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- 1. Introduction to the Doppler effect ADCP ADV DVL Conclusion Doppler effect GROSJEAN Ludovic http://www.univ-tln.fr/ July 16, 2013 GROSJEAN Ludovic Doppler effect 1 / 19
- 2. Introduction to the Doppler effect ADCP ADV DVL Conclusion 1 Introduction to the Doppler effect 2 ADCP Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling examples 3 ADV Operating principle Acquired data and profiling examples 4 DVL Operating principle Data processing 5 Conclusion GROSJEAN Ludovic Doppler effect 2 / 19
- 3. Introduction to the Doppler effect 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 effect 3 / 19
- 4. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling examples Definition Acoustic: Sound waves are scattered back from particles GROSJEAN Ludovic Doppler effect 4 / 19
- 5. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling examples Definition Acoustic: Sound waves are scattered back from particles Doppler: Using the Doppler effect GROSJEAN Ludovic Doppler effect 4 / 19
- 6. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling examples Definition Acoustic: Sound waves are scattered back from particles Doppler: Using the Doppler effect Current: Measure water current velocities GROSJEAN Ludovic Doppler effect 4 / 19
- 7. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling examples Definition Acoustic: Sound waves are scattered back from particles Doppler: Using the Doppler effect Current: Measure water current velocities Profiler: For current profiling in the water column GROSJEAN Ludovic Doppler effect 4 / 19
- 8. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling examples Cell cutting Determine the depth of the particle d d = v ∗ t measuring t v = F ∗ λ Cut the water column in cell size Provides a velocity profile for each cell GROSJEAN Ludovic Doppler effect 5 / 19
- 9. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling examples Cell cutting Determine the depth of the particle d d = v ∗ t measuring t v = F ∗ λ Cut the water column in cell size Provides a velocity profile for each cell GROSJEAN Ludovic Doppler effect 5 / 19
- 10. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling 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 effect 5 / 19
- 11. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling 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 effect 5 / 19
- 12. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling examples Recording areas “Blank” zone: Bottom Surface area Height measurement Echoes and reflections GROSJEAN Ludovic Doppler effect 5 / 19
- 13. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling examples Recording areas “Blank” zone: Bottom Surface area Height measurement Echoes and reflections GROSJEAN Ludovic Doppler effect 5 / 19
- 14. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling examples Bottom-tracking versus Upward-looking ADCP GROSJEAN Ludovic Doppler effect 6 / 19
- 15. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling examples Bottom-tracking versus Upward-looking ADCP Upward-looking ADCP Fixed to a mooring or a marine structure Current profile time series Wave directional spectrum GROSJEAN Ludovic Doppler effect 6 / 19
- 16. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling examples Bottom-tracking versus Upward-looking ADCP GROSJEAN Ludovic Doppler effect 6 / 19
- 17. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling examples Bottom-tracking versus Upward-looking ADCP Bottom-tracking ADCP Mounted on a mobile vehicle Track the bottom vehicle velocity Current profile spatial cross section GROSJEAN Ludovic Doppler effect 6 / 19
- 18. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Bottom-tracking versus Upward-looking ADCP Acquired data and profiling examples GROSJEAN Ludovic Doppler effect 7 / 19
- 19. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Acquired data and profiling examples Definition Acoustic: Sound waves are scattered back from particles GROSJEAN Ludovic Doppler effect 8 / 19
- 20. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Acquired data and profiling examples Definition Acoustic: Sound waves are scattered back from particles Doppler: Using the Doppler effect GROSJEAN Ludovic Doppler effect 8 / 19
- 21. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Acquired data and profiling examples Definition Acoustic: Sound waves are scattered back from particles Doppler: Using the Doppler effect Velocimeter: Record instantaneous velocity components at a single-point with a relatively high frequency GROSJEAN Ludovic Doppler effect 8 / 19
- 22. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Acquired data and profiling examples Caracteristics Bistatic acoustic Doppler system Probe head consists of a transmitter Two to four receivers GROSJEAN Ludovic Doppler effect 9 / 19
- 23. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Acquired data and profiling examples Capabilities High-precision instrument Measure 3D water velocity Sensor mounted on stem The probe is submerged in the flow GROSJEAN Ludovic Doppler effect 9 / 19
- 24. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Acquired data and profiling examples Specifications Record instantaneous velocity components Single-point High frequency Perform to measure the particle velocity in a remote sampling volume GROSJEAN Ludovic Doppler effect 9 / 19
- 25. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Acquired data and profiling examples GROSJEAN Ludovic Doppler effect 10 / 19
- 26. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Data processing Definition Doppler: Using the Doppler effect GROSJEAN Ludovic Doppler effect 11 / 19
- 27. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Data processing Definition Doppler: Using the Doppler effect Velocity: Used to determine the velocity vector of the device GROSJEAN Ludovic Doppler effect 11 / 19
- 28. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Data processing Definition Doppler: Using the Doppler effect Velocity: Used to determine the velocity vector of the device Log: Used for navigation submarines systems GROSJEAN Ludovic Doppler effect 11 / 19
- 29. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Data processing Moving vessel navigation AUV ROV Surface vessels Divers GROSJEAN Ludovic Doppler effect 12 / 19
- 30. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Data processing Moving vessel navigation AUV ROV Surface vessels Divers GROSJEAN Ludovic Doppler effect 12 / 19
- 31. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Data processing Position estimation Beam coordinates + Transducer orientation + Ship coordinates: GPS (heading) + Earth coordinates GROSJEAN Ludovic Doppler effect 12 / 19
- 32. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Data processing Position estimation Beam coordinates + Transducer orientation + Ship coordinates: GPS (heading) + Earth coordinates GROSJEAN Ludovic Doppler effect 12 / 19
- 33. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Data processing Navigation replacement for Separate current meters Temperature sensors Altimeters Navigation equipment GROSJEAN Ludovic Doppler effect 12 / 19
- 34. Introduction to the Doppler effect ADCP ADV DVL Conclusion Operating principle Data processing GROSJEAN Ludovic Doppler effect 13 / 19
- 35. Introduction to the Doppler effect 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 Profile 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 effect 14 / 19
- 36. Introduction to the Doppler effect 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 effect 15 / 19
- 37. Introduction to the Doppler effect 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. field 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 effect 16 / 19
- 38. Introduction to the Doppler effect 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 profiling products GROSJEAN Ludovic Doppler effect 17 / 19
- 39. Introduction to the Doppler effect 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 d’un GPS d’attitude sur la centrale d’acquisition 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 effect 18 / 19
- 40. Introduction to the Doppler effect ADCP ADV DVL Conclusion Thank you for listening Do you have any questions ? GROSJEAN Ludovic Doppler effect 19 / 19