The array sonar is towed behind a surface ship on a long cylindrical cable that can be kilometers long. This keeps the array’s sensors away from the ship’s own noise sources, as shown in Fig. 2.
- Initially, when the ship is at rest, the orientation of the ship, tow cable, and array is shown in Fig. 1.
- When the ship starts moving at a constant speed, the cable and the sensor array attain an equilibrium, i.e., the cable and the array will maintain a fixed depth during the motion, as shown in Fig. 2.
- The parameters which are known are: length, mass of cable and sensor array, the speed of the ship, and the density of water.
- The cable is considered to be rigid, straight, and completely submerged in the water.
- The cable is moving in XYZ space and the sensor array is moving in the XY plane.