A Multibeam-Based SLAM Algorithm for Iceberg Mapping Using AUVs
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Using autonomous underwater vehicles (AUVs) for mapping underwater topography of sea-ice and icebergs, or detecting keels of ice ridges, is foreseen as enabling technology in future arctic marine operations. Wind, current, and Coriolis forces affect an iceberg's trajectory, making automated mapping difficult. This paper presents a method aiming at enabling autonomous iceberg mapping using AUVs equipped with a multibeam echosounder by estimating the position and orientation of the iceberg. The method is based on a bathymetric simultaneous localization and mapping (SLAM) algorithm, namely, the bathymetric distributed particle filter SLAM (BPSLAM) algorithm. The proposed method estimates the AUV's pose in an iceberg-fixed coordinate system. The relative states can be used for both guiding the vehicle to achieve complete coverage, as well as estimation of a consistent iceberg topography. The algorithm also provides an estimate of the iceberg's drift velocity – an important parameter for the AUV trajectory planning as well as any related ice management (IM) operations. Two new weighting algorithms for the BPSLAM method are proposed, enabling batch processing of multibeam echosounder (MBE) measurements to ensure real-time operation without discarding information. The proposed method is demonstrated using a real iceberg topography taken from the PERD iceberg sightings database, with simulated AUV and MBE range measurements. The algorithm is also evaluated on a real world bathymetric dataset, collected using the HUGIN HUS AUV.Keywords:
Iceberg
Echo sounding
Kum, B.-C.; Shin, D.-H.; Jang, S.; Lee, S.Y.; Lee, J.H.; Moh, T.J.; Lim, D.G.; Do, J.-D., and Cho, J.H., 2020. Application of unmanned surface vehicles in coastal environments: Bathymetric survey using a multibeam echosounder. In: Malvárez, G. and Navas, F. (eds.), Global Coastal Issues of 2020. Journal of Coastal Research, Special Issue No. 95, pp. 1152-1156. Coconut Creek (Florida), ISSN 0749-0208.This paper presents the practical application and results of a bathymetric survey carried out in a shallow marine coastal zone (Hujeong beach, located in the East Sea, South Korea) using a multi-functional unmanned surface vehicle (USV) equipped with a multibeam echosounder. Operation of the USV was conducted along the coast in very shallow water [depth ≤ 1.5 m (0.3 m below the transducer)], which is inaccessible to manned research vessels. High-resolution bathymetric data is expected to help with assessment and prediction of rapid changes in the shallow coastal zone. This work supports the applicability of USVs to scientific research and environmental monitoring in very shallow coastal areas. The USV will be the most extensively used technique for observing marine coastal environment.
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Abstract Cutter, G. R. Jr, Berger, L., and Demer, D. A. 2010. A comparison of bathymetry mapped with the Simrad ME70 multibeam echosounder operated in bathymetric and fisheries modes. – ICES Journal of Marine Science, 67: 1301–1309. The Simrad ME70 multibeam echosounder was designed for quantitative fisheries research and is currently installed on Ifremer's fishery survey vessel (FSV) “Thalassa” and each of the new, quiet, NOAA FSVs. The ME70 has configurable beams and transmits in the range 70–120 kHz to provide calibrated, acoustic-backscattering data throughout the detection range (fisheries mode, FM). With optional hardware and software, the ME70 can also collect soundings that potentially meet International Hydrographic Organization's S–44 Order 1 standards (bathymetric mode, BM). Furthermore, with custom algorithms and software, bathymetric data can be obtained from the ME70 operating in FM, and volume backscatter can be sampled from the ME70 operating in BM. This flexibility allows data to be concurrently collected on fish and their seabed habitat. A method is described for processing the echo amplitude and phase data from multiple split-beams formed in FM to estimate seabed range, slope, and roughness. The resulting bathymetry is compared with that collected with the ME70 operating in BM in the same area of the Bay of Biscay. A proposal is made for software development to facilitate dual-use data processing.
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Shoal
Bathymetric chart
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Shallow water bathymetry of ocean is carried out to get the details of near shore bottom relief, which is important for navigation as well as for porting facilities. The conventional method of bathymetric derivation uses the echo sounder boarded on ship, for measuring water depth but they are labour-intensive and time-consuming. The remote sensing techniques derive water depth from multiple band satellite imagery, utilizing the optical properties of water column. The present work derives shallow water bathymetry using log-linear inversion technique from the multiple band Landsat Thematic Mapper image at a study area near Vizhinjam Harbour. The results obtained were validated using the sounding data taken using echo sounder which gave a RMSE of 1.9513 and the percentage error in analysis of depth using this method was obtained to be 26.22%.
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The bathymetry mapping using underwater acoustic technology very important in Indonesia waters. Bathymetry is the result of measuring the height of the seabed so that the bathymetric map provides information about the seabed, where this information can provide benefits to several fields related to the seabed. In bathymetry mapping uses underwater acoustic technology where among them is using Single beam echosounder and MBES (Multibeam Echosounder System), and multibeam echosounder (MBES) is acoustic equipment that is intensively used frequently in basic waters mapping. The advantage of using underwater acoustic technology is the acquisition and processing of data in real time, high accuracy and precision (correction of the bathymetry data was carried out with reference to the 2008 International Hydrographic Organization (IHO), and cannot be a threat or damage to objects. Retrieval of bathymetry data must use parallel patterns, namely: patterns with perpendicular sounding directions and tend to be parallel to longitudinal lines or in accordance with parallel sounding patterns.
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Seabed
Hydrographic survey
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Detailed knowledge on the shape of the seafloor is crucial for many researchers. Bathymetric data are critical for navigational safety and are used for underwater mapping. This study develops a sea-surface vehicle (SSV) system for underwater mapping by using both bathymetric data from a low-cost single-beam echosounder located on the SSV, and the navigation data of the SSV. The navigation of the SSV was obtained using a global positioning system (GPS). The effect of changing bathymetric and navigation data due to external disturbances such as wind and waves on the map was analyzed. The sea-bottom slope angles, which are effective in changing bathymetric data, were estimated and corrected in relation to the estimated angles in a particular mapped area for more accurate underwater mapping. Additionally, the effects of the grid range of the mapped area, beam angle of the echosounder, and position of the echosounder on the underwater mapping were analyzed. These analyses were based on simulation data, and were performed in a MATLAB, HYPACK, and Global Mapper environment. An underwater map was also obtained in the Kozlu/Zonguldak area, Black Sea by using a single-beam echosounder located on the SSV. This map was improved by estimating sea-bottom slope angles and the corrected bathymetric data to obtain a more accurate underwater map of the area. The experimental and simulation results were compared, focusing on the sea-bottom slope changes, sea-surface disturbances, bathymetry grid range changes, and draft effects.
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Seabed
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As part of an effort to evaluate the use of a forward looking sonar in autonomous underwater vehicles (AUVs) for navigation purposes, a study was performed using a commercially available off the shelf (COTS) multibeam echo sounder (MBES) operating in a forward looking mode to survey several sites in Narragansett Bay, Rhode Island. The forward looking bathymetric information acquired will aid in the improvement of navigation technologies for AUVs. This gaper describes the results of a survey performed using a MBES mounted at two negative elevation angles in the forward looking direction. The results from the bathymetric data acquired from these angles was found to be directly be correlated to the ground truth data. The sonar configuration, data collection, and data analysis schemes are discussed. Results from several survey sites are presented.
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Elevation (ballistics)
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Echo sounding
Bathymetric chart
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본 논문은 효율적인 저수지 수심측량 및 지층탐사를 위하여 음파탐지 기법을 이용한 수심측량과 지층탐사의 활용에 관한 것으로서 음향 측심기 (Echo Sounder) 및 고주파 지층탐사 장비 (Subbottom Profiler)를 이용하여 수원시 원천저수지에 대한 수심측량과 지층탐사를 수행하였다. 연구에 사용된 음향 측심기 및 고주파 지층탐사 장비는 GPS와 연결하여 선박에 설치하고 DGPS 측량 방법을 이용하여 평면위치, 수심 및 지층탐사 데이터를 동시에 취득하였다. 음향 측심기 및 고주파 지층탐사 장비를 통해 취득된 데이터는 GIS 프로그램을 이용하여 다양하게 분석함으로써 저수지의 수심 지형 저수량에 대한 결과와 저수지 침전물의 종류, 양, 두께, 분포 등에 대한 결과를 얻을 수 있었다. 이러한 데이터들과 분석 결과는 향후 저수지, 호수 및 댐 유역에 대한 장기적인 개발 관리계획을 위하여 음파탐지 기법을 이용한 다양한 관측장비를 활용하는데 다양한 정보들을 제공할 수 있을 것이다. This study incorporate hydroacoustic sampling for bathymetry and sediment survey in Won Cheon reservoir, Suwon city, Korea. Bathymetric and sedimentation surveys were conducted using a echo sounder system and subbottom profiler in the reservoirs. Data were collected using echo sounder systems and subbottom profiler linked to a GPS, to maximize data accuracy and vessel use, and geo-referenced using a DGPS enabling the acoustic data to be used in a GIS. Echo sounder and subbottom survey data were merged within geographic information system(GIS) software to provide detailed visualization and analyses of current depths, pre-impoundment topography, distribution, thickness, and volume estimates of lacustrine sediment, and water storage capacity. These data and analyses are, necessary for development of long term management plans for these reservoirs and their watersheds.
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Batu Ampar waters, Batam are waters that are in the Riau archipelago, Indonesia. These waters are waters that are very often crossed by cargo ships in shipping goods between provinces. Bathymetry mapping in Batu Ampar waters is the initial activity to obtain accurate depth value information, as a preliminary study for the determination of bottom waters sedimentation. The purpose of this study is to determine the value of bathymetry and determine the type of Batu Ampar waters, Batam, Riau Islands. The method used in this study is the underwater acoustic method, using research instruments namely Teledyne Odom MB1 Multibeam Echo Sounder (MBES). The results of bathymetric mapping in Batu Ampar waters that have been corrected show bathymetry values classified as shallow waters with a depth range that is (-3 to -1 0.5 meters), with the measured waters area being 775,094 m2, and having a type of bottom water sediment which is dominated by sand-based sediments.
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Archipelago
Bathymetric chart
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