Investigation of Sonar Stabilisation Method for Improved Seafloor Image Quality
Constant monitoring of sea floor in harbours is an essential part of economy development of every sea country. Exact estimation of the sea floor relief parameters is very important not only for port development but also for scientists. Sonar image corrections are constantly made with a high margin of error, using GIS. New correction methods are developed. They include: mechanical correction of the cables of the side-scan sonar, programmable correction of the ship navigation and steering system, other software tolls with developed correction and control algorithms. Most commonly sea floor images are made using side scan sonar. It is used for rapid seafloor imaging. The quality of the captured images is strongly influenced by the sonar towing consistency. Even small sonar disturbances caused by the vessels’ towing motion can affect the quality of the images. Therefore, to reduce the influence of the ship motion new methods are being developed. In some cases heave motion compensation can prove to be effective. In this paper an efficient heave motion detecting system was proposed and briefly analysed. Sonar and the ship motion were taken into account during the development and testing of the heave motion compensation system prototype.
KeywordsSide scan sonar Heave motion compensation Ship movement GIS
This work was supported by several projects, including the European Regional Development Fund in the IT4Innovations Centre of Excellence project (CZ.1.05/1.1.00/02. 0070), Development of human resources in research and development of latest soft computing methods and their application in practice project (CZ.1.07/2.3.00/20.0072) funded by Operational Programme Education for Competitiveness, co-financed by ESF and state budget of the Czech Republic, the European Community’s Seventh Framework Programme (FP7/2007–2013) under grant agreement no. 218086 and the Latvia-Lithuania cross border cooperation programme project Cross-border DISCOS (JRTC Extension in Area of Development of Distributed Real-Time Signal Processing and Control Systems, code: LLIV-215).
- 2.Sawodny O, Kuchler S (2010) Nonlinear control of an active heave compensation system with time-delay. In: International conference on control applications, pp 1313–1318Google Scholar
- 3.Wenlin Y, Zhuying Z, Aiqun Z (2008) Research on an active heave compensation system for remotely operated vehicle. In: International conference on intelligent computation technology and automation, pp 407–410Google Scholar
- 4.Sarker G, Myers G, Williams T, Goldberg D (2006) Comparison of heave-motion compensation systems on scientific ocean drilling ship and their effects on wireline logging data. In: Proceeding of offshore technology conferenceGoogle Scholar
- 5.Adamson JE (2003) Efficient heave motion compensation for cable-suspended systems. In: Underwater InterventionGoogle Scholar
- 6.Huster A, Bergstrom H, Gosior J, White D (2009) Design and operational performance of a standalone passive heave compensation system for a work class ROV. In: Proceeding of oceans, MTS/IEEE Biloxi—Marine technology for our future global and local challengesGoogle Scholar
- 9.Chang Y-C, Hsu S-K, Tsai C-H (2010) Sidescan sonar image processing: correcting brightness variation and patching gaps. J Mar Sci Technol 18(6):785–789Google Scholar
- 12.Andziulis A, Gaigals G, Lenkauskas T, Visakavičius E, Jakovlev S, Eglynas T, Beniušis V (2011) Comparison of two image processing techniques for objects detection on the sea floor. In: Proceedings of the 15th international conference. Transport means, pp. 62–64. ISSN:1822-296XGoogle Scholar
- 13.Peterson RS, Nguyen TC, Rodriguez RR (1994) Motion minimization of AUVs for improved imaging sensor performance beneath a seaway. In: Autonomous underwater vehicle technology, pp 247–254Google Scholar
- 14.Barrass B (2001) Ship stability notes and examples. Butterworth-Heinemann, LondonGoogle Scholar
- 16.Koseeyaporn J, Koseeyaporn P (2005) Kalman filtering adaptive stabilization of robot manipulator under sea wave interference. In: Proceedings of international symposium on intelligent signal processing and communication systems, pp 689–692Google Scholar