JP3234889B2 - Bathymetry system using GPS kinematic positioning method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a high-precision and high-efficiency surveying work in a port, a sea route, and the like.

[0002]

2. Description of the Related Art As part of the maintenance and management of a gateway route designated as a development and maintenance route, authorities carry out bathymetric surveys required for the maintenance and management of three surveying vessels on the same route. The plane position measurement of the survey ship required for the bathymetric survey is performed using a radio wave type position measuring device. In this system, the master station (6) is installed on the survey vessel, and the slave stations (4) and (5) are installed at two suitable points out of the 13 slave stations (known points), and the radio wave between the master station and both slave stations is transmitted. Measure the propagation time to find the distance,
The plane coordinates of the main station are calculated by the arc method. However, there is a restriction on the allocation of the operating frequency of the radio wave, so that there is a restriction on the use of the slave station. For this reason, the authorities have adopted a spread spectrum method (one that can use several vessels at one frequency), but it is still insufficient. Also, since tide level correction is required in bathymetric surveys,
The tidal level is corrected by obtaining data from tide stations suitable for the survey area. General bathymetry in other sea areas is also performed using such a radio-type position measuring device. In addition, there is a method of using a vertical gyro, an inclinometer, and a water pressure gauge to correct the motion of a ship.

[0003]

[Problems to be Solved by the Invention] In the dredging work of ports and sea routes, the planned water depth is secured,
Accurate bathymetric surveys are required to achieve high efficiency. For this purpose, accurate plan position measurement, tide level correction, and ship motion correction of the survey ship are essential. However, the accuracy of the current radio wave type position measuring device is about ± (0.5 m + distance between master and slave stations × 10 ⁻⁵ ), and the accuracy decreases as the distance between the master station and the slave station increases. The tide level is corrected by using the tide level data from the tidal station that is most suitable for the surveyed sea area. . In addition, there is a method using a vertical gyroscope, an inclinometer, and a water pressure gauge to correct the motion of a ship. However, at present, it is impossible to correct a long-period motion caused by a large swell. In addition to the above-mentioned problems of surveying accuracy, there is an economical problem because the maintenance and management of a large number of slave stations and tidal stations require cost and labor. An object of the present invention is to realize a system capable of performing high-precision bathymetry without requiring many slave stations and tide stations.

[0004]

Means for Solving the Problems GPS (Global)
Positioning System (Global Positioning System) is a new satellite positioning system that is being developed and put into practical use by the United States. Its main purpose is to provide navigational aids for aircraft and ships, but research is being conducted on various applications, including surveying techniques. The GPS kinematic positioning method adopted in this system is a type of relative positioning method called interference observation,
This is a measurement method in which radio waves from GPS satellites are simultaneously received at a plurality of reception points, the delay times are measured, and a relative positional relationship between the reception points is obtained. In the current measuring equipment, off-line processing for collecting data recorded at each receiving point at one location and simultaneously processing the data to obtain a positioning result is performed. In the bathymetry system of the present invention, the GPS kinematic positioning method described above is made online and used for position measurement of a survey ship.

That is, one fixed station (2) is installed at a known point on land, and a mobile station (3) is installed on a survey ship. GPS
The radio waves from the satellite (1) are simultaneously received, the data of the fixed station are transmitted to the mobile station, and both data are processed in real time, thereby providing accurate data to the fixed station on the mobile station (survey ship) side. Get relative position.

[0006]

By using the high-precision three-dimensional coordinate values obtained by the GPS kinematic positioning method, it is possible to perform arithmetic processing necessary for correction of sway and tide level of a survey ship. These coordinate values can be output alone as tide level data. Further, as described above, since communication is not required between the fixed station and the mobile station as in the radio wave type position measuring device,
In an area where radio waves from fixed stations can be received, surveying by a plurality of mobile stations (survey boats) is possible with a single fixed station.

[0007]

[Embodiment] The following describes the adaptability to high-accuracy position measurement, tide level, and sway correction by the GPS kinematic positioning method based on the experiment conducted this time. The experiment was a sea experiment, a land experiment, and a shaking experiment. In the sea experiment, a fixed station was set up at a known point on land, a mobile station was mounted on a ship, and sailed.
The wake was recorded. A lightwave prism was mounted on the ship to compare the positioning accuracy, and the wake was recorded by an automatic tracking lightwave rangefinder. As a result of comparison between the two, the maximum relative difference between the plane coordinate values was 10 cm, and
It was confirmed that the accuracy was higher than (0.5 m ± distance between master and slave stations × 10 ⁻⁵ ).

In the on-land experiment, a mobile station was mounted on a truck, and the truck was run at a speed of 40 km / h, and measurements were taken. As a result of comparison with the data obtained by the automatic tracking type light wave distance measuring device as in the case of the sea experiment, the relative difference was a maximum of 5 cm. In the swaying experiment, an antenna of the mobile station was mounted on a gantry capable of oscillating like a pendulum, and data was acquired while swaying. At this time, the maximum amplitude of the pendulum was 1.4 m, the cycle was about 4 seconds, and 10 cycles were set as one set, and data was obtained every 1 second. As a result of comparison with the measurement value obtained by the displacement meter attached to the fulcrum of the pendulum, the maximum relative difference among all the data of the five sets was about 7 cm including the vertical direction.

[0009]

As described above, according to the present invention, it is possible to
Accuracy of bathymetric survey in the channel is achieved, and various port works such as dredging work will be improved in accuracy and efficiency. In addition, since surveying by a plurality of surveying vessels can be performed simultaneously with only a single fixed station, highly efficient surveying can be performed without being restricted by radio wave use. In addition, there is no need to set up many slave stations and there is no need for a tide station, which can reduce the maintenance costs of the facility.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram of a bathymetry system using a GPS kinematic positioning method.

FIG. 2 is a system diagram of a bathymetry system using the GPS kinematic positioning method.

FIG. 3 is a conceptual diagram of a bathymetry system using a conventional radio wave type position measuring device.

FIG. 4 is a system diagram of a bathymetry system using a conventional radio wave type position measuring device.

[Explanation of symbols]

1: GPS satellite, 2: fixed station, 3: mobile station, 4: slave station 1, 5: slave station 2, 6: master station

Continued on the front page (72) Inventor Kazuyuki Yoshitake 6-9 Amidaji-cho, Shimonoseki-shi, Yamaguchi Prefecture Inside the Shimonoseki Machinery and Maintenance Office, 4th Port Construction Bureau, Ministry of Transport (72) Hiroo Okamoto 6-9, Amida-jimachi, Shimonoseki-shi, Yamaguchi Prefecture Ministry of Transport Inside the 4th Port Construction Bureau Shimonoseki Machinery Maintenance Office (72) Inventor Harumi Fukuda 6-9 Amidaji-machi, Shimonoseki City, Yamaguchi Prefecture Ministry of Transport Inside the 4th Port Construction Bureau Shimonoseki Machinery Maintenance Office (72) Inventor Nobuaki Tomoda Amida, Shimonoseki City, Yamaguchi Prefecture 6-9 Teramachi Inside the Shimonoseki Machinery Maintenance Office, 4th Port Construction Bureau, Ministry of Transportation (56) References JP-A-61-108982 (JP, A) JP-A-61-235776 (JP, A) JP-A 1-229987 (JP) JP, A) JP-A-3-75580 (JP, A) JP-A-3-134513 (JP, A) JP-A-4-372812 (JP, A) Japanese Utility Model Laid-Open No. 60-189866 (JP, U) (58) ) Surveyed field (Int.Cl. ⁷ , DB name) G01C 13/00 G01S 5/14

Claims (2)

(57) [Claims] 1. A fixed station (2) in a kinematic positioning method using a GPS satellite (1) is installed at a known point, a mobile station (3) is installed on a survey ship, and radio waves from the GPS satellite (1) are simultaneously received. A system which transmits data from a fixed station (2) to a mobile station (3), and performs bathymetry using plane coordinate values obtained by arithmetically processing both data in real time and depth values by an ultrasonic sounding device. Further, by processing a high-precision three-dimensional coordinate value obtained by the GPS kinematic positioning method, the tide level difference and the sway of the survey ship due to waves and sailing are corrected. Surveying system. 2. A fixed station (2) in a kinematic positioning method using a GPS satellite (1) is installed at a known point, a mobile station (3) is installed on a survey ship, and radio waves from the GPS satellite (1) are simultaneously received. A system which transmits data from a fixed station (2) to a mobile station (3), and performs bathymetry using plane coordinate values obtained by arithmetically processing both data in real time and depth values by an ultrasonic sounding device. Further, by receiving radio waves from the fixed station (2) by a plurality of survey vessels serving as the mobile station (3), a single fixed station (2) can measure a plurality of locations. Bathymetry system.