• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.702-708
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• 2013

Underwater TRN (Underwater Terrain Referenced Navigation) estimates an underwater vehicle state by measuring a distance between the vehicle and undersea terrain, and comparing it with the known terrain database. TRN belongs to absolute navigation methods, which are used to compensate a drift error of dead reckoning measurements such as IMU (Inertial Measurement Unit) or DVL (Doppler Velocity Log). However, underwater TRN is different to other absolute methods such as USBL (Ultra-Short Baseline) and LBL (Long Baseline), because TRN is independent of the external environment. As a magnetic-field-based navigation, TRN is a kind of geophysical navigation. This paper develops an EKF (Extended Kalman Filter) formulation for underwater TRN. A filter propagation part is composed by an inertial navigation system, and a filter update is executed with echo-sounder measurement. For large-initial-error cases, an adaptive EKF approach is also presented, to keep the filter be stable. At the end, simulation studies are given to verify the performance of the proposed TRN filter. With simplified sensor and terrain database models, the simulation results show that the underwater TRN could support conventional underwater navigation methods.

• Management & Information Systems Review
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• v.2
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• pp.95-106
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• 1998

Color Echo-sounder display signals reflected from underwater objects in eight colors according to the strength of the signal. When the sea bottom is hard due to the presence of rocks, etc, the trailing on the reflection become strong signal and soft to presence of mud, etc the trailing on the reflection become weak signal. Strong signals are displayed in the color range, reddish brown, orange and yellow, in descending order of intensity. Weak signals are displayed in the range blue, light blue, cyan and green, in ascending order of intensity. Image of fish schools at or near the sea bottom vary according to the characteristics of the beam angle setting. When the angle is wide, even fish not near the bottom may be recorded as being on the seabed. A narrow angle should, therefore, be selected when you want to get an accurate recording of fish at or near the sea bottom. The condition of the sea bottom can be determinded more easily when the beam angle is wide and pulse with is long. Though the objects could be verified by the type of reflected signals which have been transformed into digital signals strong middle and weak ones, the experiments have in continue under various condition. Futhermore, the methode of measuring temperature inside the sea ought to be examined.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.35 no.4
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• pp.404-409
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• 1999

The in situ target strengths of, maurolicus muelleri were measured by the split beam echo sounder system at the frequency of 38kHz.Target strengths were measured during the night time in order to obtain the pure separated echoes from the scattered individual. And also it was to establish reasonable threshold due to taking the signals like as the planktons and etc.Since Maurolicus muelleri is a typical micronektonic fish, they mainly consisted of deep scattering layers(DSLs), and had a vertical migration perrodically during daytime and at night.We found that the Maurolicus muelleri occupied about 99% of total catch. Total length ranged from 4.5 to 5.7cm with a mean of 5.2cm and a standard deviation of 0.22cm.The target strengths of Maurolicus muelleir ranged from -60.4 to - 52.7dB and -59.2 to - 52.5 dB in the water layer of 10~30m and 30~50m depth, perspectively. Mean target strength was -57.1dB/fish and -28.5dB/kg. The target strength had the relation with the total length of the fish as, TS=20logL-71.4.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.50 no.4
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• pp.551-555
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• 2014

ADCPs have been widely used to estimate the dynamic characteristics and biomass of sound scattering layers (SSLs), and swimming speed of fish schools for analyzing SSLs spatial distribution and/or various behavior patterns. This result showed that the verification of the mean volume backscattering strength (MVBS or averaged SV, dB) acquired by the ADCP would be necessary for a quantitative analysis on the spatial distribution and the biomass estimation of the SSLs or fish school when ADCP is used for estimating their biomass. In addition, the calibrated sphere method was used to verify values of each MVBS obtained from 4 beams of ADCP (153.6 kHz) on the base of 3 frequencies (38, 120, 200 kHz) of Scientific echo sounder's split beam system. Then, the measured SV values were compared and analyzed in its Target Strength (TS, dB) values estimated by a theoretical acoustic scattering model.

• Journal of Advanced Marine Engineering and Technology
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• v.32 no.2
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• pp.359-364
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• 2008

Using multi beam echo sounder, side scan sonar and scuba diving equipment, ceramic type, uneven type and semicircle-ramus type reefs into sandy bottom were ascertained, the depth of submersion in 7.2-10.3m on the coast of Gangneung, East of Korea, forty uneven type artificial reefs(AR) were totally buried into the sandy bottom. Two of five semicircle-ramus type ARs had only of their top area exposed. For most of the 45 ceramic reefs, only the upper 25-150cm of ARs were visible. The burial pattern is different in west and east side of the reefs, where the east side is deeply buried compared to the west side. From these results. it is recommended that sufficient analysis of bottom structure and materials especially in the sandy sea area should be undertaken in order to determine the best type of artificial reefs to be deployed and the best location for depoloyment.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.42 no.2
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• pp.97-103
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• 2006

The integrated navigation system(INS) for fishing boat which organized the marine radar, global positioning system(GPS) compass, automatic identification system(AIS), echo sounder, GPS and electronic nautical chart(ENC) was manufactured to reduce the marine accidents of fishing boats occurred frequently at coastal and offshore. The application possibility of INS for fishing boat was examined for basic experiments in the sea. Integration display of various information, such as other vessel's behavior, depth, own vessel's position etc. was done to help the operate user who understood the circumstance around own boat. Therefore, the system will be utilized as a useful equipment for safety voyage and fishing work on the fishing ground.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.43 no.4
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• pp.380-385
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• 2010

Several theoretical acoustic scattering models were applied to estimate the target strength (TS) for assessing the biomass of zooplankton, to overcome the difficulty of direct measurements. Acoustical scattering characteristics of copepods were estimated using three theoretical models, and the application of the models was evaluated for four frequencies of a scientific echo sounder. The scattering directivity by the body shapes of copepods at 200 kHz and 420 kHz was significantly affected by TS patterns. Averaged TS, however, were similar at higher frequencies. Consequently, a low frequency model, such as a truncated fluid sphere model, provides a good acoustical biomass estimation. The regressions of TS and 30 logL were < $TS_{200\;kHz}$ >= 30logL-118.4 ($R^2=0.716$) and < $TS_{420 kHz}$ > =30 logL-108.8 ($R^2=0.758$), respectively.

• Proceedings of the KSRS Conference
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• v.2
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• pp.525-528
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• 2006

The remote sensing data can be used to calculate the water depth especially in the clear and shallow water area. In this study, the SPOT data was used for bathymetric mapping in Dong-Sha atoll, located in northern South China Sea. The in situ sea depth was collected by echo sounder as well. A global positioning system was employed to locate the accurate sampling points for sea depth. An empirical model between measurement sea depth and band digital count was determined and based on least squares regression analysis. Both non-classification and unsupervised classification were used in this study. The results show that the standard error is less than 0.9m for non-classification. Besides, the 10% error related to the measurement water depth can be satisfied for more than 85% in situ data points. Otherwise, the 10% relative error can reach more than 97%, 69%, and 51% data points at class 4, 5, and 6 respectively if supervised classification is applied. Meanwhile, we also find that the unsupervised classification can get more accuracy to estimate water depth with standard error less than 0.63, 0.93, and 0.68m at class 4, 5, and 6 respectively.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.50 no.1
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• pp.30-38
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• 2014

Hydro-acoustic survey was carried out to investigate the spatial characteristics of fish distribution near two artificial reefs (AO: large octagonal semi-sphere and AC: combined custom built) having different types in Jeju marine ranching area. The survey system consisted of scientific echo sounder (EK60), DGPS system, and ECDIS (Mecys). Field survey was conducted on August and October 2012 with star survey and line transect survey line method, and species composition was investigated from gill net fishing survey. The acoustic signals from individual fishes and small fish schools were mainly recorded around AO, but large and strong signals from large fish school were mainly detected in the top layer of and the water column near AC. The echogram suggest that the fish aggregation for the two types of AO and AC exist the significant difference in fish species and spatial distribution pattern.

• Journal of Ocean Engineering and Technology
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• v.29 no.5
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• pp.373-379
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• 2015

Side Scan Sonar (SSS) is capable of acquiring real-time data for seabed scouring, bathymetry, mine countermeasurement, etc. In a shipyard, an SSS package is utilized to measure the water depth and find debris in the sea because a sufficient water depth and non-interruption have to be ensured before implementing an underwater installation such as a large thruster. This paper presents the application and operation method of an SSS for the construction of an offshore project.