SOFTWARE-DEFINED UNDERWATER ACOUSTIC MODEMS FOR ARCTIC-LIKE ENVIRONMENTS by Ahmad Traboulsi A thesis submitted to the Faculty of Graduate Studies and Research in partial ful(cid:12)llment of the requirements for the degree of MASTER OF SCIENCE School of Computer Science at CARLETON UNIVERSITY Ottawa, Ontario September, 2016 (cid:13)c Copyright by Ahmad Traboulsi, 2016 Table of Contents List of Tables iv List of Figures v Abstract xiii Acknowledgements xiv Chapter 1 Introduction 1 1.1 Underwater Communications . . . . . . . . . . . . . . . . . . . . . . . 2 1.2 Statement of the Problem . . . . . . . . . . . . . . . . . . . . . . . . 5 1.3 Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.4 Organization of Thesis . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Chapter 2 Background 8 2.1 Underwater Acoustics . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2.2 Software-De(cid:12)ned Communication . . . . . . . . . . . . . . . . . . . . 14 2.2.1 Software-De(cid:12)ned Communication Systems . . . . . . . . . . . 14 2.2.2 GNU Radio . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Chapter 3 Related Work 17 3.1 Underwater Communication Modems . . . . . . . . . . . . . . . . . . 17 Chapter 4 Modem Design 22 4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4.2 Single-Carrier Modulation . . . . . . . . . . . . . . . . . . . . . . . . 23 4.2.1 Phase-Shift Keying Modulation . . . . . . . . . . . . . . . . . 23 4.2.2 Frequency-Shift Keying Modulation . . . . . . . . . . . . . . . 32 4.3 Orthogonal Frequency-Division Multiplexing . . . . . . . . . . . . . 34 4.4 Frequency Hopping-Continuous-Phase Frequency-Shift Keying . . . . 38 ii Chapter 5 Simulation and Results 42 5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 5.2 Simulation Methodology . . . . . . . . . . . . . . . . . . . . . . . . . 42 5.3 Impulse Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 5.4 Simulation Environments . . . . . . . . . . . . . . . . . . . . . . . . . 45 5.5 Measure of Variability . . . . . . . . . . . . . . . . . . . . . . . . . . 49 5.6 Delay Spreads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 5.7 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5.7.1 Binary Phase-Shift Keying Performance . . . . . . . . . . . . 55 5.7.2 Frequency-Shift Keying Performance . . . . . . . . . . . . . . 59 5.7.3 Frequency Hopping-Continuous Phase-Shift Keying Performance 62 5.7.4 Orthogonal Frequency-Division Multiplexing Performance . . . 65 5.7.5 Comparison of the Performance of Various Modulation Tech- niques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 5.8 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 Chapter 6 Conclusion 79 6.1 Summary of Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 6.2 Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Appendix A 81 Bibliography 93 iii List of Tables 5.1 Summary of Simulations. . . . . . . . . . . . . . . . . . . . . . 78 A.1 Summary of Simulations Variables. . . . . . . . . . . . . . . . 92 iv List of Figures 1 Anunderwaternetworkconsistingofstationaryandmobilenodes. 2 2 Example of re(cid:13)ected and direct paths. . . . . . . . . . . . . . 9 3 Refraction (C is larger than C ). . . . . . . . . . . . . . . . . 11 1 2 4 An example of a sound speed pro(cid:12)le. . . . . . . . . . . . . . . 12 5 Eigenrays generated in an environment with refracted paths (in red) and re(cid:13)ected paths (in black). . . . . . . . . . . . . . . . 12 6 Single path vs multipath propagation between a transmitter (TX) and a receiver (RX). . . . . . . . . . . . . . . . . . . . . 13 7 A GNU Radio (cid:13)owgraph. . . . . . . . . . . . . . . . . . . . . . 16 8 Time domain view of a DPSK signal. . . . . . . . . . . . . . . 23 9 BPSK and QPSK constellations . . . . . . . . . . . . . . . . . 24 10 BPSK transmitter module. . . . . . . . . . . . . . . . . . . . . 25 11 Mitigating channel e(cid:11)ects with PSK single-carrier modulation. 26 12 BPSK sampling point with raised cosine (cid:12)lter. . . . . . . . . . 27 13 BPSK receiver module. . . . . . . . . . . . . . . . . . . . . . . 29 14 FLL Band-Edge. . . . . . . . . . . . . . . . . . . . . . . . . . 30 15 Finding the optimal sampling point using a bank of di(cid:11)erential (cid:12)lters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 16 FSK waveform example. . . . . . . . . . . . . . . . . . . . . . 32 17 FSK transmitter module. . . . . . . . . . . . . . . . . . . . . . 33 18 FSK receiver module. . . . . . . . . . . . . . . . . . . . . . . . 33 19 OFDM transmitter module. . . . . . . . . . . . . . . . . . . . 35 20 OFDM receiver module. . . . . . . . . . . . . . . . . . . . . . 36 21 Frequency Hopping CPFSK. . . . . . . . . . . . . . . . . . . . 39 22 Frequency Hopping CPFSK transmitter module. . . . . . . . . 40 23 Frequency Hopping CPFSK receiver module. . . . . . . . . . . 41 v 24 Architecture of the simulator. . . . . . . . . . . . . . . . . . . 43 25 An example of an environment (cid:12)le. . . . . . . . . . . . . . . . 44 26 Upward refracting sound speed pro(cid:12)le. . . . . . . . . . . . . . 46 27 Environment sample with 0% ice cover. . . . . . . . . . . . . . 46 28 Environment sample with 20% ice cover. . . . . . . . . . . . . 47 29 Environment sample with 40% ice cover. . . . . . . . . . . . . 47 30 Environment sample with 80% ice cover. . . . . . . . . . . . . 48 31 Environment sample with 20% ice cover and 10 km range. . . 48 32 IQR for 100 (cid:12)les with 20 percent ice cover and 5 km in range. 49 33 IQR for 100 (cid:12)les with 40 percent ice cover and 5 km in range. 50 34 IQR for 100 (cid:12)les with 80 percent ice cover and 5 km in range. 50 35 IQR for 100 (cid:12)les with 20 percent ice cover and 10 km in range. 51 36 The delay spread of each of the 100 (cid:12)les with 20% ice cover and 5 km in range. The average of the delay spreads equals to 0:4446, the standard deviation equals to 0.0884 and the median equals to 0.4336. . . . . . . . . . . . . . . . . . . . . . . . . . 52 37 The delay spread of each of the 100 (cid:12)les with 40% ice cover and 5 km in range. The average of the delay spreads equals to 0:4552, the standard deviation equals to 0.0841 and the median equals to 0.4458. . . . . . . . . . . . . . . . . . . . . . . . . . 53 38 The delay spread of each of the 100 (cid:12)les with 80% ice cover and 5 km in range. The average of the delay spreads after removing the outlier equals to 0:5034, the standard deviation equals to 0.0861 and the median equals to 0.4949. . . . . . . . . . . . . 53 39 The delay spread of each of the 100 (cid:12)les with 20% ice cover and 10 km in range. The average of the delay spreads equals to 0:6670, the standard deviation equals to 0.1032 and the median equals to 0.6639. . . . . . . . . . . . . . . . . . . . . . . . . . 54 40 BPSK with di(cid:11)erent symbol times over a range of 5 km and 20% of ice cover. . . . . . . . . . . . . . . . . . . . . . . . . . 55 vi 41 Con(cid:12)dence interval with 90% con(cid:12)dence level. BPSK with 20% of ice cover in 5 km range. The Figure shows three di(cid:11)erent symbol times used. . . . . . . . . . . . . . . . . . . . . . . . . 56 42 BPSK with di(cid:11)erent ice cover percentage over a range of 5 km using a symbol time of three seconds. . . . . . . . . . . . . . . 57 43 BPSK with 20% of ice cover but two di(cid:11)erent ranges and same symbol time of three seconds . . . . . . . . . . . . . . . . . . . 57 44 Con(cid:12)denceintervalwith90%con(cid:12)dencelevel. BPSKwith20%, 40%, 80% of ice cover in 5 km range and 20% ice cover in 10 km range. Symbol time is equals to three seconds. . . . . . . . 58 45 2-FSK with di(cid:11)erent symbol times over a range of 5 km and 20% of ice cover. . . . . . . . . . . . . . . . . . . . . . . . . . 59 46 Con(cid:12)dence interval with 90% con(cid:12)dence level. 2-FSK with 20% of ice cover in 5 km range. The Figure shows three di(cid:11)erent symbol times used. . . . . . . . . . . . . . . . . . . . . . . . . 59 47 2-FSK with di(cid:11)erent ice cover percentages over a range of 5 km using a symbol time of three seconds. . . . . . . . . . . . . . . 60 48 2-FSK with 20% of ice cover, two di(cid:11)erent ranges and same symbol time of three seconds. . . . . . . . . . . . . . . . . . . 61 49 Con(cid:12)denceintervalwith90%con(cid:12)dencelevel. 2-FSKwith20%, 40%, 80% of ice cover in 5 km range and 20% ice cover in 10 km range. Symbol time is equals to three seconds. . . . . . . . 61 50 FH-CPFSK with di(cid:11)erent symbol times over a range of 5 km. 62 51 Con(cid:12)denceintervalwith90%con(cid:12)dencelevel. FH-CPFSKwith 20%oficecoverin5kmrange. TheFigureshowsthreedi(cid:11)erent symbol times used. . . . . . . . . . . . . . . . . . . . . . . . . 62 52 FH-CPFSK with di(cid:11)erent ice cover percentages over a range of 5 km using a symbol time of three seconds. . . . . . . . . . . . 63 53 FH-CPFSK with 20% of ice cover, two di(cid:11)erent ranges and symbol time of three seconds. . . . . . . . . . . . . . . . . . . 64 vii 54 Con(cid:12)denceintervalwith90%con(cid:12)dencelevel. FH-CPFSKwith 20%, 40%, 80% of ice cover in 5 km range and 20% ice cover in 10 km range. Symbol time is equals to three seconds. . . . . . 64 55 OFDMwithdi(cid:11)erentpacketsizesandsymboltimesoverarange of 5 km. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 56 O4Bp OFDM with di(cid:11)erent ice cover percentages over a range of 5 km using a symbol time of three seconds. . . . . . . . . . 66 57 BPSK vs 2-FSK vs FH-CPFSK in 0% of ice cover over a range of 5 km. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 58 BPSK vs 2-FSK vs FH-CPFSK in 20% of ice cover over a range of 5 km environment. . . . . . . . . . . . . . . . . . . . . . . . 68 59 Con(cid:12)dence interval with 90% con(cid:12)dence level. BPSK vs FSK vsFH-CFSKin20%oficecoveroverarangeof5kmenvironment. 68 60 BPSK vs 2-FSK vs FH-CPFSK in 40% of ice cover over a range of 5 km environment. . . . . . . . . . . . . . . . . . . . . . . . 69 61 Con(cid:12)dence interval with 90% con(cid:12)dence level. BPSK vs FSK vsFH-CFSKin40%oficecoveroverarangeof5kmenvironment. 69 62 BPSK vs 2-FSK vs FH-CPFSK in 80% of ice cover over a range of 5 km environment. . . . . . . . . . . . . . . . . . . . . . . . 70 63 Con(cid:12)dence interval with 90% con(cid:12)dence level. BPSK vs FSK vsFH-CFSKin80%oficecoveroverarangeof5kmenvironment. 70 64 BPSK vs 2-FSK vs FH-CPFSK in 20% of ice cover over a range of 10 km environment. . . . . . . . . . . . . . . . . . . . . . . 71 65 Con(cid:12)denceintervalwith90%con(cid:12)dencelevel. BPSKvsFSKvs FH-CFSK in 20% of ice cover over a range of 10 km environment. 72 66 PERvsSNRofBPSKvs2-FSKvsFH-CPFSKvsO4BpOFDM in 0% of ice cover over a range of 5 km environment. . . . . . 73 67 PERvsSNRofBPSKvs2-FSKvsFH-CPFSKvsO4BpOFDM in 20% of ice cover over a range of 5 km environment. . . . . . 74 viii 68 PER vs SNR of BPSK vs 2-FSK vs FH-CPFSK vs OFDM in 40% of ice cover over a range of 5 km environment. . . . . . . 75 69 PER vs SNR of BPSK vs 2-FSK vs FH-CPFSK vs OFDM in 80% of ice cover over a range of 5 km environment. . . . . . . 76 70 PERvsSNRofBPSKvs2-FSKvsFH-CPFSKvsO4BpOFDM in 20% of ice cover over a range of 10 km environment. . . . . 77 71 Con(cid:12)dence interval with 90% con(cid:12)dence level. BPSK with 20% of ice cover, 5 km range and symbol time of three seconds. . . 81 72 Con(cid:12)dence interval with 90% con(cid:12)dence level. BPSK with 40% of ice cover, 5 km range and symbol time of three seconds. . . 82 73 Con(cid:12)dence interval with 90% con(cid:12)dence level. BPSK with 80% of ice cover, 5 km range and symbol time of three seconds. . . 82 74 Con(cid:12)dence interval with 90% con(cid:12)dence level. BPSK with 20% of ice cover, 10 km range and symbol time of three seconds. . . 83 75 Con(cid:12)dence interval with 90% con(cid:12)dence level. 2-FSK with 20% of ice cover, 5 km range and symbol time of three seconds. . . 84 76 Con(cid:12)dence interval with 90% con(cid:12)dence level. 2-FSK with 40% of ice cover, 5 km range and symbol time of three seconds. . . 84 77 Con(cid:12)dence interval with 90% con(cid:12)dence level. 2-FSK with 80% of ice cover, 5 km range and symbol time of three seconds. . . 85 78 Con(cid:12)dence interval with 90% con(cid:12)dence level. 2-FSK with 20% of ice cover, 10 km range and symbol time of three seconds. . . 85 79 Con(cid:12)denceintervalwith90%con(cid:12)dencelevel. FH-CPFSKwith 20% of ice cover, 5 km range and symbol time of three seconds. 86 80 Con(cid:12)denceintervalwith90%con(cid:12)dencelevel. FH-CPFSKwith 40% of ice cover, 5 km range and symbol time of three seconds. 86 81 Con(cid:12)denceintervalwith90%con(cid:12)dencelevel. FH-CPFSKwith 80% of ice cover, 5 km range and symbol time of three seconds. 87 ix 82 Con(cid:12)denceintervalwith90%con(cid:12)dencelevel. FH-CPFSKwith 20% of ice cover, 10 km range and symbol time of three seconds. 87 83 Con(cid:12)dence interval with 90% con(cid:12)dence level. O4Bp OFDM with 20% of ice cover and 5 km range. . . . . . . . . . . . . . 88 84 Con(cid:12)dence interval with 90% con(cid:12)dence level. O4Bp OFDM with 40% of ice cover and 5 km range. . . . . . . . . . . . . . 88 85 Con(cid:12)dence interval with 90% con(cid:12)dence level. O4Bp OFDM with 80% of ice cover and 5 km range. . . . . . . . . . . . . . 89 86 Con(cid:12)dence interval with 90% con(cid:12)dence level. O4Bp OFDM with 20% of ice cover and 10 km range. . . . . . . . . . . . . . 89 87 Con(cid:12)dence interval with 90% con(cid:12)dence level. BPSK vs FSK vs FH-CFSK vs O4Bp OFDM in 20% of ice cover over a range of 5 km environment. . . . . . . . . . . . . . . . . . . . . . . . 90 88 Con(cid:12)dence interval with 90% con(cid:12)dence level. BPSK vs FSK vs FH-CFSK vs O4Bp OFDM in 40% of ice cover over a range of 5 km environment. . . . . . . . . . . . . . . . . . . . . . . . 90 89 Con(cid:12)dence interval with 90% con(cid:12)dence level. BPSK vs FSK vs FH-CFSK vs O4Bp OFDM in 80% of ice cover over a range of 5 km environment. . . . . . . . . . . . . . . . . . . . . . . . 91 90 Con(cid:12)dence interval with 90% con(cid:12)dence level. BPSK vs FSK vs FH-CFSK vs O4Bp OFDM in 20% of ice cover over a range of 10 km environment. . . . . . . . . . . . . . . . . . . . . . . 91 x