the average frequency is identified as
the optimum transmission carries frequency. The determined frequency will be utilized for further hardware improvement.
2 2
f f 4 2
10loga( f ) 0.11 44 2.75.10 f 0.003 (2)
1 f 4100 f
2 2
B. Noise Model have large amount of transmission loss that reduces the
Research had shown [11] that the ambient noise in the frequency band efficiency. Due to the inefficient of low
ocean can be modeled using four sources: turbulence, frequency range, the ambient noise from a turbulence is not
shipping, waves, and thermal noise. Furthermore, included in the simulation. Frequency range between 1 kHz
continuous PSD and Gaussian statistics can be used to to 100 kHz is emphasized on the simulation.
describe most of the ambient noise sources. The four noise The noise PSD simulation generated by shipping
empirical formula components yield the PSD in dB re µPa activities had shown the density distribution as in the Fig. 3.
per Hz according to the function of frequency in kHz [13]: Frequency below 1 kHz had a significant effect of the
changes of shipping activities with the factor, s from 0 to 1.
Whereby, the low frequency range is not affected by the
10logN t f 17 30 log f (3)
shipping activity. The shipping activities noise has also
shown a minimum curve at frequency around 20 to 50 kHz.
10logNs f 40 20 s 0.5 26log f 60log f 0.03 (4) The Fig. 4 shows the ambient noise Nw(f) caused by wind
from a typical wind speed ranging from 0 to 50 m/s. From
10log Nw f 50 7.5w 20 log f 40log f 0.4 (5)
1/ 2
the simulation, the wind effect is proportion to the wind
speed at frequency region from 100 Hz to about 30 kHz.
10logN th f 15 20 log f (6) However, the wind has a slight influence on frequency more
than 30 kHz and invariant effect at low frequency. Although
Different noise sources affect different frequency regions. the effect is small at high frequency, but when the wind
Turbulence noises influence and occupy the very low speed reach 50 m/s the noise PDS is able to reached just
frequency region at frequency, f < 10 Hz. Noise generated above 60 dB re µPa. Thus, this simulation result suggests
by shipping activities is affecting the frequency region that during SNR study, the wind speed should be set at the
between 10 Hz to 100 Hz. The shipping noise activities can higher range to reflect the worse condition possible. The
be modeled through the shipping activity factor s whereby next simulation is conducted for the noise generated by
the value is ranging between 0 and 1 for low and high wind speed.
activity, respectively. Surface motion, caused by wind-
driven waves (w is the wind speed in m/s) is the major
element conducive to the noise in the frequency region
between 100Hz to 100 kHz, which is the operating region
used by the majority of the acoustic systems. For higher
Noise PSD [dB re micro Pa]
Nf N t f N s f N w f N th f (7)
Ship Activities
C. AN Product, SNR and Band Selection Frequency [hz]
The effect of noise on the signal is dependent on the Figure 3. PSD of the ambient noise N(f) [dB re µ Pa] for low to high
signal to noise ration. Equation 8 represents the power shipping activity.
density of the signal P/A(d,f), which is the ratio over the
PSD of ambient noise N(f) and signal to noise ratio (SNR)
can be formulated as.
SNR d , f P / A d , f / N f f (8)
Noise PSD [dB re micro Pa]
Normally, the speed of transmission is very small compared and the Doppler Effect. The modeling of the underwater
to the speed of sound, therefore channel had been derived to mathematically quantify the
underwater channel characteristic. Optimum frequencies are
Δv obtained with the highest SNR along the transmission range.
Δf fTx (13) With 2000 meter transmission range, the optimum
c frequency drifts from 25 kHz to about 40 kHz. Due to the
uncertainty of the AUV operation distance, the average
where Δf is the different speed of transmitter and receiver. optimum frequency is obtained as the carries signal. The
If the frequency is in kHz, then Δv is in knots and Δf is in carry signal frequency is identified at 31.5 kHz. The
Hz. Therefore, the Doppler Effect in the sea can be defined Doppler Effect at worst case scenario is applied to obtain
as the frequency drift. From the frequency drift, channel
frequency is defined as two times the Doppler Effect away
from each define channel frequency. The main contribution
Δf sea 0.35 fTx Δv (14)
of this paper is the innovative method in obtaining the
optimum frequency for an uncertain transmission distance
The Fig. 8 shows the Doppler Effect cause by moving within a range.
receiver from the transmitter. In the simulation, the
transmitter is not moving while the receiver speed moves VII. FUTURE WORK
further from the transmitter with average AUV speed from 0 From the work in this paper, the carries frequency and
knot until 4 knot and the transmission frequency is set from Doppler Effect are obtained. The next step will be defining
20 kHz until 40 kHz. The frequency shift is increasing the number of channels needed for the transmission. Then
followed by increasing of receiver movement speed. the work will follow from the transmission power study and
Whereby, increasing of frequency also cause the frequency lastly is building the hardware for realizing the underwater
shift significantly. Overall, the frequency shift from 0 Hz to wireless communication system.
118.73 Hz.
To avoid the frequency band for each channel from ACKNOWLEDGEMENT
overlapping each other, the channel frequency is defined The authors gratefully acknowledge Material and Mineral
between two times the maximum Doppler Effect frequency Research Unit for providing support and facilities for this
drift. Additional threshold can be inserted in between the project. This project is funded by Ministry of Science,
channel. With rounding up of the Doppler Effect to 120 Hz Technology and Innovation (MOSTI) Malaysia. The grant
and a threshold of 60 Hz, the channel frequency can be number is 03-01-10-SF0137, titled “Underwater Wireless
defined at every 300Hz from 31.5 kHz. The higher Communication System for Autonomous Underwater Robot
frequency is used to have a higher transmission rate. Vehicle”.
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