• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
• /
• 2004.04a
• /
• pp.563-569
• /
• 2004

인공어초 정밀조사는 21세기 신 해양질서를 통해 연안해역정보가 더욱 중요시 대두되고 있는 시점에서 중요성이 강조되고 있으며, 우리나라 연안에 시설된 인공어초 시설구역은 미측심 구간으로 IHO의 수심 측정에 대한 권고를 받은 상태이다. 그렇기 때문에 신기술 장비인 DGPS와, 멀티빔, 사이드스캔소나등을 이용한 인공어초 정밀조사를 통해 효율적이고, 정확한 조사방법을 제시하고 해양측량에서 발생하는 오차의 보정 방법을 알아봄으로서 어초어장도 제작의 질적 향상 효과를 가져올 것으로 기대된다.

• Proceedings of the Korean Society of Coastal and Ocean Engineers Conference
• /
• 2001.08a
• /
• pp.163-171
• /
• 2001

• Journal of the Korean earth science society
• /
• v.23 no.8
• /
• pp.707-721
• /
• 2002

Seafloor acoustic image data using the side scan sonar system were gathered on the Sindu-ri offshore near the Taean peninsula, middle western Korea. The relationship between the back-scattering acoustic intensity and the sea-bottom sediment properties was studied. And these two data sets were compared and interpreted with the water depth, respectively. Most of sediment properties were correlated well to the acoustic intensity, however the distribution patterns of the sea-bottom sediment and the seafloor acoustic image were not similar to each other except the rocky bottom area. The water depth was not only influential on the distribution pattern of seafloor acoustic image but also showed a linear relation with the sediment properties distribution.

• Journal of the Korean earth science society
• /
• v.24 no.5
• /
• pp.467-476
• /
• 2003

For the seafloor acoustic image mapping of side scan sonar, the beginning step of the procedure is to fix the absolute sonar (tow-fish) position since the sonar is not hull mounted but towed astern. The technical algorithm used to calculate the actual sonar position without any other additional sub-system, i.e., the underwater acoustic position tracking system or the sonar attitude measuring device, was proposed. In the seafloor image mosaic mapping results using the sonar track (not ship track) developed in this study, any ambiguity or inconsistency of seafloor features was not found. The incidental effect from the sonar position determination procedure orients the towing direction of sonar to be smooth, consequently the swath pattern on the across-track direction becomes stable and the blanking phenomenon of the insonification area is reduced conspicuously. This technical method is considered to be an useful tool when applied toother underwater towing vehicle surveys.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.18 no.9
• /
• pp.2307-2312
• /
• 2014

Artificial reef refers to various structures that facility to construction field format and spawning of marine organisms, sea ranch, forest of the sea, and sea jungle artificially in water, Build a production stable base of marine products, thereby contributing to an increase in the income of fishermen. In the management of an artificial reef, the calculation of the number of square reefs may be that it is a method to perform the submersible is an important part of maintenance is correct. However, cost and diving personnel, depending on the diving situation, there is a difficult thing to implement to coast across the country. Therefore, In this study, We calculated the volume using the multi-beam Echo Sounder and side scan sonar for the reefs of the rectangle are the existing installation. And proposes the improvement of the estimation in accordance with the volume coefficient reef.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.54 no.10
• /
• pp.581-586
• /
• 2005

The multi-beam side scan sonar system uses the towfish installed sonars, it is an equipment that search images of the bottom surface of the sea in real time. It is a typical equipment that is related to a sea investigation such as a geological survey, seabed communication cable and power line cable placing repair investigation, fish breeding ground investigation, sea purification, relic and mineral investigation, and mine and submarine search. Recently, it is used to sea purification and geological survey that require information of the correct surface of the seabed. Therefore, this research develops multi-beam sensors for a side scan sonar that supply various information with the fast scan speed and correct high resolution that is not a simple underwater investigation equipment.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.4 no.2
• /
• pp.63-68
• /
• 1998

This study is aimed to predict the configuration and tension of a towing cable of a side-scan sonar which plays an important role in developing ocean resources. The governing equations of 3-D static equilibrium equations for a flexible cable are derived and solved using a finite difference method. The forces considered in this paper are effective weights, drag forces due to currents and ship moving, and the tension at both ends of the towing cable. The governing equations are non-linear, so an iteration method is applied to solve the equation. A case study is carried out for several different conditions. The result will be useful for predicting the location of a side-scan sonar and to design the towing system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 1999.11a
• /
• pp.218-223
• /
• 1999

국제 수로 기구(IHO, International Hydrographic Organization)에서는 해도제작을 위한 해양조사의 기준을 마련하고, 전세계적으로 사용되는 해도의 정확도를 표준화하고 있다. IHO에서는 탐사 기술의 발달을 반영하여, 기존의 단 빔 음향 측심기 이외에도 멀티 빔 음향 측심기(Multibeam Echo Sounder)와 사이드 스캔 소나(Side Scan Sonar)를 이용한 해양 탐사 시에 요구되는 정확도와 탐사 자료에 대한 메타 데이터(Metadata)의 작성을 요구하고 있다. 본 논문은 수로 측량에서 얻어진 측량 자료들의 처리절차와 자료관리 기법에 대한 연구이다. IHO 해양탐사 기준에 맞는 탐사 자료 처리와, 메타 데이터를 자동으로 생성하여 측량자료관리 DB구축 및 관리를 주 기능으로 하는 시스템을 설계하고 구현한다. 특히, 본 논문은 해양 탐사 자료 처리 시스템을 개발하기 위하여, 해양 자료 처리 과정을 표준화하고, 국제적 해양 자료의 교환 표준인 MGD77과 호환 가능한 메타 데이터를 자동 생성하며, 1Hz로 수집되는 GPS 측위자료로부터 특징점(Waypoint)을 정의하고, 이를 추출하여 측심선을 벡터화 (Trackline Vectorizing) 하는 알고리즘을 구현한다. 개발된 시스템은 현재 국립 해양조사원의 해양2000호에서 획득된 탐사자료에 적용, 운영되고 있다.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
• /
• 2008.06a
• /
• pp.414-416
• /
• 2008

본 연구의 목적은 수중의 다양한 공간정보를 무인으로 획득할 수 있는 다목적용 플랫폼을 개발하는데 있다. 다목적용 플랫폼은 GPS, 음향측심기, 사이드스캔소나, 지층탐사기 등을 탑재하고 자동제어에 의한 방법으로 내수면 및 연안의 수중공간정보를 획득하는 기능을 수행한다. 무인 원격 수중 공간정보 획득장비를 개발함으로써, 기존의 측량선을 이용하기가 어려운 저수지, 댐 등의 지역 및 오염으로 인해 사람이 접근하기 불가능한 지역의 각종 수중정보 취득이 가능할 것으로 기대된다. 또한 하나의 플랫폼에 다중 에코사운더, 영상센서, 수질측정 센서 등 사용목적에 맞는 센서의 장착하여 다목적으로 사용할 수 있으므로 내수면과 관련된 정보의 획득을 필요로 하는 거의 모든 산업분야에서의 경제적인 활용이 가능할 것으로 판단된다.

• The Journal of Korea Robotics Society
• /
• v.12 no.4
• /
• pp.385-394
• /
• 2017

Side scanning sonar (SSS) provides valuable information for robot navigation. However using the side scanning sonar images in the navigation was not fully studied. In this paper, we use range data, and side scanning sonar images from UnderWater Simulator (UWSim) and propose measurement models in a feature based simultaneous localization and mapping (SLAM) framework. The range data is obtained by echosounder and sidescanning sonar images from side scan sonar module for UWSim. For the feature, we used the A-KAZE feature for the SSS image matching and adjusting the relative robot pose by SSS bundle adjustment (BA) with Ceres solver. We use BA for the loop closure constraint of pose-graph SLAM. We used the Incremental Smoothing and Mapping (iSAM) to optimize the graph. The optimized trajectory was compared against the dead reckoning (DR).