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A Ray Tracing Program For Studying Acoustic Telemetry With Auvs

Acoustic communication with an AUV is imperative for complex missions. An acoustic link between the AUV and the operator at the surface enables two way commands and data communications. The operating environment places constraints on the acoustic link, particularly in shallow water. A ray-traci ng program is presented that uses empirically derived models for both surface and bottom losses based on wave height and signal frequency; and sediment type, water properties (sound speed), signal frequency and angle of incidence respectively. Knowing the acoustic link and environmental parameters, the program predicts the sound propagation paths, identifies shadow zones and regions of multipath interference. The local sound intensity at the receiver is determined and a decision is made if communication with either another vehicle or a surface mounted link is viable.