Professional Documents
Culture Documents
Volume
21,Number
4, Pages
605-616,
July-August
1986
Applications
of complex
imagetheory
Peter R. Bannister
Submarine
Electromagnetic
Systems
Department,
NavalUnderwater
Systems
Center,NewLondon,
Connecticut
(Received
October
31,1985;revised
December
8, 1985;accepted
January
29,1986.)
605
606 BANNISTER:COMPLEXIMAGE THEORY
RECEIVER
SOURCE
D•d*h /
/7
/
/
//
/
IMAGE
Fig. 1. Compleximagetheorygeometry.
R2 = [/92+ (d+ z + h)23x/2is the distancefromthe the most generalmethods(A.D. Watt, personal
complex imageof thesourceto thereceiver. communication, 1962)is to equatethe z-directed
The questionthat is oftenaskedis, What, physi- waveimpedances for normalincidence
at thesurface
cally,doesa complexdepthrepresent ? The answeris (z = 0) for thetwocasesshownin Figure2.
that there is nothing wrong with a complexdepth, For caseA, for transverseelectric(TE) propaga-
since images are not a physical hypothesisbut a tion,
• (1)
computational
convenience
Basic antenna [Park,
theory tells 1973].
us that the fields pro- ZA
duced
byacurrent-carrying
wireofanylength,
whenwhere
y•= -co2/xo
%,77= ico/xo(ax
+ i•o•),and
placedover a perfectlyconductingearth,may be rep-
resented
Ifby
image.the
the combined
finitely fields
of
the
conductingwire
earth and
couldits
bere- ( icotXo
rt•-- +icø•l (2)
placed
witha perfectly
conducting
earthat someForcase
Bwecanwrite
specifieddepth belowthe surfaceof the finitelycon-
ductingearth, we then could use standardimage ZB,,-% tanh(yoZO (3)
theory
fields. tolocate
theantenna
image
and
theresulting
where
%- (#o/Co)
•/2~ 120re.
Several methods are available for deriving the
For smallvaluesof zl (i.e., I YoZll• 0.5), tanh(•0
z•) ~ •o z•, and
depth of a perfectly conductingplane that can be
usedto replace a rinkely conductingearth. One of ZB•,-r/oYozt = icø/ao
z• (4)
BANNISTER:
COMPLEXIMAGETHEORY 607
CASE
B I1 2
l-Ix
4•i•Oeo
(y• - yo•)p
3
AIR
ß --•:--;?•:•.•-•.:-,:•?•.•:F::•:•,-::•::.•::.•-*.?.•
..:.•.•..•
ßF(1+ yop)eTM -- (I + y,p)eTM] (10)
FINITELY
CONOUCTIHG
EARTH AIR
The imagetheoryresultis
......................
?.).-•,-
!•.•.•.
........................
•..,..•••:..
•,•..•
,,••.. .....
• •.••i•i•.•j-'-•-• Ilx•.• II - o e-YøP'
1 (I 1)
PERFECTLYCONOUCTIHG
EARTH
Fig.
2. Replacement
ofa finitely
conducting
earth
witha per- where
œectly
conducting
earthat depthz•.
z•'•y•(1--/o,r•,
•2A,2•1/2
--(721
1
-- 702)1/2 (5)
1 IIx '• '
4nico•
øp3 ,l (1 + yop)e-•øt' (12)
expressedas
Equating(12) and (13) resultsin
2 2/7•
2
dTE
,•,(}'21
__702)
TM
m{I--1/n2)
•/2 (6)
• • (y]_yg).• 04)
subjectto the condition that l yoZxl•<0.5 (i.e.,
](•l
2- 1)1/2
] >-2, wheren2= y2•/yg
= (• _ ia/rOeo)).
which
isidentical
to(6).
Similarly,
fortransverse
magnetic(TM)propagation, Following
WaitandSpies
[1969],
another
wayto
since determinethe imagedepth is to expand the function
z^ = •{• - 7•o/7b
TM (7) f(uo)=e"ø'•(
u•--uø••
ku• + Uo/
(15)
then
in a Taylor seriesabout Uo= 0, resulting in
2 2
dTM• -- (I -- 7•/712)
TM= -- (1/•12)
TM (8)
Another
waytodetermine
thefinitely
conducting RANGE
OFVALIDITY
earthimagedepthis to comparetheresultsobtained
from image theory
withknownanalyticalresults.
For Compleximagetheoryis basedupon approxi-
z = h = 0, thehorizontal
electric
dipole(HED)Hertz matingtheFresnel
reflection
coefficient
by a suitable
vector
isexactlyequalto [Wait, 1961] exponential
functionof Uo.The planewavereflection
608 BANNISTER: COMPLEX IMAGE THEORY
coefficient
R(uo)for TE wavesis givenby [Wait, (o-1/o-2)
1/2(fora thinoverburden)to
unity(fora thick
19701 overburden).Restriction(24) requires that the
measurement
distance
begreater
thanapproximately
R(Uo)=
_(u•-Uoh (17)four
skin
depths
ineach
layer
(i.e.,
R1>4•,and
\u• + Uo/ R• > 4c52).
Thusforthethinoverburdenandhighly
Analternative
formforR(uo)isobtained
bymulti- resistive
sublayer
case,
(24)isa muchmorestringent
plying
boththenumerator andthedenominator
of requirement than(23).
Thisfactisoften
overlooked.
(17)by(ut- Uo),resulting
in For a measurement distance
lessthan approxi-
mately0.5skindepththesource
term,whichisprop.
R(u)
=-1 +2u(1
+u2)
1/2-2u
2 (18)erlyaccounted
forin thecomplex
image
theory,
where R is now considereda function of the new dominates.It is in the rangeof approximately0.5-4.0
dimensionlessvariable u, definedby skin depthswhere the use of the singlecomplex
image approximation leads to erroneous results.
UodTE
2
(19) However,
theerrorsencountered
areusually
nomore
than 20% [-Bannister,1979]. One way to improvethe
For I u l <<1, a power seriesof R(u)is accuracyis to add the first correctionterm of the
seriesdevelopedby Wait andSpies[1969-1.This term
R(u)= - 1 + 2u-- 2u2 + u3 + '" (20) corresponds
toa multipole
image
located
atthesame
and for lut >> 1, depthD as the singleimage.That is,
Ri2(u)= -- exp(-- 2u)(1+ u3/3) (25)
R(u) = - • + (21)
4u2 •'• whosepowerseriesin u agreeswith that of (20)upto
The
simplest
complex
image
approximation
isthat theu3term.
The inclusionof this multipole term will usually
given
byWait
andSpies
[1969]
as reduce
theimage
theory
errors
encountered
inthe
R•(u) = -exp (-2u) (22) rangeof 0.5-4 skin depthsto lessthan 5%.
whose
powerseries
inuagrees
withthatof(20)
upto Metwally andMahmoud [1982]
have shownthat
thesquare
term,andforlul>>1 it decays
towardthefollowing
continuous
plus
discrete
imagerepre-
zero.
Thisrepresents
a single
image located
at a sentation
leadstoavery
small
error
(less
than1%)in
(complex)
depth D(= h+ dxE)
below theearth's
sur- evaluating
thefields
atanyheight
above theearth.
It
face.
Despite
itssimplicity
thissingleimagerepre-is
sentationhas been successfully
used in many appli- [1 -exp (-2u)] 2 u2
cations
involving
quasi-static
aswellashigher-
Rt3(u)= 4u
2 +•-exp(-3u) (26)
frequency behavior of sources located near the
earth's
surface [Bannister,
1978a,1979,
1982; Ban-which isquite
asimple
expressionandismanageable
nister
etal.,1980]. upon integration
forcalculation
ofthereflected
field.
Because theWaitandSpies[1969]
singleimageThisform(equation(26))
meets therequirement
of
solution
isanasymptotic
approximation,
it isonly -1/4u2 behavior
forlul>>1 (see(21))andagrees
strictly
valid for with(20)uptothecubictermforlul<<1.Theadded
discrete image is a multipole source located at a
R•3>>Idt•.l3 (23) depthequalto h + 3dTE/2.
Mittra et al. [1979] have presented some exact
for the homogeneous earthcase.Restriction
(23)re- Sommerfeld integration results
for theHED 0II,•and
quiresthat the measurement
distancebe greaterthan FI: Hertz vectors(i.e.,the correctiontermsto the
approximatelyfour skin depths.For the caseof a perfectlyconducting groundsolution)forfrequendes
stratified
earth,(23)isreplaced
by of 3-30MHz.Fortheircase,
R1---10m, O -- tan-•
R•>>
IQd.rEI
3 (24)II/(ico%)
[p/(z + h)]= 10ø,qb = 0ø,andthequantity
is normalizedto unity.
I0=
whereQ is thefamiliarcorrection
factoremployed
to The(single)
imagetheorysolutions
of FI• and011•
account
forthepresence
of stratification
in theearth areprovided
by Bannister
[1982].A comparison
of
[Wait, 1970].For a two-layerearth,I Q I variesfrom the imagetheoryand exactSommerfeld
integration
BANNISTER: COMPLEX IMAGE THEORY 609
solutions is excellent. e
35.
Presentedin Figure 4 is a comparisonof the image
34,
theoryand exact Sommerfeldintegrationresultsfor
thecasewhere•-- 10 and •rx• 10-2 S/m. For this 33,
Z
For a cable oriented in the x direction whose
length is much greater than the measurementdis.
tancey, cableelevationh, and earthskindepth6, the
AIR
-L/2h L•y +L/2 broadside magnetic fields at the earth's surface
(z = 0) may be expressed
as(for h <<6)
2nr2 •r i /
whereC• • • for r < 6 and
Fig. 5. Geometryfor derivationof longgroundedcablemagnetic
field components.
c•4• •- 4 J •0•
This amounts to the inclusion of the waveguide
modes. for r/6 > 0.1. Furthermore,
For the case of the homogeneousearth the wave-
guidemodesceaseto exist,and hencethe rigorous (31)
solution reduces to two branch cuts at Uo= 0 and
u• = O.The compleximagesolutionin thiscasestill where
approximates
thefirstbranch
cutandneglects
the r2= y2q_
h2 rt,•/.2q_
d2=/.2_ i262
second.For at > roe1 this neglect will be justified
whenR• >>I dtE13.For ½x< coe•thisneglect
willbe r• ~ r2q_•2 • ----
Idl= 21/2•
justified
whenRe[(y•
- y•)x/2Rx]
>>1. Actually,
Thefactors
C1andC2were
derived
byadding
the
under
theseconditions
theimagesolution
isalsoan firstcorrection
termoftheseries
developed
byWait
excellent
approximation
to theUo
= 0 branch
cut,andSpies [1969](also
seeParke/.
[1982]
andOlsen
andthusit becomes
almostexact
[Mahmoud andand Pankaskie[1983]).
Mohsen,
1985]. Presented
inFigures
6 and7are78-Hz
theoretical
plots(for variousearth conductivities)
of the broad-
SOME
SPECIFIC
APPLICATIONS sidemagnetic
fieldsproduced
by the original
In this section,for the sake of simplicity,we will Sanguine/Seafarer
ELF test antenna.This 175-kin-
assumethat a• is muchgreaterthancoe•,sothatthe long,15-m-high
antennawasorientedin theNE di-
imagedepthd isgivenby rectionbetweenLookoutShoals,North Carolina,
2
d-•--• 61(1 - i) (27)
where6 (• (2/(D/lOrrl)
x/2)is the skin depthin the -so
earth. •.a=4 X10-4
Thegeometry
for thederivation
of themagnetic -70 •..a=lx10-4
induction field componentsproduced by a long •-.. -90 .•o'=4
1)•10
....0.= 10-õ
-5
grounded
can
be
cable
(personal
the is
shown
calculated
in
Figure
communication,
fields
ofafinite
length 5.A.D.
horizontal
(employing
Watt
electric <•
1962)demonstrated
that g
antenna
Ampere's
law)by
sum-
z"-1lO
-laø
r
o'=1
a=4
x1o-a
X
0'=1X10-2
0'=4 X 10 -2
ming
the
fields
produced
equivalent bythe
elements
ofthe_15oF
loop.(Element
1 is theactual
antenna; --170•........' ........' 0.=4x1,•-•s
elements2, 3, and 4 are images.)The resultingindue-
......... IEIMI
• lO
IEI
INI
•'
lO2
a=l
103
X10 104 10•
tion field componentexpressions are summarizedby PERPENDICULAR
DISTANCE
FROMLINE
(meters)
Bannister
[1979],Bannister
et al. [1980],andBallet Fig.6. Broadside
horizontal
magnetic
fieldcomponent
versus
al. [1966]. range.
BANNISTER: COMPLEX IMAGE THEORY 611
-40
This result is considerablymore accuratethan the
-60
singlecompleximagesolution.The correctionterm is
alsoessentialfor restoringthe proper height depen-
-80 denceat closespacings,as givenby the widely dis-
seminatedformula recommendedby the Internation-
-100 al Telegraphand TelephoneConsultativeCommittee
(CCITT) [1963] and Sunde[1949]. That is, when the
-120 measurementdistanceis small in comparison with
-140 the skin depth,(33) reducesto
-160
-180
E•~-•-• In--
\7•ro/ +•7,(z+ h) (34)
10 102 10a 104 105
PERPENDICULAR
DISTANCE
FROMLINE
(meters) whichis virtuallyidenticalwith the CCITT formula
of
Fig, 7. Broadsideverticalmagneticfield componentversus
range. iCO#o
Ex~--•-• Ink•lro/
• +•7x(z+h) (35)
andAlgoma,Virginia.
It wasusedperiodically
from Thecorrectiontermalsoeliminates a discrepancy
1962until1970andwasreferred
to asSiteAlpha. recognized
by Bannister[1968]in the associated
The78-Hzeffective
conductivity
inferred
fromthe horizontal
magnetic
fieldforsmallseparations.That
Site
AlphaH/I inductive
measurements
wasapproxi-is,whenthemeasurement distan•is smallin com-
matdy
10-aS/m[Bannisfer,
198•]. parison
withtheskin
depth,
The classical solution for the horizontal electric
field
produced
tained by
by Carsonalong
[1926] grounded
in cable
the United wasob-
States
and H=- •iW•o•E•
•• •4•_(z- h)• (36)
independently
by Haberland[1926] and Pollaczek which is the correct result, while the single image
[1926]in Europe.
Sincethen,extensive
detailedsolution
analyses
of specificaspectsof the problemhavebeen
conducted byhasmany
Carson's result investigators.
withstood the test ofIn
time.general,
How-
ever,
hissolutionas wellas mostotherrepre-iserroneous bya factor
of• whenz = h= 0 [Ban-
senrations
hasa complexity
thatisawkwardtoira- nister,
1968].
plement
onhand-held
calculators. Another usefulapplication
of complex image
The(single)
compleximagetheorysolution
forthe theoryisin determining
theexternal
impedance per
horizontal
electric
fieldproducedby a longline unitlength of a longhorizontal
wirelocated at
source
is[Bannister,
1970a] height
h (ordepth-h) above(orbelow)theearth's
oftheseriesdevelopedbyWaitandSpies[1969].
the
heights
depth,
aresmall theskinZ•ti•o[(d•2h)
incomparison
with 1(d•f
E•-• In -•kr2/• --•JJ (33) =• In k7•a/ +• • l+•h' (39)
612 BANNISTER: COMPLEX IMAGE THEORY
!.7
!.6
1.4
1.3
1.2
1.1
1.0
0
Z•xt
~• ia,•o
[In\(1.84•
• +4y__•
yta/ 1 (40)Lindell,
wally
andMahmoud,
Weaver,
1975'
1984; et1982,1984a,
Vickers
Lindell al.,1985]. b.
and Morgan, Thomson
1979'
Alenen
and
whileif the longwire is buried(h_<0)[Bannister, The singlecompleximageexpression for the
1978b], mutualimpedance betweentwo verticalcoplanar
loopslocated
at height
h abovethegroundis [Ban-
Z•xt
•-•--• In\•a I -• + (41)nister,
1969,
1970b,
1979]
and
ifthelong-wire
burialdepth ismuch
more
than Z ..•1+• (43)
askin
depth
(i.e.,
h>>•J), Zo (R[)
3
iCO#o
[ (1.85•
- •1
Z•t~-•--• In--
\y•a/ whereR[=[P2+(d+2h)2]
(42) A comparison
ofthemagnitude
ofthenumerical
integrationwith image theory expressions
for the
Compleximagetheoryhasalsobeenemployed in mutualimpedance
ratiofor vertical
coplanarloops
determining
themutualcoupling between loopan- overa homogeneous
ground ispresentedinFigure8.
tennas
locatedat or abovethe earth'ssurface,
for Themaximum errorencountered in employingthe
BANNISTEI•:
COMPLEX
IMAGETHEORY 613
•ol-
- .... • .....
H; z/B = 1.0
•-I0
•OL I•AL
ME• INTEGRATION
- I M•IFIED
IMAGE
THEORY
I (,-•, ..o,.) ..
] •ODIFI D•AG•ORY
-40
• (,:
0.4,
b=
0.96)
/
0.1
i
0.2
i
0.5
i
1,0
i
2.0 5.0 i0,0
Fig.9. Comparison
of modified-imgge
theory
g•d •umedcg]
integratio•
results
fo• themgg•ctic
fields
produced
by • burled•ED (•/• = - 1.0,z/• = 1.0).
H,
z h/8---1.O
IO
- 30
--Xz/8
=
I.O
MX ODIFIED IMAGE THEORY \ '\
(COMPOSITE)
I i j
O. 0.2 0,5 I,O 2.0 5.O I0,0
Composite
oœcomposite
modified-ima8e
theory
aridaumerica]
integration
results
forthemasnetic
fields
inairproduced
bya buriedI-IED(h/6: - !.0,z/6: 1.0).
approximately
1 and10;anda = 1.0andb= 0 for arewithin
approximately
1dBofthenumerical
inte-
R>>c•andR> 13hi. gration
results
overthecomplete
range
ofp/t5
(0.1-
Asanexample,consider
themagnetic
fields
ata 10).
Infact,
themodified-image
theory
evenpredicts
height
ofoneskin
depth
(z/t5
= 1.0)
produced
byan theHpcomponentamplitude
dipattheright
place
HEDburied
at a depthof oneskindepth(h/t5- (p/•= 1.5).
-1.0).Thenumerical
integration
results
forthenor- It isworth
noting
thattheexact
compleximage
malizedamplitude
ofeachcomponent
H',where theory, recently
developed
forcalculation
offields
H,__4rc62H/Ii•sin:
[cos} reflected
from
(45)geneous aplanar
media, interface
hasnow between
been two
extended homo-
toinclude
transmitted
fieldcalculations
[Lindellet ai., 1986].
are presentedin Figures9 and 10. The normalization
factor(0 dB) is the numerical
integration
valueof
eachcomponent
at p/t5= 0.1. CONCLUSIONS
Also presented
arethemodified image
theoryre- In thispaper wehave presented
a tutorial
over-
suits
[Bannister
andDube, 1978].From Figure
9 we view ofcomplex image theory.
Particularattention
seethatthecrossover
pointforthisparticular
exam-hasbeen paidto thedetermination
of theimage
ple is p/t5 = 1.5 (R/t5-- 1.8).That is, if depth andtotherange ofvalidity
ofcomplex image
0.1< p/t5
< 1.5,a= 0.4 andb= 0.96;whileif theory. Some specific
applications
havealsobeen
1.5< p/c5
< 10,a= 0.96andb- 0.4.A comparison presented.(Manyadditional
applications
areinclud-
of thecomposite modified image theoryresultsedinthelistofmore than40references.)
Thesimple,
(Figure!0) withthenumerical integration
resultsyetaccurate,formulas obtained
fromthistheory
shows thatthemodifiedimage theorycalculations
make it a very
strongtoolanda promisingonefor
BANNISTER:COMPLEXIMAGE THEORY 615
Wait,J. R.,Theelectromagnetic
fieldsof a horizontal
dipolein the Weaver,J. T., Imagetheoryfor an arbitraryquasi-static
fieldin
presence
of a conductinghalf-space,Can.J. Phys.,39(7),1017- the presence
of a conductinghalf-space,
Radio Sci.,6(6),647-
1028,1961. 653, 1971.
Wait, J. R., ElectromagneticWaves in Strat!fiedMedia, chap. 2,
Pergamon,New York, 1970.
Wait,J. R., andK. P. Spies,
On theimagerepresentation
of the P.R. Bannister,
Submarine
Electromagnetic
Systems
Depart.
quasi-staticfieldsof a line current sourceabove the ground, ment, Naval UnderwaterSystemsCenter, New London,CT
Can.J. Phys.,47(23),2731-2733,1969. 06320.