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1.
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
2.
Dwight E. Boegeman Gordon J. Miller William R. Normark 《Marine Geophysical Researches》1972,1(4):381-396
The Marine Physical Laboratory of the Scripps Institution of Oceanography has developed an acoustic relay transponder for precise relative positioning of near-bottom instruments and geologic sampling devices. Although specifically designed to position equipment lowered on standard wire ropes without a need to maintain direct electrical contact with the surface ship, the relay transponder may be used to track free vehicles, such as deep submersibles, from the surface. The relay transponder is positioned relative to an array of bottom-anchored acoustic transponders. It is interrogated acoustically from the surface ship; it then sequentially interrogates the bottom transponders which, in turn, reply to the ship. From the measurement of the total travel time (ship to relay transponder to bottom transponder to ship) and assuming, or knowing, the sound velocity of the water, we obtain a relayed range measurement. These relayed ranges, used in conjunction with ship to bottom-transponder ranges, allow us to calculate the position of the relay transponder. A recent application of this technique is described in which several gravity core samples from the crest of the Horizon Guyot were positioned with respect to the detailed bathymetry and the geology within the area. The estimated error in positioning the samples is less than 20 m inside a navigational net extending over 100 km2.Contribution of the Scripps Institution of Oceanography, new series. 相似文献
3.
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
4.
The accuracy of GPS/Acoustic positioning is crucial for monitoring seafloor crustal deformation. However, the slant range residual is currently the only indicator used to evaluate the precision of positioning seafloor transponders. This study employs a unique Seafloor Acoustic Transponder System (SATS) to evaluate the accuracy of GPS/Acoustic seafloor positioning. The SATS has three transponders and an attitude sensor in a single unit, which provides true lengths of transponder baselines and true attitude of the SATS to ensure assessment reliability and validity. The proposed approach was tested through a GPS/Acoustic experiment, in which an off-the-shelf acoustic system was used to collect range measurements. Using GPS/Acoustic geodetic observations, the positions of three transponders on the SATS were estimated by an optimization technique combined with ray-tracing calculations. The accuracy of the GPS/Acoustic seafloor positioning is assessed by comparing the true baselines and attitude with the results derived from the position estimates of the three transponders. A sensitivity analysis is conducted to investigate the robustness of the GPS/Acoustic positioning results to changes of sound speed. Experimental results demonstrate that the use of the SATS can help to assess the validity of the GPS and acoustic travel time measurements in the GPS/Acoustic seafloor positioning. 相似文献
5.
6.
Abstract During May 1985, a comprehensive GPS and acoustic navigation data set was collected off the Monterey, California coast. Three types of GPS units, a LORAN‐C, and a Miniranger operated concurrently with an OCEANO acoustic system to resolve state‐of‐the‐art accuracies for at‐sea geodetic positioning. This report details the acoustic system which displayed baseline errors of only ±0.25 m over distances to 2600 m. Unfiltered point‐to‐point acoustic navigation errors had a standard deviation of ± 1.25 m, which included ship motion errors in addition to surveying errors. Ninety percent of the stations had navigation standard deviations below ±0.75 m The experiment showed that sub‐meter acoustic surveying is the state‐of‐the‐art. 相似文献
7.
时间服务系统对利用走时层析成像方法进行地下介质速度结构反演至关重要。海底地震仪(ocean bottom seismometer, OBS)工作期间由于没有GPS时间接入, 其时间误差(包括守时误差和授时误差)主要来源于内部石英晶振的准确程度, 受到外部环境变化以及开关机等因素影响。长期实践发现, 部分国产OBS在记录气枪信号以及天然地震信号时存在较大的时间偏差。本文对2019年福建及台湾海峡地壳结构海陆探测实验所获得的53台次国产OBS记录进行了时间服务系统矫正。其中, 针对OBS授时误差, 利用出海前不中断采集的一致性试验和运输船运输过程中产生的晃动互相关进行时间矫正; 针对守时误差, 采用计算实际采样频率与理论采样频率偏差进行矫正; 通过对比矫正前后OBS记录到的天然地震信号, 进行秒级别的检测。结果表明, 经过以上步骤矫正的OBS数据, 其时间记录的准确性得到了显著提高, 从而降低了震相识别、走时拾取的时间误差, 为标准化国产OBS数据采集作业流程提供了重要参考。 相似文献
8.
A high-resolution underwater acoustic pulse-Doppler navigation system has been developed and tested at sea. The system provides continuous, highly accurate tracking of underwater and ocean-surface platforms in a fixed 50-km2navigation net. Three reference buoys, moored 20 m from the ocean bottom, provide the navigation net used by shipboard processing equipment. Each reference buoy contains an acoustic transponder, used to obtain the acoustic travel times from the transponder to the platform, and a continuous-tone beacon, used to obtain the Doppler shift due to platform motion. The system is capable of determining the position of a platform with respect to the reference net with an error of 2-3 m. The relative position of the platform on a fix-to-fix basis can be determined within several centimeters over short time intervals (approx 10 min). 相似文献
9.
Dosso S.E. Brooke G.H. Kilistoff S.J. Sotirin B.J. McDonald V.K. Fallat M.R. Collison N.E. 《Oceanic Engineering, IEEE Journal of》1998,23(4):365-379
Array element localization (AEL) surveys are often required to accurately localize acoustic instruments (transponders or sensors) in the ocean. These are typically based on transmitting or recording acoustic signals from or at a set of well-known positions. A significant limiting factor in many AEL surveys is the uncertainty inherent in these “known” positions. In this paper, an inversion algorithm is developed which properly treats both transponder and sensor positions as unknowns, subject to available a priori information in the form of position estimates and uncertainties. The algorithm essentially consists of an iterative linearized inversion of the raytracing equations employing the method of regularization. The approach is applied to independently localize transponders and vertical line array (VLA) sensors that form part of a three-dimensional sensor array in the Arctic Ocean. Confidence limits estimated via Monte Carlo simulation indicate that transponders and sensors are localized to less than 1 m in three dimensions. The VLA sensor motion, monitored over a seven-week period, appears to be predominately driven by tidal currents and is consistent with historical current measurements for the region 相似文献
10.
A method of high resolution seismic velocity analysis for ocean bottom seismometer (OBS) records is applied to the study of the shallow oceanic crust, especially sedimentary and basement layers. This method is based on the direct-p mapping and the-sum inversion. We use data obtained from a 1989 airgun-OBS experiment in the northern Yamato Basin, Japan Sea and derive P- and S-wave velocity functions that can be compared with the seismic reflection profiles. Using split-spread profile records, we obtain interface dips and true interval velocities from the OBS data. These results show good agreement with the reflection profile records, the acoustic velocities of core samples, and sonic log profiles. We also present a method for estimating errors in the derived velocity functions by calculating covariance of the derived layers' thicknesses. The estimated depth errors are about 150 m at shallow depths, which is close to the seismic wavelength used. The high resolution of this method relies on accurate determination of shot positions by GPS, spatially dense seismic observations, and the use of unsaturated reflected waves arriving after the direct water wave that are observed on low-gain component records. 相似文献
11.
Among the fastest‐growing applications of high‐precision GPS positioning are those which are kinematic in nature. Carrier phase‐based GPS positioning of a moving antenna—for example, attached to a ship, an aircraft, or a land vehicle—is now commonplace. Recent software innovations make use of advanced ambiguity resolution “on the fly” and real‐time kinematic data processing algorithms to emulate the ease of operation of conventional differential GPS (DGPS) based on transmitted pseudo‐range corrections. However, as much higher accuracy must now be assured compared to DGPS, greater attention must be focused on the quality control aspects of GPS positioning. This study describes two methods for detecting failures or changes of small magnitude in real time in GPS measurements. Examination of the overlap or disjointedness of robust and conventional confidence intervals and studentized normal variates have been used as failure detection tools. These methods are based on testing the performance of the differences between the conventional (nonrobust) Kalman state estimates and the robust Kalman filler estimates. Detection of cycle slips in carrier phase data, outliers in phase rate or in code ranges, or any other type of disorder in the measurements of the GPS system can be addressed with these failure detection methods. Application and evaluation of the algorithms has been carried out using raw carrier‐phase and phase‐rate GPS measurements. It has been demonstrated that these failure detection tools provide powerful and efficient diagnostics for detecting small changes in the measurements of the GPS system. 相似文献
12.
An instrumented vehicle is towed at the end of a 5 km long cable, gathering data about the deep sea floor and near-bottom water column. Although bottom-moored acoustic transponders are used to determine the vehicle and ship positions precisely and in real time, predicting the ship manoeuvers required to bring the vehicle over an area of interest on the sea floor is far from trivial for the ship driver. Computer software has been developed which recommends courses for the ship to steer so that the vehicle will pass near a desired target. In trials at sea, the computer steered the vehicle 80, 40 and 85 m from pre-selected targets. Analysis of the causes of the misses suggests future developments which may reduce the miss distance, provide information on current structure of the water column, and reduce the level of skill and attention required of the vehicle pilot. 相似文献
13.
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
14.
This paper describes a complete set of methods for arranging acoustic images of the sea floor by projecting and interpolating data gathered with a novel front-scan sonar system, developed in the context of the EC-COSMOS project. Traditional sonar imaging systems for sea-floor analysis generate acoustic images during the motion of a ship; on the contrary, the front-scan sonar system not only provides information unreachable by traditional devices (blind region), but also does not need the ship motion to compose a whole image of the sea floor. Two different projection methods have been devised: a simpler analytical solution and a more precise ray-tracing approach. The development of an analytical solution is possible under the classical assumptions about a flat sea floor and a constant sound velocity profile; when these hypotheses are not realistic or a more precise image is required, a numerical solution obtained by a ray-tracing approach can be applied, which is based on some ad hoc solutions worked out for the front-scan sonar system. To move from the projection results to an image defined over a dense matrix of pixels, an interpolation stage is needed. To this end, an algorithm based on the generation of virtual-beam signals (only where necessary) has been tested and compared with more-traditional techniques. The potentials of the proposed projection and interpolation methods have been evaluated and some comparisons have been made, using real data gathered with the COSMOS sonar prototype during trials at sea. 相似文献
15.
Abstract Ocean bottom bases (OBBs) have been installed on both sides of the axis of the Sagami Trough east of the Izu Peninsula, central Japan, as the first step toward long‐term geodetic and geophysical observations at the plate boundary (subduction zone). The OBB is a platform for seafloor measurements; otherwise it is difficult to find an appropriate place for precise seafloor measurements in the subduction zones. It is made of a nonmagnetic concrete block of size 1100 × 1100 × 500 mm. It was lowered from a ship using a winch wire and installed on a predetermined place with its position being monitored by an acoustic transponder system and a 30‐kHz bottom pinger with an accuracy of about 2 m. It was confirmed later during the divings on board the submersible Shinkai 2000 that the OBB was installed on a flat mud bottom in normal condition. No change has been recognized in the installation condition in 3 years; the OBB is stable enough to be used for acoustic range measurements on the seafloor as well as for several geophysical measurements. The resolution of seafloor range measurement can be improved by two orders by using phase measurement techniques with the aid of pulse compression. Precise acoustic range measurement of the order of 10?5 is feasible under the following conditions: two‐way measurements between the two OBBs installed on the slope facing each other with angles larger than 1.5°. Correction is necessary for the effect of long‐term temperature variation. 相似文献
16.
海水温盐深剖面测量技术综述 总被引：1，自引：0，他引：1
温盐深是反应海洋物理学特性的重要参数,是海洋水文观测的基本要素。CTD剖面仪(Conductivity-Temperature-Depth profiler)是进行海水温盐剖面观测的主要仪器,利用CTD剖面仪可精确测得水下不同深度上海水的温度和电导率参数,进而能够推算出海水盐度、密度、声速等相关信息,对于海洋经济开发、海上国防建设、海洋环境保护等都具有非常重要的意义。本文介绍了温盐深剖面测量技术的基本原理与发展现状,对几种典型的温盐深测量设备及各种海洋观测平台中搭载的CTD传感器进行了介绍,论述了CTD传感器的标定和测试技术,并对其发展趋势进行了分析。 相似文献
17.
Tomoyoshi Takeuchi 《Marine Geodesy》2013,36(3-4):225-231
Abstract It is desired to track the location of an underwater data collecting platform using acoustic range data. A long‐range and high‐resolution acoustic system for underwater locating has been investigated. The system provides continuous and highly accurate tracking of a platform referenced to bottom‐mounted buoys. Each reference buoy contains an acoustic transponder, which is used to obtain ranging data from the transponder to the platform. The transponder has a signal source that is phase‐modulated by a maximal‐length binary sequence and a correlation processing unit to be capable of detecting received acoustic signals with high SNR in a noisy environment or in attenuation due to long‐range propagation, and to identify multipath acoustic signals. The acoustic system has been designed and sea tests tried. The results of that experiment have yielded capability of a submeter underwater acoustic positioning system. 相似文献
18.
The use of ship's radar for collision avoidance presents a fundamental problem in threat detection and identification since all vessel radar returns ("paints") look alike. As a result, when a ship master caught in a fog is trying to use his radio-telephone to work out a maneuvering plan with another vessel, it is difficult for him to identify which blip on the planar position indicator PPI is the source of the voice on the radio. One solution now receiving worldwide attention is to fit all vessels with active transponders. The marine radar interrogator-transponder (MRIT) is an advanced form of transponder which includes an integral interrogator and works in coordination with the ship radar to provide not only target identity and "clutter-free" target paints, but also maneuvering information and such data as target's course, speed, draft, safe or dangerous cargo, etc. Mounted on a fixed navigation aid, the transponder portion alone can also function as a racon (radar beacon). This paper describes the operational parameter and reviews the system bench tests and sea trials. 相似文献
19.
AbstractThe relocation of ocean bottom seismometers (OBSs) is a key step in analyzing the three-dimensional seismic tomographic structure of crust and mantle. In order to get the accurate location of OBSs on the seafloor, we analyze the travel times of direct water waves emitted by air-guns. The Monte Carlo and least square methods have been adopted to calculate the true OBS location. The secondary time correction is necessary if the arrivals of direct water waves show overall time drift during relocation which maybe originates from remnant of linear clock drift correction and average errors of travel time picking, mean water velocity assumption, and experiment geometry. We have improved the original OBS relocation procedure which we used previously for other experiments by deliberateness of a secondary time correction and automatically approaching the really mean water velocity. A series of synthetic tests are carried out firstly to document the feasibility of our procedure and then it is applied on a real experiment. In here, we relocate 28 OBSs in total were relocated in 3D seismic survey near Bashi Channel. Relocation results show that the drifting distances for the 28 OBSs range from 65 to 1136 m between the deployed and relocated locations deduced by relocation results. The Pearson correlation coefficient between OBS drifting direction and sea current direction is 0.79, indicating that the two sets of data are highly linearly related and further manifest the sea current as the most possible driving force for OBS drifting during landing on the seafloor but its detailed influence mechanism is unclear by now. This research is necessary and critical for velocity structure modeling, and the optimal relocation program provides valuable experiences for 3D seismic survey in other area. 相似文献
20.
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