1. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Doppler eect GROSJEAN Ludovic http://www.univ-tln.fr/ July 16, 2013
GROSJEAN Ludovic Doppler eect 1 / 19
2. Introduction to the Doppler eect ADCP ADV DVL Conclusion 1
Introduction to the Doppler eect 2 ADCP Operating principle
Bottom-tracking versus Upward-looking ADCP Acquired data and
proling examples 3 ADV Operating principle Acquired data and
proling examples 4 DVL Operating principle Data processing 5
Conclusion GROSJEAN Ludovic Doppler eect 2 / 19
3. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Principle It is the change in frequency of a periodic event (wave)
for an observer moving relative to its source GROSJEAN Ludovic
Doppler eect 3 / 19
4. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples Denition Acoustic: Sound waves
are scattered back from particles GROSJEAN Ludovic Doppler eect 4 /
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5. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples Denition Acoustic: Sound waves
are scattered back from particles Doppler: Using the Doppler eect
GROSJEAN Ludovic Doppler eect 4 / 19
6. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples Denition Acoustic: Sound waves
are scattered back from particles Doppler: Using the Doppler eect
Current: Measure water current velocities GROSJEAN Ludovic Doppler
eect 4 / 19
7. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples Denition Acoustic: Sound waves
are scattered back from particles Doppler: Using the Doppler eect
Current: Measure water current velocities Proler: For current
proling in the water column GROSJEAN Ludovic Doppler eect 4 /
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8. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples Cell cutting Determine the depth
of the particle d d = v t measuring t v = F Cut the water column in
cell size Provides a velocity prole for each cell GROSJEAN Ludovic
Doppler eect 5 / 19
9. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples Cell cutting Determine the depth
of the particle d d = v t measuring t v = F Cut the water column in
cell size Provides a velocity prole for each cell GROSJEAN Ludovic
Doppler eect 5 / 19
10. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples Data comparison 4 acoustic
transducers Emit and receive acoustical pulses from 4 directions 2
opposed beams collect velocity components (u,v for each w)
Comparison: Error velocity Software suites convert data GROSJEAN
Ludovic Doppler eect 5 / 19
11. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples Data comparison 4 acoustic
transducers Emit and receive acoustical pulses from 4 directions 2
opposed beams collect velocity components (u,v for each w)
Comparison: Error velocity Software suites convert data GROSJEAN
Ludovic Doppler eect 5 / 19
12. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples Recording areas Blank zone:
Bottom Surface area Height measurement Echoes and reections
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13. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples Recording areas Blank zone:
Bottom Surface area Height measurement Echoes and reections
GROSJEAN Ludovic Doppler eect 5 / 19
14. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples Bottom-tracking versus
Upward-looking ADCP GROSJEAN Ludovic Doppler eect 6 / 19
15. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples Bottom-tracking versus
Upward-looking ADCP Upward-looking ADCP Fixed to a mooring or a
marine structure Current prole time series Wave directional
spectrum GROSJEAN Ludovic Doppler eect 6 / 19
16. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples Bottom-tracking versus
Upward-looking ADCP GROSJEAN Ludovic Doppler eect 6 / 19
17. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples Bottom-tracking versus
Upward-looking ADCP Bottom-tracking ADCP Mounted on a mobile
vehicle Track the bottom vehicle velocity Current prole spatial
cross section GROSJEAN Ludovic Doppler eect 6 / 19
18. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Bottom-tracking versus Upward-looking ADCP
Acquired data and proling examples GROSJEAN Ludovic Doppler eect 7
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19. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Acquired data and proling examples Denition
Acoustic: Sound waves are scattered back from particles GROSJEAN
Ludovic Doppler eect 8 / 19
20. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Acquired data and proling examples Denition
Acoustic: Sound waves are scattered back from particles Doppler:
Using the Doppler eect GROSJEAN Ludovic Doppler eect 8 / 19
21. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Acquired data and proling examples Denition
Acoustic: Sound waves are scattered back from particles Doppler:
Using the Doppler eect Velocimeter: Record instantaneous velocity
components at a single-point with a relatively high frequency
GROSJEAN Ludovic Doppler eect 8 / 19
22. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Acquired data and proling examples
Caracteristics Bistatic acoustic Doppler system Probe head consists
of a transmitter Two to four receivers GROSJEAN Ludovic Doppler
eect 9 / 19
23. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Acquired data and proling examples Capabilities
High-precision instrument Measure 3D water velocity Sensor mounted
on stem The probe is submerged in the ow GROSJEAN Ludovic Doppler
eect 9 / 19
24. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Acquired data and proling examples Specications
Record instantaneous velocity components Single-point High
frequency Perform to measure the particle velocity in a remote
sampling volume GROSJEAN Ludovic Doppler eect 9 / 19
25. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Acquired data and proling examples GROSJEAN
Ludovic Doppler eect 10 / 19
26. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Data processing Denition Doppler: Using the
Doppler eect GROSJEAN Ludovic Doppler eect 11 / 19
27. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Data processing Denition Doppler: Using the
Doppler eect Velocity: Used to determine the velocity vector of the
device GROSJEAN Ludovic Doppler eect 11 / 19
28. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Data processing Denition Doppler: Using the
Doppler eect Velocity: Used to determine the velocity vector of the
device Log: Used for navigation submarines systems GROSJEAN Ludovic
Doppler eect 11 / 19
29. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Data processing Moving vessel navigation AUV
ROV Surface vessels Divers GROSJEAN Ludovic Doppler eect 12 /
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30. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Data processing Moving vessel navigation AUV
ROV Surface vessels Divers GROSJEAN Ludovic Doppler eect 12 /
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31. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Data processing Position estimation Beam
coordinates + Transducer orientation + Ship coordinates: GPS
(heading) + Earth coordinates GROSJEAN Ludovic Doppler eect 12 /
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32. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Data processing Position estimation Beam
coordinates + Transducer orientation + Ship coordinates: GPS
(heading) + Earth coordinates GROSJEAN Ludovic Doppler eect 12 /
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33. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Data processing Navigation replacement for
Separate current meters Temperature sensors Altimeters Navigation
equipment GROSJEAN Ludovic Doppler eect 12 / 19
34. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating principle Data processing GROSJEAN Ludovic Doppler eect
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35. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Operating value examples ADCP1 ADCP ADV2 ADV DVL3 DVL Frequency
(kHz) 1200 to 300 75 16000 5000 1200 300 Operational depth rating
(m) 200 to 6000 1500 to 3000 60 250 to 2000 3000 to 6000 3000 to
6000 Measurement range (m) 0.6 to 150 20 to 700 0.03 to 2.5 0.05 to
5 0.5 to 30 1 to 200 Prole reso- lution (m) 2 16 0.01 0.01 0.25 to
18 1 to 110 1 RDI 2 SonTek 3 RDI GROSJEAN Ludovic Doppler eect 14 /
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36. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Accuracy and limitation ADCP ADV DVL Aim current measure- ment
within the water column Single-point instan- taneous velocity
components Accurate navigation systems Frequency Low High Medium
Accuracy Low High Medium Advantages High range High resolu- tion
Navigation tool Disadvantages Limited resolution Low range Need
bat- tery Limitations Blank zone Max depth Lifetime GROSJEAN
Ludovic Doppler eect 15 / 19
37. Introduction to the Doppler eect ADCP ADV DVL Conclusion
References Palmer, 2002, ADV: Principles of Operation,
http://web.mit.edu/ Hubert Chanson, Mark Trevethan and Shin-Ichi
Aoki, 2005, Acoustic Doppler Velocimetry (ADV) in a small estuarine
system. eld experience and despiking,
http://espace.library.uq.edu.au/ Y. Ourmi`eres, B. Zakardjian, K.
Branger, C. Langlais, 2011, Assessment of a NEMO-based downscaling
experiment for the North-Western Mediterranean region: Impacts on
the Northern Current and comparison with ADCP data and altimetry
products, http://www.sciencedirect.com/ GROSJEAN Ludovic Doppler
eect 16 / 19
38. Introduction to the Doppler eect ADCP ADV DVL Conclusion
References SonTek, SonTek ADV, http://www.sontek.com/ G. Voulgaris
and J. H. Trowbrige, 1997, Evaluation of the Acoustic Doppler
Velocimeter (ADV) for Turbulence Measurements Rowe
Technologies,ADCP/DVL applications guide,
http://www.rowetechinc.com/ Calculating Ocean velocity from ADCP
data Are Willumsen, Robert Sorhagen, Bjorn Jalving, Kenneth Gade,
Kristian Svartveit, 2004, DVL Velocity Aiding in the HUGIN 1000
Integrated Inertial Navigation System Teledyne RD Instruments,
2007, The Teledyne RD Instruments family of current proling
products GROSJEAN Ludovic Doppler eect 17 / 19
39. Introduction to the Doppler eect ADCP ADV DVL Conclusion
References Are Willumsen, Robert Sorhagen, Bjorn Jalving, Kenneth
Gade, Kristian Svartveit, 2004, DVL Velocity Aiding in the HUGIN
1000 Integrated Inertial Navigation System Eugene A. Terray, Blair
H. Brumley and Brandon Strong, Measuring Waves and Currents with an
Upward-Looking ADCP IRD, Module de formation en Dbitmtrie Projets
Niger-HYCOS et Volta-HYCOS Vincent Deroubaix, 2000,Implantation dun
GPS dattitude sur la centrale dacquisition ADCP du projet SAVED,
Woods Hole Oceanographic Institution Lakshmi H. Kantha, Carol Anne
Clayson, Numerical Models of Oceans and Oceanic Processes, Volume
66 (International Geophysics) GROSJEAN Ludovic Doppler eect 18 /
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40. Introduction to the Doppler eect ADCP ADV DVL Conclusion
Thank you for listening Do you have any questions ? GROSJEAN
Ludovic Doppler eect 19 / 19