HYDRO INTER Acoustic Positioning

8/13/2019 HYDRO INTER Acoustic Positioning

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A.PO.MA.B. SCIENTIFIC MANIFEST - 2 - Pag. 2 of 33


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OBJECT: Uner)ater Aco"%t$c Po%$t$on$n* Sy%tem

An Vessal is a ss!e" fo# !$e !#a%&ing an' na(iga!ion of )n'e#*a!e# (e$i%les o# 'i(e#s + "eans ofa%o)s!i% 'is!an%e an',o# 'i#e%!ion "eas)#e"en!s an' s)+se)en! /osi!ion !#iang)la!ion. 0n'e#*a!e#

A%o)s!i% Posi!ioning Ss!e"s a#e %o""onl )se' in a *i'e (a#ie! of )n'e#*a!e# *o#& in%l)'ing

oil an' gas e/lo#a!ion o%ean s%ien%es sal(age o/e#a!ions "a#ine a#%$aeolog la* enfo#%e"en!

an' "ili!a# a%!i(i!ies.

CONTENTS

0n'e#*a!e# A%o)s!i% Posi!ioning Ss!e"

1- Me!$o' of O/e#a!ion

2- 0n'e#*a!e# A%o)s!i% Posi!ioning Ss!e" Classes

3- is!o# an' Ea"/les of 0se

ong Baseline 4B5

6 - Me!$o' of O/e#a!ion an' Pe#fo#"an%e

C$a#a%!e#is!i%s

7 - is!o# an' Ea"/les of 0se

o 7.1- Offs$o#e

8 - 0SB

S$o#! Baseline A%o)s!i% Posi!ioning Ss!e" SB

9- Me!$o' of O/e#a!ion an' Pe#fo#"an%e

C$a#a%!e#is!i%s

- is!o# an' Ea"/les of 0se

o .1 - Ea"/le of SB Ss!e" 0se: 0n'e#-T$e-

I%e S)#(eing + ;OV in An!a#%!i%a


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3Met&o o' O!erat$on

Fig)#e 1 'es%#i+es !$e gene#al "e!$o' of o/e#a!ion of an a%o)s!i% /osi!ioning ss!e" !$is is an

ea"/le of a long +aseline 4B5 /osi!ioning ss!e" fo# ;OV

Figure 1: Method of the operation of a Long Baseline (LBL) acoustic positioning system for R!

Ba%el$ne %tat$on e!loyment an %"r/ey4A%o)s!i% /osi!ioning ss!e"s "eas)#e /osi!ions #ela!i(e

!o a f#a"e*o#& of baseline stations *$i%$ ")s! +e 'e/loe' /#io# !o o/e#a!ions. In !$e %ase of a

long baseline (LBL)ss!e" a se! of !$#ee o# "o#e +aseline !#ans/on'e#s a#e 'e/loe' on !$e seafloo#. T$e lo%a!ion of !$e +aseline !#ans/on'e#s ei!$e# #ela!i(e !o ea%$ o!$e# o# in glo+al %oo#'ina!es

")s! !$en +e "eas)#e' /#e%isel. So"e ss!e"s assis! !$is !as& *i!$ an a)!o"a!e' acoustic self-

survey an' in o!$e# %ases


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Pe#fo#"an%e 'e/en's s!#ongl on !$e !/e an' "o'el of !$e /osi!ioning ss!e" i!s %onfig)#a!ion fo#

a /a#!i%)la# o+ an' !$e %$a#a%!e#is!i%s of !$e )n'e#*a!e# a%o)s!i% en(i#on"en! a! !$e *o#& si!e.



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23Uner)ater Aco"%t$c Po%$t$on$n* Sy%tem Cla%%e%

0n'e#*a!e# a%o)s!i% /osi!ioning ss!e"s a#e gene#all %a!ego#ie' in!o !$#ee +#oa' !/es o# %lasses

0on* Ba%el$ne 50B03 Sy%tem%4ong +aseline ss!e"s as in fig)#e 1 a+o(e )se a sea-floo#

+aseline !#ans/on'e# ne!*o#&. T$e !#ans/on'e#s a#e !/i%all "o)n!e' in !$e %o#ne#s of !$e

o/e#a!ions si!e. B ss!e"s iel' (e# $ig$ a%%)#a% of gene#all +e!!e# !$an 1 " an' so"e!i"es

as goo' as >.>1" along *i!$ (e# #o+)s! /osi!ions. T$is is ')e !o !$e fa%! !$a! !$e !#ans/on'e#s a#e

ins!alle' in !$e #efe#en%e f#a"e of !$e *o#& si!e i!self 4i.e. on !$e sea floo#5 !$e *i'e !#ans/on'e#

s/a%ing #es)l!s in an i'eal geo"e!# fo# /osi!ion %o"/)!a!ions an' !$e B ss!e" o/e#a!es*i!$o)! an a%o)s!i% /a!$ !o !$e 4/o!en!iall 'is!an!5 sea s)#fa%e.

Ultra S&ort Ba%el$ne 5USB03 Sy%tem%40SB ss!e"s an' !$e #ela!e' s)/e# s$o#! +aseline 4SSB5

ss!e"s #el on a s"all 4e. 23> "" a%#oss5 !ig$!l in!eg#a!e' !#ans')%e# a##a !$a! is !/i%all

"o)n!e' on !$e +o!!o" en' of a s!#ong #igi' !#ans')%e# /ole *$i%$ is ins!alle' ei!$e# on !$e si'e o#

in so"e %ases on !$e +o!!o" of a s)#fa%e (essel D=D. 0nli&e B an' SB ss!e"s *$i%$ 'e!e#"ine

/osi!ion + "eas)#ing ")l!i/le 'is!an%es !$e 0SB !#ans')%e# a##a is )se' !o "eas)#e !$e !a#ge!

distancef#o" !$e !#ans')%e# /ole + )sing signal #)n !i"e an' !$e !a#ge! direction+ "eas)#ing

!$e /$ase s$if! of !$e #e/l signal as seen + !$e in'i(i')al ele"en!s of !$e !#ans')%e# a##a. T$e

%o"+ina!ion of 'is!an%e an' 'i#e%!ion fies !$e /osi!ion of !$e !#a%&e' !a#ge! #ela!i(e !o !$e s)#fa%e

(essel. A''i!ional senso#s in%l)'ing


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S&ort Ba%el$ne 5SB03 Sy%tem%4S$o#! +aseline ss!e"s )se a +aseline %onsis!ing of !$#ee o# "o#e

in'i(i')al sona# !#ans')%e#s !$a! a#e %onne%!e' + *i#e !o a %en!#al %on!#ol +o. A%%)#a% 'e/en's

on !#ans')%e# s/a%ing an' "o)n!ing "e!$o'. ?$en a *i'e# s/a%ing is e"/loe' as *$en *o#&ing

f#o" a la#ge *o#&ing +a#ge o# *$en o/e#a!ing f#o" a 'o%& o# o!$e# fie' /la!fo#" !$e /e#fo#"an%e

%an +e si"ila# !o B ss!e"s. ?$en o/e#a!ing f#o" a s"all +oa! *$e#e !#ans')%e# s/a%ing is !ig$!

a%%)#a% is #e')%e'. i&e 0SB ss!e"s SB ss!e"s a#e f#e)en!l "o)n!e' on +oa!s an' s$i/s

+)! s/e%ialie' "o'es of 'e/lo"en! a#e %o""on !oo. Fo# ea"/le !$e ?oo's ole

O%eanog#a/$i% Ins!i!)!ion )ses a SB ss!e" !o /osi!ion !$e Jason 'ee/-o%ean ;OV #ela!i(e !o i!s

asso%ia!e' ME@EA 'e/#esso# *eig$! *i!$ a #e/o#!e' a%%)#a% of = %".

GPS Intell$*ent B"oy% 5GIB34


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637$%tory an E1am!le% o' U%e

Figure "a: #n acoustic short baseline ($BL) positioning system %as installed on the &$'$ Miar

during the search dies to the %reckage of the submarine &$$ *hresher

Figure "b: *he bathyscaphe *rieste %as guided by that acoustic positioning system to the *hresher

An ea#l )se of )n'e#*a!e# a%o)s!i% /osi!ioning ss!e"s %#e'i!e' *i!$ ini!ia!ing !$e "o'e#n 'a

'e(elo/"en! of !$ese ss!e"s in(ol(e' !$e loss of !$e A"e#i%an n)%lea# s)+"a#ine 0SS *hresher

on 1> A/#il 1=83 in a *a!e# 'e/!$ of 278>". An a%o)s!i% s$o#! +aseline 4SB5 /osi!ioning ss!e"

*as ins!alle' on !$e o%eanog#a/$i% (essel 0SNS Miar. T$is ss!e" *as )se' !o g)i'e !$e

+a!$s%a/e T#ies!e 1 !o !$e *#e%& si!e. Ge! !$e s!a!e of !$e !e%$nolog *as s!ill so /oo# !$a! o)! of

!en sea#%$ 'i(es + T#ies!e 1 (is)al %on!a%! *as onl "a'e on%e *i!$ !$e *#e%&age 18D. A%o)s!i%

/osi!ioning *as again )se' in 1=88 !o ai' in !$e sea#%$ an' s)+se)en! #e%o(e# of a n)%lea# +o"+

los! ')#ing !$e %#as$ of a B-72 +o"+e# a! sea off !$e %oas! of S/ain.

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In !$e 1=9>s oil an' gas e/lo#a!ion in 'ee/e# *a!e#s #e)i#e' i"/#o(e' )n'e#*a!e# /osi!ioning

a%%)#a% !o /la%e '#ill s!#ings in!o !$e ea%! /osi!ion #efe#en%e' ea#lie# !$o#o)g$ seis"i%

ins!#)"en!a!ion

an' !o /e#fo#" o!$e# )n'e#*a!e# %ons!#)%!ion !as&s.

Figure +: *he Russian deep sea submersibles MIR,1 and MIR," searched the %reck site of the

-apanese submarine I,." in 1//0 # LBL positioning system %as used to guide and document the

progressing search oer multiple dies

B)! !$e !e%$nolog also s!a#!e' !o +e )se' in o!$e# a//li%a!ions. In 1== sal(age# Pa)l Ti'*ell an'

$is %o"/an Ca/e Ve#'e E/lo#a!ions le' an e/e'i!ion !o !$e *#e%& si!e of !$e ?o#l' ?a# 2

Ja/anese %a#go s)+"a#ine I-72 in !$e "i'-A!lan!i%1D. ;es!ing a! a 'e/!$ of 726> "e!e#s i! $a' +een

lo%a!e' an' !$en i'en!ifie' )sing si'e s%an sona# an' an )n'e#*a!e# !o* sle' in 1==7. ?a#-!i"e

#e%o#'s in'i%a!e' !$e I-72 *as +o)n' fo#


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In #e%en! ea#s se(e#al !#en's in )n'e#*a!e# a%o)s!i% /osi!ioning $a(e e"e#ge'. One is !$e

in!#o')%!ion of %o"/o)n' ss!e"s s)%$ !$e %o"+ina!ion of B an' 0SB in a so-%alle' 0SB

%onfig)#a!ion !o en$an%e /e#fo#"an%e. T$ese ss!e"s a#e gene#all )se' in !$e offs$o#e oil gasse%!o# an' o!$e# $ig$-en' a//li%a!ions. Ano!$e# !#en' is !$e in!#o')%!ion of %o"/a%! !as& o/!i"ie'

ss!e"s fo# a (a#ie! of s/e%ialie' /)#/oses. Fo# ea"/le !$e Califo#nia @e/a#!"en! of Fis$ an'


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0on* Ba%el$ne Aco"%t$c Po%$t$on$n* Sy%tem

A 0on* Ba%el$ne 50B03 Aco"%t$c Po%$t$on$n* Sy%temis one of !$#ee +#oa' %lasses of )n'e#*a!e#

a%o)s!i% /osi!ioning ss!e"s !$a! a#e )se' !o !#a%& )n'e#*a!e# (e$i%les an' 'i(e#s. T$e o!$e# !*o

%lasses a#e 0l!#a S$o#! Baseline Ss!e"s 40SB5 an' S$o#! Baseline Ss!e"s 4SB5. B ss!e"s

a#e )ni)e in !$a! !$e )se ne!*o#&s of sea-floo# "o)n!e' +aseline !#ans/on'e#s as #efe#en%e /oin!s

fo# na(iga!ion. T$ese a#e gene#all 'e/loe' a#o)n' !$e /e#i"e!e# of a *o#& si!e. T$e B

!e%$ni)e #es)l!s in (e# $ig$ /osi!ioning a%%)#a% an' /osi!ion s!a+ili! !$a! is in'e/en'en! of

*a!e# 'e/!$. I! is gene#all +e!!e# !$an 1-"e!e# an' %an #ea%$ a fe* %en!i"e!e#s a%%)#a%. B

ss!e"s a#e gene#all e"/loe' fo# /#e%ision )n'e#*a!e# s)#(e *o#& *$e#e !$e a%%)#a% o#

/osi!ion s!a+ili! of s$i/-+ase' 4SB 0SB5 /osi!ioning ss!e"s 'oes no! s)ffi%e.



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83 Met&o o' O!erat$on an Per'ormance C&aracter$%t$c%

Fig)#e 1 'es%#i+es !$e gene#al "e!$o' of o/e#a!ion of a long +aseline ss!e".

Figure 1: Method of the operation of a Long Baseline (LBL) acoustic positioning system

Figure ": # die team (3nirotech 4iing) %ith their #5uaMap LBL acoustic under%ater

positioning system including three baseline transponders (B) and dier stations (#) mounted on

scooters *he baseline stations are first deployed in the corners of a %ork site *heir relatie

position is then precisely measured using the #5uaMap system6s automatic acoustic self,surey

capability For geo,referenced operations7 the baseline positions are sureyed by differential 89$

or a laser positioning e5uipment (total station) 4uring a die7 the dier station interrogates the

baseline stations to measure the distances7 %hich are then conerted to positions



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ong +aseline ss!e"s 'e!e#"ine !$e /osi!ion of a (e$i%le o# 'i(e# + a%o)s!i%all "eas)#ing !$e

'is!an%e f#o" a (e$i%le o# 'i(e# in!e##oga!o# !o !$#ee o# "o#e seafloo# 'e/loe' +aseline

!#ans/on'e#s. T$ese #ange "eas)#e"en!s *$i%$ a#e of!en s)//le"en!e' + 'e/!$ 'a!a f#o"

/#ess)#e senso#s on !$e 'e(i%es a#e !$en )se' !o !#iang)la!e !$e /osi!ion of !$e (e$i%le o# 'i(e#. In

fig)#e 1 a 'i(e# "o)n!e' in!e##oga!o# 4A5 sen's a signal *$i%$ is #e%ei(e' + !$e +aseline

!#ans/on'e#s 4B C @5. T$e !#ans/on'e#s #e/l an' !$e #e/lies a#e #e%ei(e' again + !$e 'i(e#

s!a!ion 4A5. Signal #)n !i"e "eas)#e"en!s no* iel' !$e 'is!an%es A-B A-C an' A-@ *$i%$ a#e

)se' !o %o"/)!e !$e 'i(e# /osi!ion + !#iang)la!ion o# /osi!ion sea#%$ algo#i!$"s. T$e #es)l!ing

/osi!ions a#e #ela!i(e !o !$e lo%a!ion of !$e +aseline !#ans')%e#s. T$ese %an +e #ea'il %on(e#!e' !o a

geo-#efe#en%e' %oo#'ina!e ss!e" s)%$ as la!i!)'e,longi!)'e o# 0TM if !$e geo-/osi!ions of !$e

+aseline s!a!ions a#e fi#s! es!a+lis$e'.

ong +aseline ss!e"s ge! !$ei# na"e f#o" !$e fa%! !$a! !$e s/a%ing of !$e +aseline !#ans/on'e#s is

long o# si"ila# !o !$e 'is!an%e +e!*een !$e 'i(e# o# (e$i%le an' !$e !#ans/on'e#s.T$a! is !$e

+aseline !#ans/on'e#s a#e !/i%all "o)n!e' in !$e %o#ne#s of an )n'e#*a!e# *o#& si!e *i!$in *$i%$

!$e (e$i%le o# 'i(e# o/e#a!es. T$is "e!$o' iel's an i'eal geo"e!# fo# /osi!ioning in *$i%$ an

gi(en e##o# in a%o)s!i% #ange "eas)#e"en!s /#o')%e onl a+o)! an e)i(alen! /osi!ion e##o#. T$is

%o"/a#es !o SB an' 0SB ss!e"s *i!$ s$o#!e# +aselines *$e#e #anging 'is!)#+an%es of a gi(en

a"o)n! %an #es)l! in ")%$ la#ge# /osi!ion e##o#s. F)#!$e# !$e "o)n!ing of !$e +aseline !#ans/on'e#s

on !$e sea floo# eli"ina!es !$e nee' fo# %on(e#!ing +e!*een #efe#en%e f#a"es as is !$e %ase fo#

0SB o# SB /osi!ioning ss!e"s "o)n!e' on "o(ing (essels. Finall sea floo# "o)n!ing "a&es

!$e /osi!ioning a%%)#a% in'e/en'en! of *a!e# 'e/!$.Fo# !$ese #easons B ss!e"s a#e gene#all

a//lie' !o !as&s *$e#e !$e #e)i#e' s!an'a#' of /osi!ioning a%%)#a% o# #elia+ili! e%ee's !$e

%a/a+ili!ies of 0SB an' SB ss!e"s.



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9.3 O''%&ore

B 'i(e# !e%$nolog $as %on!in)e' !o a'(an%e an' !$e @S-3 !e#"inal 4fig)#e 75 in%l)'es g#a/$i%info#"a!ion si"ila# !o !$a! of "a//ing


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:3 Ultra%&ort #a%el$ne

0SB 4Ultra%&ort #a%el$ne5 is a "e!$o' of )n'e#*a!e# a%o)s!i% /osi!ioning. A %o"/le!e 0SB

ss!e" %onsis!s of a !#ans%ei(e# *$i%$ is "o)n!e' on a /ole )n'e# a s$i/ an' a

!#ans/on'e#,#es/on'e# on !$e seafloo# a !o*fis$ o# on a ;OV. A %o"/)!e# o# K!o/si'e )ni!K is

)se' !o %al%)la!e a /osi!ion f#o" !$e #anges an' +ea#ings "eas)#e' + !$e !#ans%ei(e#.

An a%o)s!i% /)lse is !#ans"i!!e' + !$e !#ans%ei(e# an' 'e!e%!e' + !$e s)+sea !#ans/on'e# *$i%$

#e/lies *i!$ i!s o*n a%o)s!i% /)lse. T$is #e!)#n /)lse is 'e!e%!e' + !$e s$i/+oa#' !#ans%ei(e#. T$e

!i"e f#o" !$e !#ans"ission of !$e ini!ial a%o)s!i% /)lse )n!il !$e #e/l is 'e!e%!e' is "eas)#e' + !$e

0SB ss!e" an' is %on(e#!e' in!o a #ange.

To %al%)la!e a s)+sea /osi!ion !$e 0SB %al%)la!es +o!$ a #ange an' an angle f#o" !$e !#ans%ei(e#

!o !$e s)+sea +ea%on. Angles a#e "eas)#e' + !$e !#ans%ei(e# *$i%$ %on!ains an a##a of

!#ans')%e#s. T$e !#ans%ei(e# $ea' no#"all %on!ains !$#ee o# "o#e !#ans')%e#s se/a#a!e' + a

+aseline of 1> %" o# less. A "e!$o' %alle' L/$ase-'iffe#en%ing *i!$in !$is !#ans')%e# a##a is )se'

!o %al%)la!e !$e angle !o !$e s)+sea !#ans/on'e#.

0SBs $a(e also +eg)n !o fin' )se in Kin(e#!e'K 4i0SB5 %onfig)#a!ions *i!$ !$e !#ans%ei(e#

"o)n!e' on an a)!ono"o)s )n'e#*a!e# (e$i%le an' !$e !#ans/on'e# on !$e !a#ge!. In !$is %ase !$e

K!o/si'eK /#o%essing $a//ens insi'e !$e (e$i%le !o allo* i! !o lo%a!e !$e !#ans/on'e# fo# a//li%a!ions

s)%$ as a)!o"a!i% 'o%&ing an' !a#ge! !#a%&ing.

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A.PO.MA.B. SCIENTIFIC MANIFEST - 2 - Pag. 2> of 33


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S&ort Ba%el$ne Aco"%t$c Po%$t$on$n* Sy%tem

A S&ort Ba%el$ne 5SB03 Aco"%t$c Po%$t$on$n* Sy%temis one of !$#ee +#oa' %lasses of )n'e#*a!e#

a%o)s!i% /osi!ioning ss!e"s !$a! a#e )se' !o !#a%& )n'e#*a!e# (e$i%les an' 'i(e#s. T$e o!$e# !*o

%lasses a#e 0l!#a S$o#! Baseline Ss!e"s 40SB5 an' ong Baseline Ss!e"s 4B5. i&e 0SB

ss!e"s SB ss!e"s 'o no! #e)i#e an seafloo# "o)n!e' !#ans/on'e#s o# e)i/"en! an' a#e !$)s

s)i!a+le fo# !#a%&ing )n'e#*a!e# !a#ge!s f#o" +oa!s o# s$i/s !$a! a#e ei!$e# an%$o#e' o# )n'e# *a.

o*e(e# )nli&e 0SB ss!e"s *$i%$ offe# a fie' a%%)#a% SB /osi!ioning a%%)#a% i"/#o(es

*i!$ !#ans')%e# s/a%ing. T$)s *$e#e s/a%e /e#"i!s s)%$ as *$en o/e#a!ing f#o" la#ge# (essels o# a

'o%& !$e SB ss!e" %an a%$ie(e a /#e%ision an' /osi!ion #o+)s!ness !$a! is si"ila# !o !$a! of sea

floo# "o)n!e' B ss!e"s "a&ing !$e ss!e" s)i!a+le fo# $ig$-a%%)#a% s)#(e *o#&. ?$en

o/e#a!ing f#o" a s"alle# (essel *$e#e !#ans')%e# s/a%ing is li"i!e' 4i.e. *$en !$e +aseline is s$o#!5

!$e SB ss!e" *ill e$i+i! #e')%e' /#e%ision.



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;3 Met&o o' O!erat$on an Per'ormance C&aracter$%t$c%

Fig)#e 1 'es%#i+es !$e gene#al "e!$o' of o/e#a!ion of a s$o#! +aseline ss!e" ss!e".

Figure 1: Method of the operation of a $hort Baseline ($BL) acoustic positioning system for R!

S$o#! +aseline ss!e"s 'e!e#"ine !$e /osi!ion of a !#a%&e' !a#ge! s)%$ as a ;OV + "eas)#ing !$e

!a#ge!Hs 'is!an%e f#o" !$#ee o# "o#e !#ans')%e#s !$a! a#e fo# ea"/le lo*e#e' o(e# !$e si'e of !$e

s)#fa%e (essel f#o" *$i%$ !#a%&ing o/e#a!ions !a&e /la%e. T$ese #ange "eas)#e"en!s *$i%$ a#e

of!en s)//le"en!e' + 'e/!$ 'a!a f#o" a /#ess)#e senso# a#e !$en )se' !o !#iang)la!e !$e /osi!ion of

!$e !a#ge!. In fig)#e 1 +aseline !#ans')%e# 4A5 sen's a signal *$i%$ is #e%ei(e' + a !#ans/on'e# 4B5

on !$e !#a%&e' !a#ge!. T$e !#ans/on'e# #e/lies an' !$e #e/l is #e%ei(e' + !$e !$#ee +aseline

!#as')%e#s 4A C @5. Signal #)n !i"e "eas)#e"en!s no* iel' !$e 'is!an%es B-A B-C an' [email protected]$e

#es)l!ing !a#ge! /osi!ions a#e al*as #ela!i(e !o !$e lo%a!ion of !$e +aseline !#ans')%e#s. In %ases

*$e#e !#a%&ing is %on')%!e' f#o" a "o(ing +oa! +)! !$e !a#ge! /osi!ion ")s! +e &no*n in ea#!$

%oo#'ina!es s)%$ as la!i!)'e,longi!)'e o# 0TM !$e SB /osi!ioning ss!e" is %o"+ine' *i!$ a


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!#ans')%e# s/a%ing %an +e )se' SB ss!e"s %an iel' a /osi!ioning a%%)#a% an' #o+)s!ness

a//#oa%$ing !$a! of sea-floo# "o)n!e' B ss!e"s.



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Figure +: $BL positioning system deployment at ape 3ans Ma;imiing the spacing of the

baseline sonar transducers (#7 B7 ) and arranging them in an e5uilateral triangle yields best

accuracy

An ill)s!#a!i(e )se of SB !e%$nolog is %)##en!l 4sin%e 2>>95 )n'e#*a in An!a#%!i%a *$e#e !$e

Moss an'ing Ma#ine a+o#a!o# is )sing a PIOT SB ss!e" !o g)i'e !$e SCINI #e"o!el

o/e#a!e' (e$i%le. SCINI 4fig)#e 25 is a s"all !o#/e'o-s$a/e' !e!$e#e' (e$i%le 4;OV5 'esigne' fo#

#a/i' an' )n%o"/li%a!e' 'e/lo"en! an' e/lo#a!ion of #e"o!e si!es a#o)n' An!a#%!i%a in%l)'ing

eal' Islan' Ca/e E(ans an' Ba of Sails. SCINI ss!e" is 'esigne' !o +e %o"/a%! an' lig$!-

*eig$! so as !o fa%ili!a!e #a/i' 'e/lo"en! + $eli%o/!e# !#a%&e' (e$i%le an' e(en "an-$a)le'

sle's. On%e on si!e i!s !o#/e'o s$a/e' +o' allo*s i! !o a%%ess !$e o%ean !$#o)g$ s"all 42> %" 'ia.5

$oles '#ille' in!o !$e sea i%e. T$e "issionHs s%ien%e goals $o*e(e# 'e"an' $ig$ a%%)#a% in

na(iga!ion !o s)//o#! !as&s in%l)'ing #)nning 1>-" (i'eo !#anse%!s 4s!#aig$! lines5 /#o(i'ing

/#e%ise /osi!ions fo# s!ill i"ages !o 'o%)"en! !$e 'is!#i+)!ion an' /o/)la!ion 'ensi! of +en!$i%

o#ganis"s an' "a#&ing an' #e-(isi!ing si!es fo# f)#!$e# in(es!iga!ion.

T$e SB na(iga!ion ss!e" 4fig)#e 35 %onsis!s of !$#ee s"all 7 %" 'ia"e!e# sona# +aseline

!#ans')%e#s 4A B C5 !$a! a#e lin&e' + %a+le !o a %on!#ol +o 4@5. A s"all 413.7%" 6 %" @5

%lin'e# s$a/e' !#ans/on'e# is "o)n!e' on !$e SCINI (e$i%le. A%%)#a% is o/!i"ie' + "a&ing

)se of !$e fla! sea i%e !o /la%e !$e +aseline !#ans')%e#s *ell a/a#! a//#o. 37" fo# "os! SCINI

'e/lo"en!s.



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Fig)#e 6 #e(ie*s SCINI o/e#a!ions g)i'e' + !$e SB ss!e". Fig)#e 6A is an i"/#o(ise' ;OV

%on!#ol #oo" in !$is %ase in a %a+in $a)le' on !o/ of an i%e $ole a! Ca/e A#"i!age. F#o" lef! !$e

'is/las a#e !$e ;OV %on!#ols s%#een 4A5 !$e "ain %a"e#a (ie* 4B5 !$e na(iga!ion s%#een 4C5 an'

!$e s%ien%e 'is/la 4@5. T$e ;OV /ilo! *ill gene#all *a!%$ !$e "ain %a"e#a (ie*. e *ill glan%e

a! !$e na(iga!ion s%#een 4C5 *$i%$ s$o*s !$e %)##en! ;OV /osi!ion an' !#a%& o(e#lai' on a %$a#!

fo# o#ien!a!ion an' !o g)i'e !$e ;OV !o !$e lo%a!ion ins!#)%!e' + !$e s%ien!is!. T$e s%ien!is! s$o*n

$e#e sea!e' on !$e #ig$! is /#o(i'e' *i!$ !$e s%ien%e 'is/la 4@5 *$i%$ %o"+ines !$e ;OV i"age#

*i!$ /osi!ion 'e/!$ an' !i"e 'a!a in #eal !i"e. T$e s%ien!is! !/es *#i!!en o# s/ea&s a)'i+le

o+se#(a!ions in!o !$e %o"/)!e# !o /#o(i'e a %on!e! fo# !$e 'a!a no!e o+e%!s o# e(ens of in!e#es! o#

'esigna!e !$e s!a#! o# %on%l)sion of a (i'eo !#anse%! 4fig)#e 6B5. A !/i%al in(es!iga!ion of a si!e *ill

s/an se(e#al 'i(es as !as&s s)%$ as ini!ial in(es!iga!ion s!ill i"age a%)isi!ion an' (i'eo !#anse%!s

a#e g#a')all %o"/le!e'. A %#i!i%al ele"en! in !$ese 'i(e se#ies is !o s$o* /#io#-'i(e sea#%$

%o(e#age so !$a! a s)%%essi(e 'i(e %an +e !a#ge!e' a! a /#e(io)sl )n(isi!e' a#ea. T$is is 'one +

/#o')%ing a %)")la!i(e %o(e#age /lo! of !$e 'i(e si!e 4fig)#e 6C5. T$e /lo! *$i%$ is )/'a!e' af!e#

e(e# 'i(e is 'is/lae' as a +a%&g#o)n' "a/ on !$e na(iga!ion s%#een !$)s /#o(i'ing g)i'an%e fo#

!$e ongoing 'i(e. I! s$o*s !$e /#io# ;OV !#a%&s *i!$ %olo# )se' !o in'i%a!e 'e/!$. Analsis of !$e

!#a%& 'a!a 'is/lae' $e#e iel's !$e )ali! of /osi!ioning !o /#o(i'e a "a#gin of e##o# fo#

"eas)#e"en!s. In !$is %ase !$e !/i%al /#e%ision $as +een es!a+lis$e' as >.76".

Figure =#: $I'I control room %ith four display screens for R! control (#)7 main camera ie%

(B)7 $BL naigation display () and image annotation or science screen (4)



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Figure =B: Imagery7 associated position7 time and the scientist6s obseration or statement are

combined into a single record

Figure =: # site coerage plot of multiple $I'I dies at ape #rmitage *he colored dots are the

depth coded position traces of the ehicle



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GPS Intell$*ent B"oy%

GPS Intell$*ent B"oy 5GIB3 %y%tem% "a +e %lassifie' as in(e#!e' B 'e(i%es *$e#e !$e

!#ans')%e#s a#e ins!alle' on 37$%tory an E1am!le% o' U%e

0se of


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A.PO.MA.B. SCIENTIFIC MANIFEST - 2 - Pag. 3> of 33


31/33

?3E1am!le o' Uner)ater Aco"%t$c#a%e Wea!on Scor$n*

Figure 1: #n array of 8IBs positioned around a test area to proide %eapon impact coordinates

from %eapon testing or training &pon striking the %ater7 acoustic signatures are captured and

processed by each 8IB7 and relayed to the shipboard or a land based command and control system

for realtime processing

Figure ": 9hotograph of the *#R8* 8IB



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Re'erence%

0ni(e#si! of ;$o'e Islan': @is%o(e# of So)n' in !$e Sea

0n'e#*a!e# A%o)s!i% Posi!ioning Ss!e"s P.. Milne 1=3 ISBN >-92>1->12->

T$e ;OV Man)al ;o+e#! @. C$#is! an' ;o+e#! . ?e#nli S# 2>>9 /ages =8-1>3 ISBN

=9->-97>8-16-3

Milne %$a/!e#s 3-7

C$#is! an' ?e#nli se%!ions 6.2.8-6.2.9

MIT @ee/*a!e# A#%$aeolog ;esea#%$ >2

Milne %$a/!e# 6

C$#is! an' ?e#nli se%!ion 6.2.8.3

In!eg#a!ing P#e%ision ;ela!i(e Posi!ioning In!o JASON,ME@EA ;OV O/e#a!ions

Bing$a" e! al. MTS Jo)#nal S/#ing 2>>8 4Vol)"e 6> N)"+e# 15

ase# J.;. Ca#'oa M.A. e!. al. K?ea/on S%o#ing ;es)l!s f#o" a 8 /ages 32-3=

ase# J.;. Ca#'oa M.A. e!. al. LOffs$o#e ?ea/on S%o#ing 0sing ;a/i'l @e/loe'

;eal!i"e A%o)s!i% Senso#s 21s! Ann)al N@IA Tes! an' E(al)a!ion Fo#)" C$a#lo!!e SC

26-28 Ma#%$ 2>>7.

Milne C$a/!e# 2

C$#is! an' ?e#nle /age =8

Milne C$a/!e# 3

C$#is! an' ?e#nli se%!ion 6.2.1

T$e as! @i(e Na!ional >2

Documents

HYDRO INTER Acoustic Positioning