Microbathymetric Mapping from Underwater Vehicles in the Deep Ocean
Microbathymetric Mapping from Underwater Vehicles in the Deep Ocean
复制标题
深海水下航行器微测深测绘
DOI：
10.1006/cviu.2000.0850
复制
发表时间：
2000
期刊：
影响因子：
--
通讯作者：
O. Pizarro
中科院分区：
文献类型：
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作者：
Hanumant Singh;L. Whitcomb;D. Yoerger;O. Pizarro
在本文中，我们提出了一种用于水下航行器超高分辨率声学测绘的方法。基于现有的导航、姿态和测深传感器，我们表明水下测绘的主要问题涉及对由于波束模式效应产生的特定于声纳的伪影进行建模、姿态传感器的校准偏差以及潮汐影响的估计和校正。我们提出了一种用于对波束模式进行建模以及基于特定的航行器操纵来估计校准误差的算法。利用安装在“杰森”号遥控潜水器（ROV）上的675千赫兹机械扫描笔形波束声纳，展示了地中海800米水深处一个考古遗址的测绘结果，这些结果看起来是一致的且可独立验证。
In this paper we present a methodology for very high resolution acoustic mapping from an underwater vehicle. Based on the navigation, attitude, and bathymetric sensors that currently exist we show that the major issues for underwater mapping involve modeling sonar-specific artefacts due to beam pattern effects, calibration offsets of attitude sensors, and estimation and correction of tidal influences. We present an algorithm for modeling the beam pattern and for estimating calibration errors based upon specific vehicle maneuvers. Using a 675-kHz mechanically scanned pencil-beam sonar mounted on the Jason ROV, mapping results from an archaeological site at water depth 800 m in the Mediterranean are presented that are seen to be consistent and independently verifiable.