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1 論文 REPORT OF HYDROGRAPHIC AND OCEANOGRAPHIC RESEARCHES No.52 March, 2015 Evaluation and comparison of uncertainty and feature detecting capability of phase measuring bathymetric sonars Yoshihiro MATSUMOTO Abstract The author conducted a test survey to evaluate the bathymetric uncertainty and feature detecting capability of three types of phase measuring bathymetric sonars PMBS in comparison with a conventional multibeam echosounder MBES. All of the three PMBSs satisfied the standards of uncertainty and feature detecting capability specified in IHO S order a within the slant angle of about degrees. However, the standard deviation of the values obtained with PMBSs was several times as large as that obtained by the MBES. As each swath of PMBSs has denser soundings with high rate of noise, data cleaning procedure was time consuming. It should be noted that sounding s obtained with PMBSs tend to be sparse around nadir, which deteriorates feature detecting capability. 1 はじめに MBES Multibeam Echosounder Matsumoto et al., MBES a PMBS Phase Measuring Bathymetric Sonar MBES PMBS Received September, ; Accepted November, Ocean Research Laboratory, Technology Planning and International Affairs Division

Yoshihiro Matsumoto International Hydrographic Organization IHO S IHO b Teledyne Benthos C D PMBS IHO PMBS MBES イガイ根海域八景島東海域 Fig. Test area Nautical Chart W.

2 Yoshihiro Matsumoto International Hydrographic Organization IHO S IHO b Teledyne Benthos C D PMBS IHO PMBS MBES イガイ根海域八景島東海域 Fig. Test area Nautical Chart W. W D-GPS 動揺方位センサー各音響測深機 D-GPS PMBS 2 比較検証観測の概要 2.1 観測海域 m m m m Fig. 2.2 使用機器 PMBS MBES Fig. PMBS Teledyne Benthos C D GeoAcoustics GeoSwath EdgeTech MBES Reson SeaBat.. m. m. m AML SVPS MBES 動揺方位センサー Fig. Installation plan of survey equipment. HYPACK Table 2.3 海底目標物の設置 PMBS cm

3 Evaluation and comparison of phase measuring bathymetric sonars Table Specification of survey equipment. 機器名規格形式性能インターフェロ Teledyne Benthos 社製周波数 :200kHz メトリ方式 C3D 型発振回数 :30Hz 音響測深機インターフェロ周波数 :500kHz EdgeTech 社製メトリ方式発振回数 :50Hz 4600 型音響測深機インターフェロ周波数 :250kHz Geoacoustics 社製メトリ方式発振回数 :30Hz GeoSwath 型音響測深機周波数 :455kHz ビームフォーミ Reson 社製測深ビーム方式 : クロスング方式 Seabat8125 型ファン方式音響測深機シングルビーム千本電気社製 CH3:210kHz 音響測深機 PDR-8000S 型直下 ( 半減全角 6 度 ) 精度 : ヒーブ 5cm または 5% のいずれか大きい方動揺センサー兼 IXSEA 社製ロ-ルピッチ 0.01 方位センサー Phins 方位 0.1 方位姿勢分解能 : Hemisphere 社製 DGPS 測位測位精度水平 <0.6m R110 型精度 : 音速度 :±0.050m AML 社製音速度計測定範囲 : 音速度 : SVPS 型 1400m/s~1550m/s m Fig. T m. m T m m m T m m T m 2.4 観測要領 PMBS Table m 0.5m 2m 2m 1.4m 2m 1m 1m 1m 2m 2m 1m 2m T1: 四角錐 T2: 立方体 T3: 三角柱 T4: ポール Fig. Configuration of the seafloor targets.

4 Yoshihiro Matsumoto a b. m m m m m Table Survey contents and dates. スワス測深機観測内容観測海域観測日 SeaBat GeoSwath C3D 月 5 日 A-1 A-1 停船観測八景島東 A 2 月 10 日 A-2 A-2 2 月 13 日 A-3 A-3 2 月 5 日 B-1a B-1a 2 月 6 日 B-1b B-1b イガイ根 B パッチ 2 月 10 日 B-2 B-2 テスト 2 月 13 日 B-3 B-3 2 月 10 日 C-1 C-1 八景島東 C 2 月 13 日 C-2 C-2 2 月 6 日 D-1 D-1 イガイ根 D 2 月 10 日 D-2 D-2 井桁航走 2 月 10 日 E-1 E-1 八景島東 E 2 月 13 日 E-3 E-3 2 月 10 日 F-1 F-1 海底異物八景島東 F 2 月 13 日 F-2 F-2 調査 2 月 13 日 F-3 F-3 海底目標物 ( 水深 16.7m)T1 (16.5m)T2 (16.0m)T3 (15.4m)T4 約 35m 約 250m Fig. Location of seafloor targets and the planned survey lines for target surveys. Fig. 2.5 検証方法. PMBS Eisenberg et al.,.. m S IHO MBES. m

Evaluation and comparison of phase measuring bathymetric sonars.. 3. 比較検証結果 3.1 停船状態 GeoSwath A. m S IHO. m. m. m Fig. Fig. A. 12.0m 12.8m 13.6m 14.4m 15.2m 0 4 9m 16.0m Fig.

Evaluation of uncertainty for each degree beam band of GeoSwath soundings at stationary observation phase A. The horizontal axis is beam angle from nadir. The vertical axis is metric.

5 Evaluation and comparison of phase measuring bathymetric sonars.. 3. 比較検証結果 3.1 停船状態 GeoSwath A. m S IHO. m. m. m Fig. Fig. A. 12.0m 12.8m 13.6m 14.4m 15.2m 0 4 9m 16.0m Fig.. m gridded reference bathymetric data of stationary observation phase A obtained with SeaBat. SeaBat A. m. C D A. m S IHO. m. m. m Fig. Fig. A.. C D 測深精度 (2σ) ( 単位 : m) 参照水深との差 ( 単位 : m) Order 2 Order 1 Special Order ビーム角 (degree) Fig. Evaluation of uncertainty for each degree beam band of GeoSwath soundings at stationary observation phase A. The horizontal axis is beam angle from nadir. The vertical axis is metric. Twice of the standard deviation circle and the mean difference from the reference cross are plotted. Maximum allowable total vertical uncertainties TVU specified in IHO S ed. IHO, are overlaid for special order red chained line, order blue broken line, and order dotted line. A GeoSwath IHO S

Yoshihiro Matsumoto 8.0m m 9.2m 14.8m 10.4m 15.6m 11.6m 16.4m 12.8m 17.2m 0 4 8m m 0 6 12m m Fig.

m Fig. m 測深精度 (2σ) ( 単位 : m) 参照水深との差 ( 単位 : m) Order 2 Order 1 Special Order 4.0 3.6 3.2 2.8 2.4 2.0 1.6 1.

Evaluation of uncertainty for C D at stationary observation phase A. Same format as Fig.. A C D Fig.

6 Yoshihiro Matsumoto 8.0m m 9.2m 14.8m 10.4m 15.6m 11.6m 16.4m 12.8m 17.2m 0 4 8m m m m Fig.. m gridded reference bathymetric data of stationary observation phase A obtained with SeaBat. SeaBat A. m Fig.. m gridded reference bathymetric data of stationary observation phase A obtained with SeaBat. SeaBat A. m 測深精度 (2σ) ( 単位 : m) 参照水深との差 ( 単位 : m) Order 2 Order 1 Special Order 測深精度 (2σ) ( 単位 : m) 参照水深との差 ( 単位 : m) Order 2 Order 1 Special Order ビーム角 (degree) ビーム角 (degree) Fig. Evaluation of uncertainty for C D at stationary observation phase A. Same format as Fig.. A C D Fig. Evaluation of uncertainty for at stationary observation phase A. Same format as Fig. A A. m S IHO. m. m. m Fig. Fig. A.. GeoSwath C D 3.2 井桁航走 GeoSwath D E D.. E.. D Fig. S IHO m

Evaluation and comparison of phase measuring bathymetric sonars Fig.

GeoSwath D m Table Evaluation of uncertainty of the PMBSs and MBES at cross line surveys.

23 m (±1.19 m) -0.46 m (±0.55 m) -0.21 m (±0.26 m) -0.09 m (±0.10 m) 特級 1 級 2 級 0.29m 0.56m 1.10m 0.30m 0.57m 1.11m 0.27m 0.

7 Evaluation and comparison of phase measuring bathymetric sonars Fig. m gridded reference bathymetric data of cross line survey phase D obtained with GeoSwath and track lines across the area. GeoSwath D m Table Evaluation of uncertainty of the PMBSs and MBES at cross line surveys. 測深機 ( 観測海域 ) GeoSwath ( イガイ根 : D-1) C3D ( イガイ根 : D-2) 4600 ( 八景島東 : E-3) SeaBat8125 ( 八景島東 : E-3) 水深差の平均値 ( 標準偏差 ) m (±1.19 m) m (±0.55 m) m (±0.26 m) m (±0.10 m) 特級 1 級 2 級 0.29m 0.56m 1.10m 0.30m 0.57m 1.11m 0.27m 0.52m 1.04m 0.27m 0.53m 1.05m Table C D D.. Fig. Fig. m gridded reference bathymetric data of cross line survey phase D obtained with C D and track lines across the area. C D D m Table m C D m. m. m E.. Fig. Table m PMBS

8 Yoshihiro Matsumoto m m T T m Fig. m gridded reference bathymetric data of cross line survey phase E obtained with and track lines across the area. E m SeaBat SeaBat E Table m PMBS SeaBat. GeoSwath. C D 海底の異物の検出能力. Fig. SeaBat S IHO m a T T T T GeoSwath FFig. T T T T F.. C D FFig. T T T T F.. FFig. T T T T F

9 Evaluation and comparison of phase measuring bathymetric sonars.. SeaBat F F F Fig. T T T T 4. 考察 4.1 水路測量における性能評価 PMBS S IHO a T Fig. PMBS m 4.2 ノイズの分布 PMBS MBES GeoSwath C D Overhang/Undercut Fig. Fig. GeoSwath Fig. a C D Fig. b Fig. c SeaBat Fig. d GeoSwath C D 4.3 PMBS を水路測量に活用するために PMBS C D

Yoshihiro Matsumoto (a) GeoSwath の例の例の例 T2: ビーム角 27.34 (30 スイープ, 俯角 0 ) 12.0 12 13 60.

0 beam angle (deg) -80.0 T3: 設置箇所は 2 付近 (30 スイープ, 俯角 15 ) (b) C3D の例の例の例 14 15 16 17 18 19 20(m) 12.

10 Yoshihiro Matsumoto (a) GeoSwath の例の例の例 T2: ビーム角 (30 スイープ, 俯角 0 ) beam angle (deg) beam angle (deg) T4: ビーム角 (30 スイープ, 俯角 0 ) beam angle (deg) T3: 設置箇所は 2 付近 (30 スイープ, 俯角 15 ) (b) C3D の例の例の例 (m) T2: ビーム角 (30 スイープ, 俯角 0 ) beam angle T1: ビーム角 (30 スイープ, 俯角 0 ) T3: 設置箇所は 11 付近 (30 スイープ, 俯角 5 )

Evaluation and comparison of phase measuring bathymetric sonars (c) 4600 の例の例の例 T4: ビーム角 -10.30 (30 スイープ, 俯角 0 ) T3: ビーム角 -34.30 (30 スイープ, 俯角 0 ) 80.0 beam angle (deg) -100.

Examples of rating feature detection capability in three grade criterion: I the object is clearly recognised circle ; II relatively shallow sounding points are sparsely located, and are scarcely

11 Evaluation and comparison of phase measuring bathymetric sonars (c) 4600 の例の例の例 T4: ビーム角 (30 スイープ, 俯角 0 ) T3: ビーム角 (30 スイープ, 俯角 0 ) 80.0 beam angle (deg) T1: 設置箇所は 50 付近 (40 スイープ, 俯角 0 ) (d) SeaBat8125 の例の例の例 T1: ビーム角 (50 スイープ, 俯角 0 ) T4: ビーム角 (50 スイープ, 俯角 0 ) 80.0 beam angle (deg) T3: 設置箇所は 30 付近 (50 スイープ, 俯角 0 ) Fig. Examples of rating feature detection capability in three grade criterion: I the object is clearly recognised circle ; II relatively shallow sounding points are sparsely located, and are scarcely assumed to be an object triangle ; and III nothing is recognised cross. A single sweep is shown on the bottom pane, and a series of sweeps are piled up on the top pane. The horizonatal axis represents beam angle, and the vertical axis represents sounding. A flag is attached on the detected target or at the assumed target position when undetected. Tested sonars: a GeoSwath, b C D, c, and d SeaBat. a GeoSwath b C D c d SeaBat

12 Yoshihiro Matsumoto T1( 四角錐 ) 不明瞭明瞭 T2( 立方体 ) 不明瞭明瞭 T3( 三角柱 ) 不明瞭明瞭 T4( ポール ) 不明瞭明瞭 Fig. Verification of feature detecting capability of GeoSwath at target survey phase F. Ratings of feature detection are counted up for each degree beam band. The width of the bars represents the number of samples. F GeoSwath 不明瞭明瞭 T1( 四角錐 ) 不明瞭明瞭 T2( 立方体 ) 不明瞭明瞭 T3( 三角柱 ) T4( ポール ) 不明瞭明瞭 Fig. Verification of feature detecting capability of C D at target survey phase F. Same format as Fig.. F C D CUBE Combined Uncertainty and Bathymetric Estimator; Calder and Wells,

13 Evaluation and comparison of phase measuring bathymetric sonars 不明瞭明瞭 T1( 四角錐 ) 不明瞭明瞭 T2( 立方体 ) 不明瞭明瞭 T3( 三角柱 ) T4( ポール ) 不明瞭明瞭 Fig. Verification of feature detecting capability of at target survey phase F. Same format as Fig.. F 不明瞭明瞭 T1( 四角錐 ) 不明瞭明瞭 T2( 立方体 ) 不明瞭明瞭 T3( 三角柱 ) T4( ポール ) 不明瞭明瞭 Fig. Verification of feature detecting capability of SeaBat at target survey phase F, F, and F. Same format as Fig.. F F F SeaBat b PMBS Eisenberg et al., 5. 結論 PMBS S IHO a MBES MBES

Yoshihiro Matsumoto (a) GeoSwath (b) C3D T2 T2 約 24 度約 25 度 60.0 beam angle (deg) -80.

Examples of sweeps detecting the cube shaped target T around nadir.

14 Yoshihiro Matsumoto (a) GeoSwath (b) C3D T2 T2 約 24 度約 25 度 60.0 beam angle (deg) (c) 4600 (d) SeaBat8125 T2 T2 約 26 度 80.0 beam angle (deg) Fig. Examples of sweeps detecting the cube shaped target T around nadir. Tested sonars: a GeoSwath, b C D, c, and d SeaBat. The horizontal axis represents beam angle, and the vertical axis represents sounding. T a GeoSwath b C D c d SeaBat

Evaluation and comparison of phase measuring bathymetric sonars (a) GeoSwath (b) C3D -2.0 8.0 T2 T2 24.0 約 24 度 80.0 beam angle (deg) -100.0 20.0 約 25 度 80.0 beam angle (deg) -100.0 (c) 4600 (d) SeaBat8125 10.

15 Evaluation and comparison of phase measuring bathymetric sonars (a) GeoSwath (b) C3D T2 T 約 24 度 80.0 beam angle (deg) 約 25 度 80.0 beam angle (deg) (c) 4600 (d) SeaBat T2 T2 約 26 度 beam angle (deg) Fig. Same sweeps as shown in Fig. before data cleaning. Tested sonars: a GeoSwath, b C D, c, and d SeaBat. Fig. a GeoSwath b C D c d SeaBat

16 Yoshihiro Matsumoto 謝辞文献 SEABAT Calder, B. and D. Wells CUBE User s Manual Version., pp., University of New Hampshire. Eisenberg, J., M. Davidson, J. Beaudoin, and S. Brodet Rethinking the patch test for phase measuring bathymetric sonars, Proceedings for US Hydrographic Conference, Tampa, April. a b Matsumoto, Y., S. Kokuta, H. Mori, and H. Yamano Shallow water multibeam echosounding in Japan Hydrographic Department, Proceedings for New Technology for a New Century Technical Conference during the FIG Working Week, Seoul, May. C D SEABAT SEABAT IHO IHO Standards for Hydrographic Surveys th Edition, Special Publication No, pp., International Hydrographic Organization, Monaco, February. 要旨 IHO S a

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