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JIN Jiucai,ZHANG Jie,SHAO Feng,LYU Zhichao,WANG Dong. 2018. A novel ocean bathymetry technology based on an unmanned surface vehicle. Acta Oceanologica Sinica, 37(9):99-106
A novel ocean bathymetry technology based on an unmanned surface vehicle
一种新型无人船海洋水深测量技术
Received:December 22, 2017  
DOI:10.1007/s13131-018-1269-2
Key words:unmanned surface vehicle  bathymetry  attitude correction  tidal observation
中文关键词:  无人船  水深测量  姿态校正  潮汐观测
基金项目:The National Key Research and Development Program of China under contract No. 2017YFC1405203; the National Natural Science Foundation of China under contract No. 61401111; the Public Science and Technology Research Funds Projects of Ocean of China under contract No. 201505005-2.
Author NameAffiliationE-mail
JIN Jiucai The First Institute of Oceanography, State Oceanic Administration, Qingdao 266061, China jinjiucai@fio.org.cn 
ZHANG Jie The First Institute of Oceanography, State Oceanic Administration, Qingdao 266061, China  
SHAO Feng The First Institute of Oceanography, State Oceanic Administration, Qingdao 266061, China
College of Information and Control Engineering, China University of Petroleum, Qingdao 266580, China 
 
LYU Zhichao The First Institute of Oceanography, State Oceanic Administration, Qingdao 266061, China
College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China 
 
WANG Dong The First Institute of Oceanography, State Oceanic Administration, Qingdao 266061, China
College of Electronics and Information Engineering, Harbin Institute of Technology, Harbin 150006, China 
 
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Abstract:
      In ocean bathymetry, the instantaneous depth measured by survey ships or by unmanned surface vehicles (USVs) cannot be directly taken as the chart depth because of the effect of waves and the tide. A novel ocean bathymetry technology is proposed based on the USV, the aim is to evaluate the potential of the USV using a real-time kinematic (RTK) and a single beam echo sounder for ocean bathymetry. First, using the RTK height of the USV with centimeter-level precision, the height of the sea level is obtained by excluding wave information using a low pass filter. Second, the datum distance between the reference ellipsoid and the chart depth is obtained by a novel method using tide tables and the height of the sea level from the USV. Previous work has usually achieved this using long-term tidal observation from traditional investigations. Finally, the chart depth is calculated using the transformation between the instantaneous depth of the USV measurement and the datum of the chart depth. Experiments were performed around the Wuzhizhou Island in Hainan Province using the unmanned surface bathymetry vehicle to validate the proposed technology. The successful results indicate the potential of the bathymetry technology based on the USV.
中文摘要:
      在海洋测深中,由于波浪和潮汐的影响,调查船或无人船所测量的瞬时水深不能直接作为海图水深。本文提出了一种新型的无人船海洋水深测量技术,以评估搭载RTK和单波束测深仪的无人船用于海洋水深测量的潜能。首先,使用无人船所搭载RTK的厘米级精度高程数据,通过低通滤波剔除波浪信息,而获得海平面高程。然后,基于潮汐表和无人船海平面高程,构建了一种参考椭球面和海图的两个基准面之差的获取方法;在常规的海洋调查中,该基准面差通常需要由长期的验潮获得。最后,利用海图基准和无人船测量的瞬时水深的转换关系,计算出海图水深。在海南省蜈支洲岛周边海域,利用自研发的无人船“USBV”开展了相关海上实验,以验证所提出的技术方法。实验结果验证了该无人船海洋水深测量技术。
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