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1.
Absolute positioning of an autonomous underwater vehicle using GPS and acoustic measurements 总被引：2，自引：0，他引：2
Kinematic global positioning system (GPS) positioning and underwater acoustic ranging can combine to locate an autonomous underwater vehicle (AUV) with an accuracy of /spl plusmn/30cm (2-/spl sigma/) in the global International Terrestrial Reference Frame 2000 (ITRF2000). An array of three precision transponders, separated by approximately 700 m, was established on the seafloor in 300-m-deep waters off San Diego. Each transponder's horizontal position was determined with an accuracy of /spl plusmn/8 cm (2-/spl sigma/) by measuring two-way travel times with microsecond resolution between transponders and a shipboard transducer, positioned to /spl plusmn/10 cm (2-/spl sigma/) in ITRF2000 coordinates with GPS, as the ship circled each seafloor unit. Travel times measured from AUV to ship and from AUV to transponders to ship were differenced and combined with AUV depth from a pressure gauge to estimate ITRF2000 positions of the AUV to /spl plusmn/1 m (2-/spl sigma/). Simulations show that /spl plusmn/30 cm (2-/spl sigma/) absolute positioning of the AUV can be realized by replacing the time-difference approach with directly measured two-way travel times between AUV and seafloor transponders. Submeter absolute positioning of underwater vehicles in water depths up to several thousand meters is practical. The limiting factor is knowledge of near-surface sound speed which degrades the precision to which transponders can be located in the ITRF2000 frame. 相似文献
2.
C. David Chadwell 《Ocean Engineering》2003,30(12):1467-1487
Two 12.2 m-high towers for mounting Global Positioning System (GPS) receiver antennas were designed and constructed to provide millimeter-level stability while maintaining portability and accessibility to satellites and deck spaces. A combination of guys and a 3-m horizontal strut provide roll and pitch stability of 2–3 mm observed from 0.1 seconds to 12 days using a combination of GPS and optical/laser devices. The shipboard antenna mounts connect sub-aerial GPS positioning to underwater acoustic ranging that determine the centimeter-level location of seafloor transponders. Observed annually, these seafloor geodetic positions measure seafloor crustal motion for geophysical studies. 相似文献
3.
G. H. Purcell Jr. L. E. Young S. Kornreich Wolf T. K. Meehan C. B. Duncan S. S. Fisher 《Marine Geodesy》2013,36(3-4):255-264
Abstract This article describes the design and initial tests of the GPS portion of a system for making seafloor geodesy measurements. In the planned system, GPS antennas on a floating platform will be used to measure the location of an acoustic transducer, attached below the platform, which interrogates an array of transponders on the seafloor. Since the GPS antennas are necessarily some distance above the transducer, a short‐baseline GPS interferometer consisting of three antennas is used to measure the platform's orientation. A preliminary test of several crucial elements of the system was performed at the Scripps Institution of Oceanography (SIO) in December 1989. The test involved a fixed antenna on the pier and a second antenna floating on a buoy about 80 m away. GPS measurements of the vertical component of this baseline, analyzed independently by two groups using different software, agree with each other and with an independent measurement within a centimeter. The first test of an integrated GPS/acoustic system took place in the Santa Cruz Basin off the coast of southern California in May 1990. In this test a much larger buoy, designed and built at SIO, was equipped with three GPS antennas and an acoustic transducer that interrogated a transponder on the ocean floor. Preliminary analysis indicates that the horizontal position of the transponder can be determined with a precision of about a centimeter. Further analysis will be required to investigate the magnitude of systematic errors. 相似文献
4.
The GNSS-Acoustics (GNSS-A) method couples acoustics with GNSS to allow the precise localization of a seafloor reference in a global frame. This method can extend on-shore GNSS networks and allows the monitoring of hazardous oceanic tectonic phenomena. The goal of this study is to test the influence of both acoustics ray tracing techniques and spatial heterogeneities of acoustic wave speed on positioning accuracy. We test three different ray tracing methods: the eikonal method (3D sound speed field), the Snell-Descartes method (2D sound speed profile), and an equivalent sound speed method. We also compare the processing execution time. The eikonal method is compatible with the Snell-Descartes method (by up to 10 ppm in term of propagation time difference) but takes approximately a thousand times longer to run. We used the 3D eikonal ray tracing to characterize the influence of a lateral sound speed gradient on acoustic ray propagation and positioning accuracy. For a deep water (? 3,000 m) situation, frequent in subduction zones such as the Lesser Antilles, not accounting for lateral sound speed gradients can induce an error of up to 5 cm in the horizontal positioning of a seafloor transponder, even when the GNSS-A measurements are made over the barycenter of a seafloor transponder array. 相似文献
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6.
Optimal localization of a seafloor transponder in shallow water using acoustic ranging and GPS observations 总被引：2，自引：0，他引：2
This study utilized circular and straight-line survey patterns for acoustic ranging to determine the position of a seafloor transponder and mean sound speed of the water column. To reduce the considerable computational burden and eliminate the risk of arriving at a local minimum on least-squares inversion, the position of a seafloor transponder was estimated by utilizing optimization approaches. Based on the implicit function theorem, the Jacobian for this inverse problem was derived to investigate the constraints of employing circular and straight-line survey patterns to estimate the position of a transponder. Both cases, with and without knowledge of the vertical sound speed profile, were considered. A transponder positioning experiment was conducted at sea to collect acoustic and GPS observations. With significant uncertainties inherent in GPS measurements and the use of a commercial acoustic transponder not designed for precise ranging, experimental results indicate that the transponder position can be estimated accurately on the order of decimeters. Moreover, the mean sound speed of the water column estimated by the proposed optimization scheme is in agreement with that derived from conductivity, temperature, and density (CTD) measurements. 相似文献
7.
海底沉积物的声学测量是海底测深的关键技术之一,应用于海底地形地貌测量、海洋矿产资源开采和海底工程建设等。海底沉积物声学测量方法中的原位测量方法可以避免保真采样法的强扰动性和遥测法的准确度、精度及灵敏度的不确定性等缺点,如何改进原位测量系统渐成为海底探测的研究热点。通过分析现有海底沉积物原位测量设备测试换能器的工作原理,针对垂直压入方式换能器测量深度有限,提出了一种通过改变换能器压入沉积物的角度来增加测量深度的方法。在理论上论证出在不低于换能器接收阈值时,测量深度随着掠射角的增加而增加。在不增加压入深度的前提下提供了一种增加测量深度方法。 相似文献
8.
Centimeter-Level Positioning of Seafloor Acoustic Transponders from a Deeply-Towed Interrogator 总被引：1，自引：0，他引：1
Aaron D. Sweeney C. David Chadwell John A. Hildebrand Fred N. Spiess 《Marine Geodesy》2013,36(1):39-70
An array of three seafloor transponders was acoustically surveyed to centimeter precision with a deeply-towed interrogator. Measurements of two-way acoustic travel time and hydrostatic pressure made as the interrogator was towed above the array were combined in a least-squares adjustment to estimate the interrogator and transponder positions in two surveys spanning two years. No transponder displacements were expected at this site in the interior of the Juan de Fuca Plate (48?11′ N, 127?12′ W) due to the lack of active faults. This was confirmed to a precision of ±2 cm by least-squares adjustment. Marginally detectable blunders in the observations were shown to affect the transponder position estimates by no more than 3 mm, demonstrating the geometric strength of the data set. The accumulation of many hundreds of observations resulted in a significant computational burden on the least-squares inversion procedure. The sparseness of the normal matrix was exploited to reduce by a factor of 1000 the number of calculations. The acoustic survey results suggested that the near-bottom sound speed fields during the two surveys were in better agreement than inferred from yearly single-profile conductivity, temperature, and pressure (CTD) measurements. 相似文献
9.
超短基线水声定位系统是海洋工程及水下无人系统中应用较广泛的精密仪器设备,为了提高对水下目标的定位精度,在使用前需对其进行校准。描述了一种基于最小二乘法迭代修正的超短基线水声定位系统校准方法,该方法以最小二乘法为基本原理,通过多次迭代修正的方式,修正基阵与GPS天线之间的平移偏差以及基阵与罗经之间的旋转偏差,从而提高系统的测量精度,最终通过湖上试验验证了该方法的有效性。 相似文献
10.
The Northwest Atlantic Regional Energetics Experiment (REX) will study the dynamics and energetics of the Gulf Stream and associated rings. Bottom‐moored inverted echo sounders with pressure gauges (IES/PGs) will collect in situ data which both complement and augment the GEOSAT altimeter measurements in the Northwest Atlantic. The primary objective of these data will be the intercomparison of satellite and IES/PG measured fluctuations in sea surface topography and mean ther‐mocline depth. However, more detailed and absolute intercom‐parisons of these data would be available if the IES/PG could be positioned in an inertial reference frame while the measurements were taken. This paper presents an error model for computing the accuracy of positioning with a bottom beacon of the IES/PG type. Equations for studying the use of acoustic range data for locating an IES/PG with respect to a ship's track are developed and presented. The ship's track is assumed to be located in inertial space to the 1‐ to 2‐m level by application of the GPS (Mohan, 1983, 1984). Effects of depth‐dependent acoustic speed are included. Although IES/PGs as presently deployed would have to be modified to function as the type of ranging device described in this paper, the representative parameter values that have been calculated for the Northwest Atlantic REX show that sub‐1‐meter accuracy in location determination can be expected. A crucial factor is the measurement pattern, and recommendations for optimal patterns are presented. 相似文献
11.
One goal of seafloor geodesy is to measure horizontal deformation of the seafloor with millimeter resolution. A common technique precisely times an acoustic signal propagating between two points to estimate distance and then repeats the measurement over time. The accuracy of the distance estimate depends upon the travel time resolution, sound speed uncertainty, and the degree to which the path computed from propagation equations replicates the actual path traveled by the signal. In this paper, we address the error from ray propagation equations by comparing three approximations to Snell's Law with ellipsoidal geometry. 相似文献
12.
Pierre Cervenka Ute Christina Herzfeld Christian De Moustier 《Marine Geophysical Researches》1994,16(6):407-425
When isobath maps of the seafloor are constructed with a bathymetric sidescan sonar system the position of each sounding is derived from estimates of range and elevation. The location of each pixel forming the acoustic backscatter image is calculated from the same estimates. The accuracy of the resulting maps depends on the acoustic array geometry, on the performances of the acoustic signal processing, and on knowledge of other parameters including: the platform's navigation, the sonar transducer's attitude, and the sound rays' trajectory between the sonar and the seafloor. The relative importance of these factors in the estimation of target location is assesed. The effects of the platform motions (e.g. roll, pitch, yaw, sway, surge and heave) and of the uncertainties in the elevation angle measurements are analyzed in detail. The variances associated with the representation (orientation and depth) of a plane, rectangular patch of the seafloor are evaluated, depending on the geometry of the patch. The inverse problem is addressed. Its solution gives the lateral dimensions of the spatial filter that must be applied to the bathymetric data to obtain specified accuracies of the slopes and depths. The uncertainty in the estimate of elevation angle, mostly due to the acoustic noise, is found to bring the main error contribution in across-track slope estimates. It can also be critical for along-track slope estimates, overshadowing error contributions due to the platform's attitude. Numerical examples are presented.On leave at the Naval Research Laboratory, Code 7420, Washington D.C. 20375-5350, U.S.A. 相似文献
13.
Sea Surface Determination Using Long-Range Kinematic GPS Positioning and Laser Airborne Depth Sounder Techniques 总被引：3，自引：0，他引：3
Precise long-range kinematic GPS positioning requires the use of carrier phase measurements, the data processing of which suffers from the technical challenges of ambiguity resolution and cycle slip repair. In this paper, the combination of an ambiguity recovery technique and a linear bias correction method has been used to overcome such problems. An experiment was conducted to test the utility of this technique to determine aircraft height to high accuracy, over very long baselines (of the order of one thousand kilometres), in support of the Laser Airborne Depth Sounder (LADS). From a comparison of four independently derived trajectories, this airborne GPS kinematic positioning experiment has confirmed that the sea surface can be determined to centimetre accuracy. The sea surface profiles thus obtained can be used to correct the errors introduced by long period ocean swells. 相似文献
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15.
Precise long-range kinematic GPS positioning requires the use of carrier phase measurements, the data processing of which suffers from the technical challenges of ambiguity resolution and cycle slip repair. In this paper, the combination of an ambiguity recovery technique and a linear bias correction method has been used to overcome such problems. An experiment was conducted to test the utility of this technique to determine aircraft height to high accuracy, over very long baselines (of the order of one thousand kilometres), in support of the Laser Airborne Depth Sounder (LADS). From a comparison of four independently derived trajectories, this airborne GPS kinematic positioning experiment has confirmed that the sea surface can be determined to centimetre accuracy. The sea surface profiles thus obtained can be used to correct the errors introduced by long period ocean swells. 相似文献
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根据多波束测深系统边缘波束采集的异常数据云图,判别分析多波束测深系统的各误差源对边缘波束测深的影响,从理论上探讨声线折射所引起的测深误差与边缘波束角之间的关系,通过多波束测深工程实例的精度验证,结果表明:换能器安装的牢固程度和校准精度、测船定位和姿态改正与测深的时间同步性,对边缘波束的测深精度影响较大;声线剖面误差使得中央波束和边缘波束的测深偏浅或偏深,各波束的测深误差曲线呈现"哭脸"状或"笑脸"状,但对于各波束测深的综合精度,中央波束精度相对较高,两侧边缘波束精度相对较低。 相似文献
18.
Narumi Takahashi Yasuhisa Ishihara Hiroshi Ochi Tatsuya Fukuda Jun’ichiro Tahara Yosaku Maeda Motoyuki Kido Yusaku Ohta Katsuhiko Mutoh Gosei Hashimoto Satoshi Kogure Yoshiyuki Kaneda 《Marine Geophysical Researches》2014,35(3):243-253
We have developed a new system for real-time observation of tsunamis and crustal deformation using a seafloor pressure sensor, an array of seafloor transponders and a Precise Point Positioning (PPP ) system on a buoy. The seafloor pressure sensor and the PPP system detect tsunamis, and the pressure sensor and the transponder array measure crustal deformation. The system is designed to be capable of detecting tsunami and vertical crustal deformation of ±8 m with a resolution of less than 5 mm. A noteworthy innovation in our system is its resistance to disturbance by strong ocean currents. Seismogenic zones near Japan lie in areas of strong currents like the Kuroshio, which reaches speeds of approximately 5.5 kt (2.8 m/s) around the Nankai Trough. Our techniques include slack mooring and new acoustic transmission methods using double pulses for sending tsunami data. The slack ratio can be specified for the environment of the deployment location. We can adjust slack ratios, rope lengths, anchor weights and buoy sizes to control the ability of the buoy system to maintain freeboard. The measured pressure data is converted to time difference of a double pulse and this simple method is effective to save battery to transmit data. The time difference of the double pulse has error due to move of the buoy and fluctuation of the seawater environment. We set a wire-end station 1,000 m beneath the buoy to minimize the error. The crustal deformation data is measured by acoustic ranging between the buoy and six transponders on the seafloor. All pressure and crustal deformation data are sent to land station in real-time using iridium communication. 相似文献
19.
本文阐述了对海底沉积物样品在应力-应变过程中进行同步声学测量的实验工具和方法,分析了采自南海45个站位的海底沉积物样品的实验数据资料,结果表明,沉积物颗粒越粗、孔隙越小、无侧限抗压强度越大,声速越高。沉积物样品在受力应变过程中,声速具有明显的随应力而变化的特征。进一步探讨了不同应变阶段沉积物的声学特征以及应力所导致沉积物微结构变化对其声速的影响过程,这一研究将在石油地质测井和海底工程基底稳定性评价等方面具有重要的应用意义。 相似文献