3-D mapping of sea ice draft with an autonomous underwater vehicle

We set out to achieve floe-scale 3-D mapping of sea ice draft and bio-optical parameters using a Multibeam SONAR and Hyperspectral radiometer mounted to an Autonomous Underwater Vehicle (AUV). The AUV utilised was the 'JAGUAR' Seabed-class vehicle from the Deep Submergence Laboratory at the WoodsHole Oceanographic Institution. The AUV comes with a CTD and ADCP. However these are not deployed as scientific sensors and therefore are unsupported in terms of metadata. In particular the CTD was not calibrated before or during the voyage. The AUV used a LongBaseLine system formed by three transponders to navigate to and from the survey grid. Two were located on the ice and the third was deployed from the back of the ship with an acoustic communications modem. Once at the survey grid beneath the sea ice, the AUV used the DVL to navigate using bottom-tracking of the underside of the sea ice.We conducted 4 missions beneath sea-ice during the SIPEX-II voyage.The current status of the data is that is in un-processed and unavailable until final processing is completed in 2013.Persons interested in the data should contact Dr Guy Williams directly for further information and preliminary figures relating to the AUV missions.The files currently in the archive are in raw form. Some preliminary data is provided for stations 2, 3, 4 and 6 as:floe-2-20120926.matfloe-3-20121003.matfloe-4-20121006.matfloe-6-20121013.matThese can be accessed using the Seabed_plot routines (MATLAB) in this folder.There is a readme file provided called what-is-this.txtAlso included is the video footage taken from the AUV using a GoPro HD Hero. Video Codec: avc1Resolution: 1920x1080 pixelsFrame Rate: 29.970030 f/sAudio Codec: mp4aAudio Bitrate: 1536 kb/sFinally, plots of the data for ice stations 2,3,4 and 6 are included in the preliminary figures folder. The file names indicate which ice station the plots are from.

本研究旨在通过搭载于自主水下航行器（Autonomous Underwater Vehicle, AUV）的多波束声呐（Multibeam SONAR）与高光谱辐射计（Hyperspectral radiometer），实现浮冰尺度下的海冰吃水深度与生物光学参数三维测绘。
本次实验使用的AUV为伍兹霍尔海洋研究所（Woods Hole Oceanographic Institution）深潜实验室研发的“JAGUAR”海底级自主水下航行器。
该AUV标配温盐深仪（CTD）与声学多普勒流速剖面仪（ADCP），但二者未作为科学传感器部署，因此不提供相关元数据支持；尤为关键的是，CTD在航次前及航次过程中均未进行校准。
该AUV采用由3台应答器组成的长基线定位系统（LongBaseLine）完成调查网格往返航行导航：其中2台应答器布放于海冰之上，第3台则通过声学通信调制解调器（acoustic communications modem）从科考船尾部布放。
当AUV抵达海冰下方的调查网格区域后，其借助多普勒测速仪（DVL）通过追踪海冰底部实现导航。
本次科考团队在SIPEX-II航次期间共完成4次海冰下探测任务。
当前这批数据尚未经过处理，需待2013年完成最终处理后方可获取。
有意获取该数据集的人员可直接联系盖伊·威廉姆斯博士（Dr. Guy Williams），以获取与AUV探测任务相关的更多信息及初步结果图。
当前存档中的文件均为原始格式。本次提供了测站2、3、4、6的部分初步数据，文件名为：floe-2-20120926.mat、floe-3-20121003.mat、floe-4-20121006.mat、floe-6-20121013.mat。用户可通过本文件夹内的Seabed_plot MATLAB脚本读取这些文件。
文件夹中附带名为what-is-this.txt的说明文档。
此外还包含由AUV搭载GoPro HD Hero相机录制的水下影像资料，视频参数如下：视频编码格式（Video Codec）：avc1；分辨率：1920×1080像素；帧率：29.970030帧/秒；音频编码格式（Audio Codec）：mp4a；音频比特率：1536 kb/s。
最后，初步结果图文件夹中包含测站2、3、4、6的对应数据绘图，文件名可直接标识绘图所属的海冰测站。

搜集汇总

背景与挑战

背景概述

该数据集涉及使用名为'JAGUAR'的自主水下车辆（AUV）进行海冰厚度的三维映射，包括多波束声纳和超光谱辐射计收集的数据。数据覆盖南极洲附近海域，目前为未处理状态，预计2013年完成处理。数据集遵循CC BY 4.0许可协议，需通过指定联系人获取进一步信息。