Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Multi-beam Echo Sounder Operations for ROV Hemire - Exploration of Mariana Hydrothermal Vent Site and Post-Processing

심해무인잠수정 해미래를 이용한 다중빔 음향측심기의 운용 - 마리아나 열수해역 탐사 결과 및 후처리 -

  • Park, Jin-Yeong (Marine Robotics Laboratory, Korea Research Institute of Ships & Ocean Engineering (KRISO)) ;
  • Shim, Hyungwon (Marine Robotics Laboratory, Korea Research Institute of Ships & Ocean Engineering (KRISO)) ;
  • Lee, Pan-Mook (Marine Robotics Laboratory, Korea Research Institute of Ships & Ocean Engineering (KRISO)) ;
  • Jun, Bong-Huan (Marine Robotics Laboratory, Korea Research Institute of Ships & Ocean Engineering (KRISO)) ;
  • Baek, Hyuk (Marine Robotics Laboratory, Korea Research Institute of Ships & Ocean Engineering (KRISO)) ;
  • Kim, Banghyun (Marine Robotics Laboratory, Korea Research Institute of Ships & Ocean Engineering (KRISO)) ;
  • Yoo, Seong-Yeol (Marine Robotics Laboratory, Korea Research Institute of Ships & Ocean Engineering (KRISO)) ;
  • Jeong, Woo-Young (Marine Robotics Laboratory, Korea Research Institute of Ships & Ocean Engineering (KRISO))
  • 박진영 (선박해양플랜트연구소(KRISO) 수중로봇연구실) ;
  • 심형원 (선박해양플랜트연구소(KRISO) 수중로봇연구실) ;
  • 이판묵 (선박해양플랜트연구소(KRISO) 수중로봇연구실) ;
  • 전봉환 (선박해양플랜트연구소(KRISO) 수중로봇연구실) ;
  • 백혁 (선박해양플랜트연구소(KRISO) 수중로봇연구실) ;
  • 김방현 (선박해양플랜트연구소(KRISO) 수중로봇연구실) ;
  • 유승열 (선박해양플랜트연구소(KRISO) 수중로봇연구실) ;
  • 정우영 (선박해양플랜트연구소(KRISO) 수중로봇연구실)
  • Received : 2016.07.04
  • Accepted : 2017.02.10
  • Published : 2017.02.28
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Abstract

This paper presents the operations of a multi-beam echo sounder (MBES) installed on the deep-sea remotely operated vehicle (ROV) Hemire. Hemire explored hydrothermal vents in the Forecast volcano located near the Mariana Trench in March of in 2006. During these explorations, we acquired profiling points on the routes of the vehicle using the MBES. Information on the position, depth, and attitude of the ROV are essential to obtain higher accuracy for the profiling quality. However, the MBES installed on Hemire does not have its own position and depth sensors. Although it has attitude sensors for roll, pitch, and heading, the specifications of these sensors were not clear. Therefore, we had to merge the high-performance sensor data for the motion and position obtained from Hemire into the profiling data of the MBES. Then, we could properly convert the profiling points with respect to the Earth-fixed coordinates. This paper describes the integration of the MBES with Hemire, as well as the coordinate conversion between them. Bathymetric maps near the summit of the Forecast volcano were successfully collected through these processes. A comparison between the bathymetric maps from the MBES and those from the Onnuri Research Vessel, the mother ship of the ROV Hemire for these explorations, is also presented.

Keywords

References

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