Application of acoustic unmanned surface vehicle to submarine geomorphology survey in shallow water
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摘要:
水面无人艇（USV，Unmanned Surface Vehicle）具有吃水浅、灵活机动、安全高效的特点和优势，日益成为浅水调查的重要手段。对于常规船只和考察人员不能到达的浅水环境的调查，无人艇具有填补甚至替代的价值和意义。C-Worker 4水面无人艇平台搭载了多波束测深、侧扫声呐、浅层剖面声学系统，运用脉冲同步控制和发射频率差异化配置的方法实现数据同步采集，旨在提高调查效率、优化调查方法和节约成本。基于2019年在海南岛澄迈湾1.2～22 m浅水环境的调查数据，处理和分析评估表明其采集数据可靠性高，能清晰识别海底沙波、波纹、礁石、埋藏河道、港池、航道、拖痕等微地貌单元。研究证实水面无人艇搭载多源声学系统同步测量可提供精细、立体、可靠的海底地貌基础资料，服务于海岸带地质调查、资源开发、工程建设、水运交通和国防安全等。
Abstract:Unmanned surface vehicle (USV) is an emerging platform for the oceanic survey. Small and medium-sized USVs have the advantages of the small draft, flexible maneuverability, safety, and efficiency, and increasingly become an important means for shallow water investigation. For the measurement and investigation of the shallow water environment that can not be reached by conventional ships and surveyors, USVs can play a significant role as an alternative to replace other facilities. This article is based on the C-Worker 4 USV platform, integrated with multi-beam sounding, side-scan sonar, sub-bottom profiler, and other acoustic equipment, using pulse delay time technology to acquire data simultaneously, aiming to improve the efficiency and optimize the program and save costs. In 2019, USV was applied in Chengmai Bay, Hainan Island to investigate submarine geomorphology in a shallow water environment with a water depth of 1.2～22 m. Data processing, analysis and evaluation showed that the data acquired by USV is highly reliable and can be used to identify the natural geomorphological units such as seabed reef, sand wave, sand ripple, buried channel, and the artificial geomorphology units such as waterway, channel filling deposits and submarine pipelines. The research in this paper confirms that the USV with a variety of acoustic equipment can provide precise, three-dimensional, and reliable basic data of submarine geomorphology, serving coastal geological surveys, resource exploration, engineering construction, maritime transportation, and national defense security.
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表 1 水面无人艇任务载荷主要调查参数
Table 1. Main parameters of surveying system of USV
参数 多波束 侧扫声呐 浅地层剖面 设备型号 T20P UUV3500 SES2000 Smart 中心频率 260 kHz单频 455/900 kHz双频 100/10 kHz双频 量程 据水深变化，一般为水深的3～4倍 单侧50 m 30 m 同步模式 被动 主动（触发信号源） 被动 脉冲类型 CW Chirp 参量 
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表 2 调查区识别的地貌类型及其声学特征
Table 2. Geomorphologic types and acoustic characteristics identified in the survey area
地貌类型 微地貌单元 声学特征 多波束测深 侧扫声呐 浅层剖面 自然地貌 海底沙波 波状起伏，韵律新月形条带状 海底线起伏，脊线两侧背散射呈条带状强弱变化 波状起伏，通常波形不对称 海底波纹 难以观测 背散射强弱相间，呈韵律条带状 波状起伏 海底礁石 不规则凸起 背散射强，周围较弱，与礁石展布形态有关 不规则凸起，下部地层为模糊反射 埋藏河道 无法观测 无法观测 U或V形下凹，上覆层状充填物 人工地貌 海底麻坑/坑槽 U或V形下凹，边界不规则 坑槽背散射弱，四周相对较强 海底线呈U或V形下凹，通常下部存在层状反射 航道/港池 下凹负地形，边界规则 边界处背散射明显强或弱 海底线下凹，边界规则 海底拖痕 难以观测 明显链状，拖痕处背散射弱，两侧相对较强 小型V形下凹状
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