Acoustic mapping of ocean currents using moving vehicles

With the increased availability of highly maneuverable unmanned surface and underwater vehicles, abundant ocean environmental data can now be collected. Most environmental surveys by unmanned vehicles conduct point measurements of the ocean properties along survey lines. This study uses tomographic techniques to extend the survey area covered by the autonomous vehicles and obtain a synoptic ocean current distribution. An acoustic reciprocal transmission experiment was carried out on June 27, 2017, in ChaoJing Bay nearby Keelung City, where the water depth varies from 20 m to 65 m. A total of three tomographic sensors were deployed and they were installed on an AUV, a fishing boat, and a bottom-moored buoy. Reciprocal acoustic transmissions between the mobile platforms were used to estimate ocean currents, which required accounting for the Doppler effects on the acoustic arrival patterns and the resulting differential travel times. The estimated areal currents show consistency with the ADCP current measure...