SINGLE BEAM SURVEY USING EIVA SOFTWARE

Transcription

1 SINGLE BEAM SURVEY USING EIVA SOFTWARE Amirul Izam Fauzi, Othman Mohd Yusof, Eddy Junaidy Emran Centre of Studies for Surveying Science and Geomatics, Faculty of Architecture, Planning and Surveying, Universiti Teknologi MARA, Shah Alam, Selangor Darul Ehsan, MALAYSIA. Abstract -Nowadays there is a lot of processing software that are available in the market to process the hydrography data. The advantages of using these processing software are that it will help to collect and process the data faster compared to the conventional method. In order to differentiate the variety of software that available in the market is the way of the software being operated. The aim of this study is to conduct a bathymetric survey using a single beam echo sounder and process the data using EIVA software. There are a few stages in order to complete the study. The first stage is the project preparation such as calculate and configure the sounding line, configure the vessel shape, geodetic parameter, and all the system configuration for the navigation. All the system configuration will be set up using NaviPac Software. Next, for the second stage is the data collection at the site. The site area for this study is located near the North Port, Klang and the dimension of the survey is 160m x 200m. Lastly, for the third stage is the data processing. The data will be processed using NaviEdit and NaviModel software and the bathymetric chart will be processed using NaviPlot software. The result of this study is the depth and contour of the survey area. Based on the results of this study, a standard procedure for the acquisition of the data until the production of bathymetric chart of the survey area was developed. As a conclusion, the objective of this study has been achieved which is to plan the procedure to collect and set up the data using NaviPac. The next objective is to conduct a bathymetric survey of the site and the last objective is to process the survey data using NaviEdit and NaviModel and produce a bathymetric chart of the study area by using NaviPlot. EIVA software is suitable to be used to collect and process the data as it is easy to use and easy to handle. Index Term Bathymetric Survey, Echo Sounder, EIVA Software, NaviPac, NaviEdit, NaviModel, NaviPlot. I. INTRODUCTION Hydrographic surveying is the study of measuring and showing the specification and structure of the seabed classification with the land mass and dynamic features of the sea (International Hydrographic Organization, 2005). The advancement of marine activities in Malaysia had increased every year. Besides used for nautical chart, the hydrographic surveying data also being used in another application such as marine engineering, ocean habitat studies, pipeline inspection, determination of maritime boundary and many more. Nowadays there are a lot of software that have been in the market to process the hydrography data. This software will help to collect and process the data faster as compared with the conventional method. In order to differentiate the variety of software that available in the market is the way of the software being operated and the easiest to handle the software. For example, NaviSuite is one of the products under EIVA software, a complete software toolbox for subsea survey and engineering. It is marine software and a system organization in designing and assembly software and integrated system solutions for hydrographic surveying. EIVA headquarters consists of one building with an area of 3500 square meters. The headquarters are located close to Aarhus. Its building has provided modern, production line, calibration laboratory, electronic workshop and a housing software development with the purpose-built facilities. This company consists of more than 60 workers, including a team that specialist in developing software for marine application, starting from the navigation to data collection then to post-processing data and lastly production of charts. All of these people have a solid background education and a wide experience in doing the programming. Some of the workers in the company have worked in many years, thus has a wide range of experience with the product software and its application (Herskind, 2006). In 1978, EIVA was founded and at the early stage of its foundation, it provided the services, equipment and sensor for the exploration of oil and gas industry. In 1982, EIVA begin to develop by introducing NaviPac integrated navigation software. Then, EIVA has gone a rapid development to become a well-known offshore company until todays with its main objectives is the integrated software solution system to be use in hydrographic surveying, construction of the offshore and work inspection, seafloor mapping, geophysical surveying, oceanographic research and many more For the development of the software, EIVA has made a standard tool for the design and specification, management and the documentation. The Bureau Veritas Quality Institute (BVQI) had acknowledged EIVA to ISO 9001:2008 of the management quality system. The quality certification part is based on the object oriented methods and the standard waterfall models of the development procedures. The main objective of EIVA is to be the main provider for the offshore software that are related to the hydrographic surveying (Herskind, 2006). This can be seen from the past, experience that this is the best approach to make sure that a close interactive process with the end user. By this way, the interface of the man machine of the software as well as the future features can be in conjunction and the user can get a more satisfying and user friendliness result. The product of EIVA software contains of a software for all types of offshore surveying starting from the navigation to the data collection, to the post-processing of the data and lastly to the production of the sheets. The modules in the EIVA are NaviPac for the Integrated Navigation, NaviScan for the Multi beam and Sonar Data collection, NaviEdit for Editing Survey Data, NaviModel for the Digital Terrain Mapping and lastly NaviPlot for the Production and Charting of Fair Sheet (Herskind, 2006). Other than this module, EIVA also has optional modules software that is available for certain purpose such as cable laying, pipeline inspection and barge/tug management. All the modules form a seamless solution of software that allows the data to transfer from a module to another module. The capability of the interface that contains a selectable export and import of the data formats make each module to be used in stand-alone interface mode with the third party software. The entire software suite is very famous

2 in the offshore market and it is still under a continuous research in order to fulfil the requirement of the new industry which is developed every day. II. AIM AND OBJECTIVES The aim of the study is to conduct a bathymetry survey using single beam echo sounder to collect the bathymetry data and to process the data by using EIVA software. In order to achieve the aim, the following objectives need to be fulfilled:- a. To plan the procedure to collect and set up the data using NaviPac module under EIVA software. b. To conduct a bathymetric survey at the site c. To process the survey data using NaviEdit and NaviModel and produce a bathymetric plan of the study area by using NaviPlot Preliminary Work (Phase 1) Doing research about bathymetry mapping. Study about the software used for data collection. Selection of study area and problem identification. Preparation (Phase 2) Find image satellite of study area (North Port) from google image Installation of EIVA software Configuration of the software and the equipment III. METHODOLOGY The methodology can be divided into five phases, namely phase 1, phase 2, phase 3, phase 4 and phase 5. Phase 1 is about preliminary work which includes doing a research about bathymetric mapping, software that will be used and the study area together with the problem identification. Phase 2 is about preparation stages such as installation of the EIVA software and configuration of the software and the equipment while phase 3 is a data acquisition by conducting bathymetric survey using NaviPac. Phase 4 is the data processing by using NaviEdit and NaviModel and lastly phase 5 is the result and analysis section by producing bathymetric plan using NaviPlot. Figure 1 illustrates research methodology for this study. Site Collection (Phase 3) Conduct bathymetric survey using NaviPac Data Processing (Phase 4) Process the data using NaviEdit and NaviModel 3.1 Site Study The site of this study is located at latitude 3 1'40.51"N and longitude '18.37"E. The size of the study area for the bathymetric survey is about 160 metres by 200 metres. The study area is situated at North Port,Klang. Figure 2 shows the location of the study area. Result and Analysis (Phase 5) Produce bathymetry plan using NaviPlot Analysis ofthe result. Figure 1. Research Methodology such as modification time, database version, information of the server, entities number, information about the dongle, NaviPac mode and all these items cannot be edited as it only display the information on the panel. Figure 2. Location of the Study Area (Google, 2015) 3.2 NaviPac Configuration When the user open the NaviPac Configuration, the main window will appear as shown in Figure 3. This program will automatically loads the setup file (eg \eiva\navipac\db\gensetup.db). Next, the file name will displayed in the Setup File fields. The user can edit any setup file with NaviPac Configuration, but in order to use it for navigation, the file must be named to gensetup.db. The file header are displaying the information about the most recently setting that is setup by the user The Instruments are displaying and control/editing all the instrument that have in the list. The setup configuration for the Instruments will only setup the Surface Navigation for tracking system, Gyro and compass for the vessel and also the dynamic objects, Data Acquisition which is echo sounders and Offsets on the vessel or dynamic objects. For surface navigation, a GPS (NMEA) types is chosen. For the gyro, NMEA gyro is chosen but it will only be setup as calculated mode only because there is no gyro instrument is used in this study. Next, for the data acquisition, NMEA 183 Depth is selected and lastly the offset for the GPS and the Echo sounder also must be defined. The Geodesy are displaying and control/editing the selected geodesy. Under Geodesy configuration, this survey will used the projection system of Rectified Skew Orthophomic Malaysia (MRSO) because it is surveyed in Peninsular Malaysia. The ellipsoid used is Everest 1948 West Malaysia and the Datum Shifts used is from WGS84 to Kertau Datum. These parameters are needed in order to transform the position between the two datum s which is WGS84 and Kertau Datum. EIVA

3 uses 7-parameter datum shifts that required 3-translation, 3-rotation, and a scale factors. ITRF is an optional addition datum shift. The scale used is in metric. The geodetic parameter for Malaysia is not available in the list menu in NaviPac software. The user can entered the parameter value by manually or by updating the geodetic parameter in the EIVA database. If the geodetic parameter have been updated in the database, the user can choose from the list menu available in the geodesy setting. The Objects are displaying and control/editing the objects used in this setup. Next, under Objects configuration, the object use the vessel only and the user do not need to setup again at the Object because it will follow the setup at the Instruments. Lastly, the Warm Start are displaying and control/editing of which modules the user want to activate during navigation start up. Figure 4. Report View of the Vessel Figure 5. Graphical View of the Vessel 3.3 Configuration of the sounding line Every survey is performed by using a pre-planned survey lines. The survey lines can be generated on Helmsman s Display. This survey used a single line. A single lines are lines defined with a starting coordinate and end with a coordinate. Then, a line is drawn between the two coordinates. It can be a straight line or a curved line. The starting line for this survey is me and the end coordinate is mn. There is a total of 17 lines in this survey, but only 8 lines will be surveyed. The fix interval of the line is 5m. The survey line which also known as runline will be saved as *.rlx file in the folder displayline on the database. Figure 4.10 shows the survey line of the study area that had been configured. Figure 3. NaviPac Configuration System 3.3 Configuration of the vessel shape The specification of the vessel must be specified before the survey can be started. The vessel shape can be done in the Graphic Editor under Tools which can be found on the window panel in NaviPac. The length of the vessel is 7.32m and the width of the vessel is 1.68m. The vessel shape is used online in the Helmsman s Display to give the user an idea about the vessel shape and the heading. The user can define the shape manually or import a vessel shape from a previous project. The vessel shape is defined as a series of X, and Y points. Start the drawing by choosing Start Polygon with Fill and Edge. Then, entered the X and Y coordinates for the first point, then move to second coordinate, and for the next coordinate, choose a line in order to join all the lines. When all the coordinate has finished entered, closed the drawing by choosing End Polygon. The shape of the vessel can be viewed in graphical view by referring to the figure 4.9. Next, save the file of the vessel as shape file *.shp. Figure 6. The Survey Line of the Study Area 3.3 Equipment Installation The transducer was installed accurately as possible in relation to other survey system. If the transducer was mounted improperly on the vessel, it will give a poor system operation result and the quality of the

4 data is cannot be accepted. If the transducer is installed temporarily, it is often mounted at the over the side of the boat, but if the transducer is installed permanently, it is often hull mounted on the boat. Figure 4. shows that the transducer was installed over the portside of the vessel. The transducer must be mounted on the boat as far as below the waterline. But, if the over the side mounts are unprotected from the wave action, the transducer must be mounted far enough below the water surface in order to make sure it still properly submerged during roll motions of the vessel. Besides that, the transducer also must be installed as possible as close to the centre of gravity in order to reduce the effect of roll and pitch. The ideal place to locate the transducer is at the third or half of the length of the vessel that is measured from the bow. To prevent the bubbles generated by the bow from passing over the face of the unit, the transducer must be mounted far enough from the bow and it also should be located far away from the source of noise such as engine and propeller. Figure 7. Result before smoothing the data Figure 8. Result after smoothing the data 4.1 Processing the Contour Line in NaviModel Figure 4. Installation of the transducer IV. RESULTS AND ANALYSIS In order to generate the contour line, the data from the NaviEdit must be exported into ASCII (XYZ) file which is in *.xyz format. When the data is successfully exported in *.xyz format, the data can be opened in NaviModel for further processing. The NaviModel will create the data into Digital Terrain Model so that the contour line can be created. After data collection had been done, the data need to be process to make the chart more beautiful as long as the data not interrupted too much. The data that had been collected maybe not in good condition cause by the big wave at the site and also the position of the vessel which may not always constantly in right angle. The step to process the single beam data is not as complicated as processing the multibeam data. For a single beam data, the data need to go through the process of removing the spike and also the process to smoothing the data. From this data, it does not have too many spikes thus, it is not necessary to undergo spike removing procedure and it just needs to go through the process of smoothing the data. The data can be smoothed in NaviEdit by inserting a suitable wave length to the data. It is recommended to apply the lowest wavelength as possible as can in order to maintain the quality of the data. The reason to smoothing the data is that it is used to filter out a high frequency noise from the data. If the wavelength is set too high, it might remove the important features in the data set. The suitable wavelength applied to the data is 20 seconds wave length and after the smoothing is applied, the graph of the depth data is smoother compared to the graph before the smoothing process is applied. Figure 9. The Digital Terrain Model of the data According to the Figure 7. Digital Terrain Model, the shallowest part of the survey area is at 2.34m and the deepest part is at 5.45m and mostly the depth of the area is around 4.8m. For shallower water regions, it is important to have a knowledge of the seafloor depths for the purpose of navigation and also as a warning hazards to shipping. The survey area is quite safe for the vessel to pass by around it. Besides that, mapping the ocean floor also important for the purpose of offshore resource exploration and exploitation such as fisheries and hazardous waste disposal. Before creating the contour, the outline around the DTM must be created first so that the contour can be generated just around the DTM area.

5 various format such as Displayline *.dis, ESRI Shape *.shp, AutoCAD *.dxf, XYZ *.xyz, Google Earth *.kml, Pipetracker *.pip, Digitized line *.dig etc. Figure 10. Creating Outline around the DTM When the outline around the DTM is displayed, then the contour can be started to generate. The contour is generated from one point to one point. The Interval Minors of the contour is set to 0.5m and the Interval Majors is set to 5m with the cell size factor is set to 1. A contour lines is an imaginary lines that connecting the points of the same elevation or depth. An interval contour is the predetermined difference between two lines contour. A map that shows very close line of contour means that the land is very steep. On the other hand, a map that has a wide space between the lines contours means that it has a gentle slope. The smaller the interval contour, the more capable the map can show the finer features and also details of the land. Figure 12. Total Area of the Survey Area Figure 13. Total Volume of the Survey Area After all procedure had completed, the contour data must be save as *.nmc format so that it can be exported to the NaviPlot for producing the chart. 4.2 Importing the data into NaviPlot Figure 11(a). Generating the Contour Line The bathymetric chart will be produced in A3 size with the dimension of 420mm X 297mm. The size of the sheets must be setup first on the NaviPlot. Then, on the main frame of the sheets, draw a new frame to insert the data that had been exported earlier such as *.bpl, and *.nmc file. The layout of the chart is prepared according to the standard format. The scale of the plan is 1:1000 and the length from the first point to the last point is about 200m. After the chart is finished, the file of the chart can be exported to the AutoCAD format. The line of the survey in the chart area will show the depth of the seabed to the chart datum and this will help the vessel to identify the best route to pass by in order to make sure the safety of the vessel. Figure 11(b). Generating the Contour Line NaviModel also are capable to calculate the total area of the survey area based on the outlines created along the DTM. By referring to the figure 4.31, the total survey area that are calculated is meter per square. Besides that, the other advantages of NaviModel also it can calculate the volume of the survey area. By referring to the figure 4.32, the volume above for the survey area is meter cube and the volume below for the area is meter cube. On top of that, the user also can save as the contour data that have been processed in Figure 14. Bathymetric Chart Produce by NaviPlot

6 V. DISCUSSIONS 5.1 Coordinate Frame Rotation in EIVA When the setup of geodetic parameter had completed, it is a good practice to test the parameters that had been setup using a known point in both coordinate systems. A test option is included in the NaviPac Online under Calculate WGS84. It will open a calculator interface to calculate the conversion of positions between WGS 84 and the user datum. The user will enter the coordinates that need to be converted either as a grid coordinates or geographical coordinates. Refer to figure Verification of the data From the bathymetric plan produced, the depth of the survey area shown in the plan can be prove correct because the depth data is tally for the highest depth and the lowest depth of the survey area when viewed back in the NaviEdit, NaviModel and also NaviPlot. Figure 4.48 and Figure 4.49 shows the viewing of the highest and lowest depth of the area. The highest depth that was recorded is 5.45 meters and the lowest depth that was recorded is 2.34 meters. Figure 15. Coordinate Test in EIVA EIVA software offer a different kind of datum shift methods. If the Coordinate Frame Rotation given by the geodetic parameter is counter clockwise, then an opposite sign must be applied on all the rotation parameters. For example, the Coordinate Frame Rotation that is given by PETRONAS shows that the datum shifts for the Rotation X and Y are positive and the Rotation Z are negative and as stated earlier in EIVA, the user must apply the opposite signs for the rotation parameters so automatically the Rotation X and Y will become negative and the Rotation Z will become positive. Table 1 shows the difference setup between PETRONAS and EIVA. At the end of the result, the coordinate conversion from WGS 84 to Kertau Datum in EIVA is the same as the coordinate conversion from the documents that have been used by PETRONAS and this approved that the survey can be done by using this software. Figure 16. Highest Depth of the Survey Area Table 1. Difference Datum Transformation between PETRONAS and EIVA PARAMETER PETRONAS EIVA Translation X metres metres Translation X metres metres Translation X metres metres Rotation X seconds seconds Rotation X seconds seconds Rotation X seconds seconds Scale +1.0 ppm +1.0 ppm Figure 15. Lowest Depth of the Survey Are

7 5.3 Limitation of the study The limitation of this study is the echo sounder used in the survey is limited to a single beam only. The data that is collected by a single beam echo sounder is lower density of the data as compared to the multibeam echo sounder. The results that is produced by a multibeam echo sounder is more details as it will show the bottom contour, debris, scour areas and other bottom conditions of the survey area such as shipwreck. Besides that, the multibeam echo sounder also can provides the sediment characterization of the survey area, and the data also have a higher accuracy compare to single beam echo sounder. The method to collect the data also is more effective in order to create a detailed 3- dimensional models for the survey area such as river and lake bottoms as it will collect a several soundings at once. This will reduce the triangular interpolation between the data points because there are more data compared to single beam data. On the other hand, the mapping product that is produce by the multibeam data also is better that mapping product from the single beam data but this is not to justify that the data from the single beam is not good because the data from the single beam also can give a great picture of the survey area but a generalized one that is best for hydraulic modelling, spotting a significant changes, and also for the cutting precise cross sections. Meanwhile, the data from the multibeam can provide all of that and even more. VI. CONCLUSION As a conclusion, EIVA software is a powerful tool that can be used in hydrographic survey because it can provide a lot of things starting from the data acquisition to the processing of the data and finally to the production of the chart. EIVA can be categorized into two which is an online software suite mainly for on-board data acquisition, quality control, recording etc. and an offline processing suite mainly for the purpose on-board and ashore data cleaning, data processing and reporting. The online software suite is mainly based on NaviPac for single beam data and NaviScan for multibeam data is basically meet all the characteristic of online software that is required for online marine activities no matter what type of task or the level of complexity of the work. alternative to the function of exporting, NaviEdit also can access and load the data into the NaviEdit SQL database directly. NaviModel is used as a tool to manipulate with the digital terrain models (DTMs) either for single beam data or multibeam data. The terrain modelling can be based on the Triangular Regular Network (TRN) or on Triangular Irregular Network (TIN) algorithms. The data that is exported from the NaviModel usually can be used for further processing in NaviPlot. NaviPlot is a fair sheet production software that gives the facilities for the layout of the survey data. The layout chart manager in NaviPlot is used to automate and thereby to make it easy for generation of multiple plots as plot series that inherits a common layout of the single plot. Besides that, NaviPlot also can supports exporting the current works to a series of different plotting formats, such as AutoCAD format, PDF format and S-57. ACKNOWLEDGEMENT Faculty of Architecture, Planning and Surveying Universiti Teknologi MARA (UiTM), Department of Surveying Science and Geomatics, Dr. Othman Mohd Yusof, Mr. Eddy Junaidy Emran and a special thanks to who directly or indirectly involved in this study REFERENCES [1]. Google Inc. (2015). Google Earth. Retrieved April 2015, from Google Earth: earth.com [2]. Herskind, P. (2006). Marine Software and Integrated Systems Solutions. 2. [3]. IHO. (2008). IHO Standards for Hydrographic Surveys. 5th edition. Monaco: International Hydrographic Bureau. [4]. EIVA User Manual NaviPac can provide the information about the navigation and positioning calculations to support in any offshore works as well as offshore engineering and also construction operations. Meanwhile, NaviScan is used to acquire the data from all major sonars that have on the market, including with other multibeam echo sounders, sonar profiling and scanning, pipe trackers, side scan sonars etc. Besides that, NaviPac and NaviScan also supports most sensors that are available on the market. This software has a flexible configuration together with intuitive user interface that makes it easy to setup the geodetic parameters and also to select a sensor interface from a pre-defined list of the sensor. Besides that, the user also can alternatively through into a user-defined generic driver. On top of that, the port setting is also easily available for testing prior to the mission. The offline packages can be divided into three main components that related to each other at the level of post-processing. Basically, NaviEdit is used for the initial editing of the raw data that was collected during the online phase. Moreover, NaviEdit also provides a variety of exporters that can be linked to NaviModel and NaviPlot. As an