040-【技術報告】瀬尾.indd

Size: px

Start display at page:

Download "040-【技術報告】瀬尾.indd"

ときおとべ
5 years ago
Views:

1 技術報告 REPORT OF HYDROGRAPHIC AND OCEANOGRAPHIC RESEARCHES No.52 March, 215 AUV High resolution bathyetric survey acquired with autonoous underwater vehicle Gondou Exaple of data processing and its result Noritsune SEO and Hiroki MINAMI Abstract Hydrographic and Oceanographic Departent of Japan Coast Guard conducted bathyetric survey using ultibea echo sounder deployed on autonoous underwater vehicle AUV Gondou off Yaizu in Suruga Bay, Japan. This technical report describes data acquisition, data processing including correction of navigation drift and the result. We copared the bathyetry data acquired with AUV Gondou and S/ V Takuyo to verify the difference of resolution. High resolution bathyetry by AUV Gondou was able to detect the sall seafloor features which were not resolvable by S/V Takuyo. Two quality checks for AUV gridded data were conducted by investigating standard deviation of depth and by calculating the depth difference between ain schee line and crossline. The standard deviation of depth was less than. for ost of the grid nodes. The depth difference between ain schee lines and crossline was. in total. These results for quality check showed that AUV Gondou acquired data with acceptable quality in this survey. 1 はじめに AUV Autonoous Underwater Vehicle AUV AUV AUV AUV GPS GNSS INS Inertial Navigation Syste INS Received Septeber, ; Accepted Noveber, Continental Shelf Surveys Office, Hydrographic Surveys Division

High resolution bathyetric survey acquired with autonoous underwater vehicle Gondou 2 調査の概要 2.1 調査海域 Fig. AUV UTC UTC 2.2 調査機器 AUV AUV Fig. Table AUV Fig. Overview of AUV Gondou.

1 of doppler veolcity log attitude/ WHN3 (3 khz) travel distance position depth sensor Paroscientific / Series 8CB (Without DVL) positioning antenna position :.

2 High resolution bathyetric survey acquired with autonoous underwater vehicle Gondou 2 調査の概要 2.1 調査海域 Fig. AUV UTC UTC 2.2 調査機器 AUV AUV Fig. Table AUV Fig. Overview of AUV Gondou. AUV Table Sounding syste equipped for AUV Gondou. AUV Ite Device Manufacuture / Model Accuracy inertial navigaton syste IXSEA / PHINS (With DVL) Teledyne RDI / position :.1 of doppler veolcity log attitude/ WHN3 (3 khz) travel distance position depth sensor Paroscientific / Series 8CB (Without DVL) positioning antenna position :.6 N/hr Ashtech / DG14 (on surface) depth :.1 % R2Sonic / ultibea echo sounder sounding Sonic222 (2-4 khz) - AML Oceanographic / surface sound speed sensor Micro SV sound speed :.5 /s AUV. /s Table Table Sounding syste equipped for S/V Takuyo. Fig. Survey area Background nautical chart: W SURUGA WAN W Ite Device Manufacuture / Model Accuracy otion reference unit Kongsberg Seatex / MRU5 heading :.5 attitude/ positioning antenna AeroAntenna / AT pitch & roll :.2 position positioning (DGPS syste) Heisphere / MBX-4 position :.7 processing syste Kongsberg Seatex / (DGPS) Seapath2 ultibea echo sounder Kongsberg Maritie / EM122 (12 khz, bea angle 2ºx2º) - AML Oceanographic / sounding surface sound speed senso Sart SV sound speed.5 /s sound speed profile sensor The Tsurui-Seiki / XCTD-1 teperature.2 conductivity.3

Noritsune SEO and Hiroki MINAMI 3 データの収録及び処理 AUV 3.1 AUV ごんどう AUV Sonic *.raw *.csv *.gsf Sonic Table MB Syste Ver... Caress and Chayes, CARIS HIPS and SIPS version.

3 Noritsune SEO and Hiroki MINAMI 3 データの収録及び処理 AUV 3.1 AUV ごんどう AUV Sonic *.raw *.csv *.gsf Sonic Table MB Syste Ver... Caress and Chayes, CARIS HIPS and SIPS version. MB Syste k MB Syste bnavadjust bnavadjust Fig. bnavadjust AUV AUV AUV Table Paraeters for data acquisition with Sonic on AUV Gondou. AUV Sonic paraeter frequency sector coverage transit power gain pulse width iniu depth gate axiu depth gate range value 4 khz 12 deg. 221 db 1 db 6 μs Fig. Exaple of bnavadjust tool on MB Syste. MB Syste bnavadjust A B

4 High resolution bathyetric survey acquired with autonoous underwater vehicle Gondou AUV *.gsf CARIS HIPS and SIPS version. CARIS swath angle surface AUV AUV. 3.2 測量船拓洋 EM Kongsberg SIS Seafloor Inforation Syste version.. *.all EM Table CARIS HIPS and SIPS version. Table Paraeters for data acquisition with EM on S/V Takuyo. EM paraeter coverage angle angular coverage ode bea spacing dual swath ode ping ode pulse length FM disable set value 13 deg. AUTO HIDENS EQDIST DYNAMIC AUTO ~5 μs OFF SIS CARIS SIS CARIS swath angle surface 4 結果 AUV AUV 4.1 地形の検出能力 AUV Fig. AUV AUV

Illuinated fro north at degrees above horizon, Datu: WGS, Projection: UTM N.

5 Noritsune SEO and Hiroki MINAMI Fig. Bathyetric ap acquired with AUV Gondou left and S/V Takuyo right. Illuinated fro north at degrees above horizon, Datu: WGS, Projection: UTM N. Black line indicates track line. AUV WGS UTM N AUV AUV 4.2 クオリティーチェック AUV Fig.. Fig. Standard deviation of depth for grid node. Black line indicates track line. AUV Fig. Fig. Fig...

6 High resolution bathyetric survey acquired with autonoous underwater vehicle Gondou AUV Fig. Fig. c d Fig. a f Table Fig. Fig. cd.. Fig. af.. AUV AUV Table Mean and standard deviation of depth difference between the ain schee lines and the crossline for Fig. a to f. a f () Fig. 6 (a) Fig. 6 (b) Fig. 6 (c).16.4 Fig. 6 (d).1.32 Fig. 6 (e) Fig. 6 (f).4.19 Total.3.26 AUV AUV 5 考察 AUV 5.1 音速プロファイル補正 AUV Fig. AUV /s Fig. 5.2 位置補正 AUV CARIS

Noritsune SEO and Hiroki MINAMI 34 49'3"N

本線 ) 138 26'5"E 138 27'"E Diff. () -1. -.8 -.

34 49'2"N 138 26'4"E 5 1 2 138 26'5"E 138

7 Noritsune SEO and Hiroki MINAMI 34 49'3"N a 本線本線から作成したグリッド 34 49'3"N d 34 49'2"N 照査線照査線から作成したグリッド '4"E 照査線から作成したグリッドと本線から作成したグリッドの差のグリッド ( 照査線 - 本線 ) '5"E '"E Diff. () '2"N '4"E '5"E '"E Diff. () '3"N b 34 49'3"N e 34 49'2"N '4"E '5"E '"E Diff. () '2"N '4"E '5"E '"E Diff. () '3"N c 34 49'3"N f Diff. () Diff. () '2"N '4"E '5"E '"E '2"N '4"E '5"E '"E Fig. Depth difference for grid node between ain schee line and crossline. AUV Fig.

8 High resolution bathyetric survey acquired with autonoous underwater vehicle Gondou Fig. Sounding overlap between track lines with upper and without lower sound speed correction. AUV Fig. Sound speed profile near the survey area on th April. AUV Total Propagated Uncertainty USBL Ultra Short Base Line IXSEA IXBLUE GAPS. USBL MB Syste bnavadjust 6 結論 AUV

9 Noritsune SEO and Hiroki MINAMI AUV AUV AUV.. 要旨 AUV AUV AUV AUV.. AUV 謝辞 AUV AUV 文献 Caress, D. W. and D. N. Chayes MBSyste Ver....

本文　４校／■７

本文　４校／■７ 49 24 12 20 REPORT OF HYDROGRAPHIC AND OCEANOGRAPHIC RESEARCHES No.49 December, 2012 Hydrographic surveys Hydrographic Survey Team responding to Disasters Abstract After emergent obstruction surveys to