Mr. Chris A. Steenhoek Profile

Chris A. Steenhoek

at General Dynamics Mission Systems

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Publications (3)

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Proceedings Article | 13 June 2023 Presentation + Paper

Underwater swarm formation control with distributed beamforming

Junkai Wang, Fumin Zhang, John Kleider, Chris Steenhoek

Proceedings Volume 12544, 1254405 (2023) https://doi.org/10.1117/12.2664692

KEYWORDS: Simulations, Design and modelling, Spatial filtering, Matrices, Autonomous vehicles, Detection and tracking algorithms, Process control, Beam path, Beam controllers, Robots

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Autonomous underwater vehicles (AUVs) are gaining increasing attention due to their promising potential for underwater multi-agent tasks in both military and civil applications. Formation control for AUVs, as the basic problem in cooperation of multiple AUVs, is gaining increasing attention due to the unique difficulties compared with formation control for surface and aerial vehicles. In this paper, we propose a formation control algorithm for underactuated AUVs while tracking a given trajectory. The proposed strategy, which leverages a leader-follower approach, is used to reduce the complexity of the control algorithm. During the formation control process, each agent tracks the same trajectory formed by pre-set waypoints with constant surge velocity by using lower-level PID controllers. Simulations are conducted to validate the proposed formation control algorithm. The AUVs’ position coordinates are fed to a distributed beamforming system to demonstrate the ability to form AUV swarm coherent beams.

Proceedings Article | 30 May 2022 Paper

Distributed beamforming sonar for UUVs

John Kleider, Chris Steenhoek

Proceedings Volume 12119, 121190C (2022) https://doi.org/10.1117/12.2619363

KEYWORDS: Receivers, Signal to noise ratio, Transmitters, Motion models, Target detection, Distributed computing, Signal processing, Error analysis, Antennas, Acoustics

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Distributed beamforming (DBF) has received significant attention in the Radio Frequency (RF) domain. There are also potential performance benefits in the Underwater (UW) Acoustic domain. Specifically, in this work we investigate the application of DBF to UW sonar for Unmanned Underwater Vehicles (UUVs). First, we utilize distributed coding applied across multiple UUVs to enable beamforming gain. Next, we develop a multi-vehicle UUV motion model that emulates movement of the mobile DBF UUV array. The motion model enables our simulation model to induce position errors of the DBF array that a UW DBF sonar system might experience in practice. To ensure DBF beamforming gain in the UW environment, these position errors must be estimated and corrected during DBF sonar UUV mobility. In addition, each UUV will experience unique synchronization offsets, which are also estimated and corrected. For an N-distributed UUV element array, we show that our distributed coding method provides N² -gain in signal-to-noise ratio (SNR) on initial sonar transmission and reception, and N³ -gain thereafter. While our simulation model demonstrates these results for direct target returns, it is also theoretically possible to further increase the received SNR using multipath combining.

Proceedings Article | 12 April 2021 Presentation + Paper

Open- and closed-loop distributed beamforming

John Kleider, Chris Steenhoek

Proceedings Volume 11753, 117530D (2021) https://doi.org/10.1117/12.2589177

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Distributed beamforming (DBF) schemes are receiving increased interest for military and commercial applications due to radio frequency spectral congestion, the possibility of system implementation in autonomous systems, reduced interference requirements to existing legacy systems and/or other co-site signals, and the desire for improvements in low probability of intercept (LPI) and low probability of detection (LPD) transmissions. In this work, it is assumed that distributed beamforming is composed of distributed and collaborative beamforming nodes such that a beamforming gain can be achieved either with or without feedback between transmitter and receiver nodes. Open-loop DBF produces coherent beamforming gain either from a set of collaborating distributed transmitters and/or from a set of collaborating distributed receivers, where no feedback channel is required or available between the DBF transmitters and DBF receivers. Closed-loop DBF produces coherent beamforming gain from both the DBF transmitters and DBF receivers, but assumes a feedback channel exists between the transmitters and receivers. This work develops and demonstrates a method that can reach the maximum theoretical beamforming gain available in open-loop and closed-loop systems while each set of distributed nodes experiences non-ideal geometric array variation and synchronization offsets between distributed elements. Beamforming gain degradation is shown for mobile channel velocity variation. This work should provide useful application to a wide array of distributed autonomous systems as well as future 5G commercial applications.

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