2 – 4 o c t o b r e 2 0 0 6 o h i machc seminar - acapulco hydrographic surveys « instrumentation...
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O H I MACHC Seminar - Acapulco 2 – 4 O c t o b r e 2 0 0 6
Hydrographic surveys
« Instrumentation and methodology »
Serge Allain - SHOM
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Strategy adopted for a survey depends on objective…
Several criteria :
- reconnaissance surveys
- systematic coastal surveys
- traffic lanes
- searches for wrecks
- type of survey: topography, landmarks, currents, bathymétry
What users?
What draughts?
Navigation threshold?
Ocean bottom changes?
Knowledge a priori?
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
An example : strategy for bathymetric surveys by SHOM hydrographic vessel (1100T)
140+ standardizing documents, guides, procedures, user manuals
for hydrographic surveys
S-44
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Strategy adopted for a survey depends on objective…
The strategy adopted a survey depends on the means actually available…
Several criteria:
- platforms (launches, vessels)
- instruments, sensors (calibrated)
- logistics (vehicles, radiocom., maintenance),
- and… IHO trained, qualified, certified personnel!
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Strategy adopted for a survey depends on objective…
The strategy adopted for a survey depends on the means actually available…
Objectives + Means + Duration + Hazards (weather, frequency of breakdowns of equipment, obstructions, etc.)
Optimization
Organization
Methods
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
The various phases
Preparatory Work
Execution
Monitor time actually spent onshore or at sea
Data processing ashore (UKHO)
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Preparatory work (1/2)
Positioning
geodetic systems, search for geodetic points, GPS targets, radiopositioning, interference, masks, projections
Tide
measurements of water height, models available for reduction of soundings offshore, observatories
Sound velocity depending on the zone, the depth
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Preparatory Work (2/2)
Exploitation of existing documents
charts, fair sheets, local guides, sailing directions, aerial photographs, satellite images
Preparation of plotting sheets
drawing of sounding lines, identification of narrow zones, coverage
Writing particular instructions
« how? » : sensor parameters, associated, measurements, spacing of sounding lines, adjustments, applicable references
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Execution
Calibration,
Deployment of instruments (mooring, positioning beacons, tide gauges)
Monitoring of defined routes
Possible deployment of towed sensors
Navigational warnings
Measurements (bathymetry, oceanography, sedimentology…)
Inspection of landmarks, coast views, buoys
Topography, Toponymy
…
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Instrument type (1/2)
Multibeam and vertical echosounders for bathymetry,Side scan sonar for detection of obstructions and wrecksMagnetometer for detection of metal objets Tide gauges and current metersGrabs for bottom samplingClassification system for the superficial layer of sea bottomSub-bottom profilerBroadcasting stations of GPS differential corrections (port and
offshore soundings)GPS receivers and other measuring instruments for geodetic
work (theodolite, level)
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Instrument types (2/2)
Computer systemPC and UNIX stations set up in real-time networks (data collection) And offline (processing) linked to a server - A0 plotter, A4 printer
Data collection and processing softwareHYPACK for the preparation, collection and processing of single beam and sonar soundingsCARIS HIPS/SIPS for processing multi-beam soundings (shallows / VH)CIRCE for processing multi-beam soundings (medium depths / BH)CARAÏBES for the display of MBS data
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Vertical echo sounder
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Vertical echo sounder
z = 0.5 c dtCalibration at the helm
Geometry of the beam
e = 2z tg (/2)
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Defects and corrections
heave
Lateral echo
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Sound Velocity measurement
Sound Velocimeter
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
GPS
GPS
Differential GPS
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Tides
Pressure tide gauge
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Principle
h = (Pgauge - P atm) / Rho.g
Rho= voluminal mass of waterg= gravity acceleration
h
Instrument zero
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Adjustment of tide gauge
h
Instrument datum
Chart datum
H
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Current meters
Doppler effect Rotor
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Detection of obstructions
Objective To detect obstructions between the regular sounding
lines
Means Side scan Sonar Magnetometer for detecting metal wrecks
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Side scan sonar
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
11
1
D
D1.Hh
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Sounding
Monitoring of sounding lines Evenly spaced out, corrected if uneven
Direction of sounding lines Perpendicular to isobaths
Cross lines of sounding Checking of consistency of measurements at
intersections
Interlines Increase the density of soundings by bringing lines
closer together if the sea bottom is very uneven
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Verification at sea and on land
Follow-up the first results in practically real time (exploitability, obstructions, wrecks, shallows)… in order to react before leaving the zone!
Exploitation of predicted tide for checking at crossing points of the lines of sounding
Positioning checks
Checking of archiving of data (AND back-ups)
Checking of calibration documents
Analysis of raw measurement data
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Positioning
validation reprocessing
Positioning of soundings Link-up to antenna base Attitude corrections
Reduction of soundings Velocity immersion of the base tide
Processing
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
CompilingSheet papers
Track lines bathymetry Obstruction research
Files Wrecks Obstructions Tidal observations Current observations Surveys
Chart marked up
Technical Report
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Conclusion
To ensure the quality of a survey it is necessary to:
Define what is required To adapt the methodology and means to the requirement
Assess what has been done Soundings Detection Measurements accuracy
O H I MACHC Seminar - Acapulco 2 – 4 O c t o b r e 2 0 0 6
Hydrographic Surveys
« New Developments »
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Main methodology principles
Systems qualification
Mastering the configuration
Quality control
• Bathymetry at SHOM
• ISO 9001:2000 certification
• SMF system
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
ConclusionsAlgorithmeContexte Historique Tests
«BH1 l’Espérance »
1993 1999
«BH2 : Lapérouse, Borda, Laplace »
2000
«VH 90 »Simrad EM12D
Simrad EM1002S
AtlasFS20
«BHO Beautemps Beaupré »
Simrad EM1002S
EM120
2002 2005
6 Fassmer launches
Simrad EM3002
200m à 12000m
10m à 400m
0m à 100m
50m à 11000m
0m à 150m
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
ConclusionsAlgorithmContext Reviews Trials
Multibeam data capature
Multibeam data capature
Several measurements per cycle
Almost 100% coverage
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Example : Europa – May 2003« Beautemps Beaupré »
Data collected in
ConclusionsAlgorithmContext Rewiews Trials
Data Volumes Data Volumes
EM120
1.6 M soundings
16 hours
Challenges
Advantage
Management, interaction, display, validation
Statistical Exploration of the sea bottom relief
10.1 M soundings
EM3000
4 hours
x25
EM 1002S 0.386 M soundings
2 hoursx2
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
ConclusionsAlgorithmContext Reviews Trials
1999 2000 2002 2005
Improvement of display tools
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
ConclusionsAlgorithmContext Reviews Trials
Types of errorsTypes of errors
Noise of the sounder
Systematic Errors
Occasional errors
Performance estimation of the sounder
xy
z
Pitching axis Heave axis
Heading
MBS
attitudeP
GPS
Relative Position of the various sensors
Time evolution of the orientation and of the position of the sensors
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Quality control – system integrity
• Calibration and specific SHOM sea trials at the time of installation
• Trials on flat sea bottom to serve as a reference : verification of the calibration in roll,
calculation of the accuracy to 95% of the sounder, detection rates :
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Quality control – system integrity
•Trials on uneven seabed – wreck identification
• Trials on detection capacity on submerged targets
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Inclusion of an SMF system
Attitude control unit
Hull velocimeter
Sound velocimeter
GPS positioning
Synchronisation
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Inclusion of an MBS system
MBS
EM 3000
POS/MV
GPS Receiver
AQUARIUS 5002
Hull velocymeter
Smart SV
Signaux GPS
MBS system
Actions inertielles
Sounded area
Environnement Réel
Computing system
LECTEUR DAT ?
Sound velocymeter
SV 5XX
GPS Antenna
Application VH Fassmer
Roll, Pitch, heading control + GPS
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Thales Navigation Aquarius
Special Order Bathymetry (PS44)
Geodesy, Topography
WAAS/EGNOS, L1/L2, DGPS, LRK©, RTK
Quantity : 25
Cost : 30 k€
Return
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Applanix POS/MV
Attitude and heading control unit
Corrects heave and roll for MBS
WAAS/EGNOS, L1/L2, DGPS, RTK
Quantity : 10
Cost : 80 k€
Return
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Future developments linked to main development and integrated coastal zone management
Bathy-topography laserMBSPhotogrammetry, spatial imageryhydrodynamic digital models
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
2 - 4 O c t o b er 2 0 0 6O H I MACHC Seminar – Acapulco
Conclusion
La technologie au service de l’hydrographie…et des navigateurs
Maîtrise totale de la qualité car responsabilité de l’Etat est engagée
It is better not to know where you are and know that you don’t know, than to be convinced you know where you are when you are not
Cassini