SURVEI HIDROGRAFI A

LAB 1 : SHIP REFERENCE FRAME INTEGRATION

Dosen :

Danar Guruh Pratomo ST., MT., PhD

Akbar Kurniawan ST., MT

Meiriska Yusfania ST., MT

Oleh :

Romadina Indah Wardani

3514100034
DELIVERABLES:
1. Lat vs. long of the sounders and GPS antenna on the same plot. Show a zoomed in section
so that it displays the separation [2 plots].
Jawab

Gambar 1. Longitude dan Latitude Knudsen

Gambar 2. Longitude dan Latitude Knudsen (Zoom)

 Gambar 3. Longitude dan Latitude EM710

Gambar 4. Longitude dan Latitude EM710 (zoom)

2. Plot of the pitch vs. UTC time [2 plots].
Jawab

Gambar 5. Pitch to UTC Times for Knudsen Attitude

Gambar 6. Pitch to UTC Times for EM710 Attitude

3. Plot of roll vs. UTC time [2 plots].
Jawab

Gambar 7. Roll to UTC Times for Knudsen Attitude

E
Gambar 8. Roll to UTC Times for Knudsen Attitude
4. Plot of heading vs. UTC time [2 plots].
Jawab

Gambar 9. Yaw to UTC Times for Knudsen Attitude

Gambar 9. Yaw to UTC Times for Knudsen Attitude

5. Heave vs. UTC time and induced heave vs. UTC time on same plot (one for the 33 kHz and
one for the 200 kHz, not necessary for the EM710) [2 plots].
Jawab

Gambar 11. Heave to UTC time and induced heave to UTC time for Knudsen 33 kHz
Transducers

Gambar 12. Heave to UTC time and induced heave to UTC time for Knudsen 200 kHz
Transducers
6. Height variation of a sounder from GPS (remove the mean GPS height from all epochs) vs.
UTC time, and total heave (heave + induced heave) vs. UTC time on the same plot. Do once
for 33 kHz or 200 kHz, and once for EM710 Tx or Rx (include which sounder you choose in
the plot title). [2 plots]
Jawab

Gambar 13. Height variation for Knudsen 33 kHz

 Gambar 14. Height variation for EM710 Tx
7. Height above chart datum vs. UTC time of each sounder [4 plots].
Jawab

Gambar 15 Height above chart datum to UTC time for Knudsen 33 kHz Transducers
Gambar 16. Height above chart datum to UTC time for Knudsen 200 kHz Transducers

Gambar 17. Height above chart datum to UTC time for EM710 Tx Transducers
Gambar 18. Height above chart datum to UTC time for EM710 Rx Transducers
8. EM710 heave vs UTC time and Knudsen total heave vs UTC time on the same plot [1 plot].

Gambar 19. EM710 heave to UTC time and Knudsen total heave to UTC time
DISCUSSION
1. Show the survey area (using Google maps?) where this data was collected.
Jawab :
Berdasarkan plotting koordinat (latitude dan longitude) starpack pada Google Earth,
pengambilan data berada di lautan sekitar negara Kanada.
2. Discuss the positions of the GPS antenna vs. the positions of the sounders and why it varies with
time.
Jawab :

Posisi GPS dengan antenna berbeda karena masing-masing instrument memiliki frekuensi
yang berbeda-beda seperti pada gambar diatas. Dimana dampak dari perbedaan frekuensi ini
adalah pada jumlah data yang diambil dari instrument. Untuk menyamakan jumlah dari koordinat
masing-masing instrument adalah dengan melakukan interpolasi data.
3. Discuss the difference in height above chart datum between the 33 kHz and 200 kHz sounders,
why do they vary by different amounts?
Jawab :

Perbedaan nilai dari tinggi di atas chart datum antara 33 kHz dan 200 kHz terjadi karena :

a. Posisi awal
33 kHz Transducer (7.670 -3.240 3.420)
200 kHz Transducer (5.140 -3.240 3.560)
b. Induce Heave maisng-masing the 33 kHz and 200 kHz sounders
c. Tinggi draft maisng-masing the 33 kHz and 200 kHz sounders
Sehingga nilai akhir dari chart datum pun berbeda.

4. Explain induced heave. Is pitch or roll the dominant source in this dataset?
Jawab :

Induced heave mempengaruhi tinggi dari vertikal posisi kapal khususnya pada attitude kapal.
Antara pitch dan roll yang memepengaruhi tinggi kapal juga adalah pitch. Sehingga hal terbesar
yang mempengaruhi nilai induced heave adalah pitch.

5. Discuss the differences between height variations of the sounders calculated using GPS
ellipsoidal heights and using the motion sensor.
Variasi nilai ini dikarenakan nilai tinggi yang diperoleh dari GPS dipengaruhi oleh Induce
Heave namun pada motion sensor seperti sensor yang ada pada ROV, dapat mendetekni nilai
Induce Heave dan Heave. Sehingga nilai tinggi pada motion sensor dipengaruhi oleh Induce
Heave dan Heave
MATLAB CODE
clc;
clear all;
format longG
disp('NAMA : ROMADINA INDAH WARDANI')
disp('NRP : 3514100034')
disp('SURVEY HIDROGRAFI A')
disp('TUGAS LABATORIUM 1')
disp('-----------------------------------------------------------------------
--------------------------')

%1. MEMASUKKAN DATA ATTITUDE DAN STARPACK (GPS)

%Data StarPack (Longitude, Latitude, Years, Day, Jam, Menit, Detik, Ellipsoid
Height, COG)
[LG, LT, YR, DYGPS, HGPS, MGPS, DGPS, EH, COG]=textread('StarPack.ascii','%f
%f %f %f %f %f %f %f %f');

%Data Knudsen Attitude (Hari, Jam, Menit, Detik, Fraksi detik, Julian Date,
Yaw, Role, Pitch, Heave)
[HR1, J1, M1, D1, FD1, DY1, YAW1, ROLL1, PITCH1,
HEAVE1]=textread('KnudsenAttitude.ascii','%f %f %f %f %f %f %f %f %f %f');

%Data EM710 Attitude (Hari, Jam, Menit, Detik, Fraksi detik, Julian Date,
Yaw, Role, Pitch, Heave)
[HR2, J2, M2, D2, FD2, DY2, YAW2, ROLL2, PITCH2,
HEAVE2]=textread('EM710Attitude.ascii','%f %f %f %f %f %f %f %f %f %f');

%Data Pasang Surut StJohnsPredictedTide (Day, Jam, Menit, Tinggi)

[DT, JT, MT, H]=textread('StJohnsPredictedTide.ascii','%f %f %f %f');

%----------------------------------------------------------------------------
----------------------------------
%2. MENYAMAKAN FORMAT MENJADI FORMAT DETIK (COMMON TIME FORMAT FOR THE
ATTITUDE, TIDES, AND GPS)

%Common Time format for StarPack (dalam detik)

CTS=(DYGPS*24*3600)+(HGPS*3600)+(MGPS*60)+DGPS;

%Common Time format for Knudsen Attitude (dalam detik)

CTK=(HR1*24*3600)+(2.5*3600)+(J1*3600)+(M1*60)+D1+FD1-8.59;

%Common Time format for EM710 Attitude (dalam detik)

CTE=(HR2*24*3600)+(J2*3600)+(M2*60)+D2+FD2;

%Common Time format for StJohnsPredictedTide (dalam detik)

CTSJ=(DT*24*3600)+(JT*3600)+(MT*60);

%----------------------------------------------------------------------------
----------------------------------
%3. INTERPOLASI DATA GPS DENGAN ATTITUDE
%Interpolasi StarPack dengan Knudsen Attitude
strlongknu=interp1(CTS,LG,CTK);
strlatknu=interp1(CTS,LT,CTK);
strehknu=interp1(CTS,EH,CTK);

%Interpolasi StarPack dengan EM710 Attitude

strlongem=interp1(CTS,LG,CTE);
strlatem=interp1(CTS,LT,CTE);
strehem=interp1(CTS,EH,CTE);

%4. INTERPOLASI DATA PASANG SURUT DENGAN ATTITUDE

%Interpolasi Tide dengan Knudsen

tideknu=interp1(CTSJ,H,CTK);

%Interpolasi Tide dengan EM710

tideem=interp1(CTSJ,H,CTE);

%Interpolasi EH Knudsen dengan

%----------------------------------------------------------------------------
----------------------------------
%5. MATRIKS ROTASI

% Rotasi Knudsen Attitude

for yk=1:499;
myk(:,:,yk)=[cosd(YAW1(yk)) -1*sind(YAW1(yk)) 0;sind(YAW1(yk))
cosd(YAW1(yk)) 0;0 0 1];% Matriks Yaw Knudsen
mpk(:,:,yk)=[cosd(PITCH1(yk)) 0 sind(PITCH1(yk));0 1 0;-
1*sind(PITCH1(yk)) 0 cosd(PITCH1(yk))];% Matriks Pitch Knudsen
mrk(:,:,yk)=[1 0 0;0 cosd(ROLL1(yk)) -1*sind(ROLL1(yk));0 sind(ROLL1(yk))
cosd(ROLL1(yk))];% Matriks Roll Knudsen

%Matriks Total Knudsen

mtk(:,:,yk)=(myk(:,:,yk))*(mpk(:,:,yk))*(mrk(:,:,yk));
end

%X'(dx,dy,dz) Knudsen Attitude

%Instrument Position
knu33khz=[7.670; -3.240; 3.420];
knu200khz=[5.140;-3.240;3.560];
for xk=1:499
xaksenknu_33(:,:,xk)=mtk(:,:,xk)*knu33khz;% 33 kHz Knudsen Attitude
xaksenknu_200(:,:,xk)=mtk(:,:,xk)*knu200khz;% 200 kHz Knudsen Attitude
end

%Rotasi Starpack
%Menghitung X'(dx,dy,dz) Starpack
X0spa=[-5.220;-0.139;-6.629];

for xs=1:499
xaksenknustp(:,:,xs)=mtk(:,:,xs)*X0spa;
end
%Rotasi EM710 Attitude

for ye=1:21620;
mye(:,:,ye)=[cosd(YAW2(ye)) -1*sind(YAW2(ye)) 0;sind(YAW2(ye))
cosd(YAW2(ye)) 0;0 0 1];% Matriks Yaw EM710
mpe(:,:,ye)=[cosd(PITCH2(ye)) 0 sind(PITCH2(ye));0 1 0;-
1*sind(PITCH2(ye)) 0 cosd(PITCH2(ye))];% Matriks Pitch EM710
mre(:,:,ye)=[1 0 0;0 cosd(ROLL2(ye)) -1*sind(ROLL2(ye));0 sind(ROLL2(ye))
cosd(ROLL2(ye))];% Matriks Roll EM710

%Matriks Total Knudsen

mte(:,:,ye)=(mye(:,:,ye))*(mpe(:,:,ye))*(mre(:,:,ye));
end

%X'(dx,dy,dz) EM710
%Instrument Position
emTx=[6.904;-3.158;3.477];
emRx=[5.990;-3.240;3.554];

for xe=1:21620;
xaksenem_Tx(:,:,xe)=mte(:,:,xe)*emTx;% Tx Transducer
xaksenem_Rx(:,:,xe)=mte(:,:,xe)*emRx;% Rx Transducer
end

%Menghitung X'(dx,dy,dz) Starpack

X0spa=[-5.220;-0.139;-6.629];

for ys=1:21620;
xaksenemstp(:,:,ys)=mte(:,:,ys)*X0spa;
end

%----------------------------------------------------------------------------
-----------------------------------------------------------
%6. KONVERSI DELTA N DAN DELTA E KE DELTA LAT DAN DELTA LONG
%Parameter WGS 84
a=6378137;
f=1/298.257223563;
b=a-(a*f);
e2=((a^2)-(b^2))/(a^2);
e2kedua=((a^2)-(b^2))/(b^2);

%Konversi Knudsen Transducer

for nmk=1:499
N(nmk,:)=a./sqrt(1-(e2.*(sind(strlatknu(nmk)).^2)));
M(nmk,:)=(a*(1-e2))./((1-(e2.*(sind(strlatknu(nmk)).^2))).^1.5);
dlatknu_33(nmk,1)=xaksenknu_33(1,1,nmk)./M(nmk,:);%konversi ke dlat
knudsen 33 kHz
dlatknu_200(nmk,1)=xaksenknu_200(1,1,nmk)./M(nmk,:);%konversi ke dlat
knudsen 200 kHz
dlongknu_33(nmk,1)=xaksenknu_33(2,1,nmk)./N(nmk,:);%konversi ke dlong
knudsen 33 kHz
dlongknu_200(nmk,1)=xaksenknu_200(2,1,nmk)./N(nmk,:);%konversi ke dlong
knudsen 200 kHz

%Latitude Longitude Knudsen Transduser

 latknu_33=dlatknu_33(nmk,1)+interp1(CTS,LT,CTK);%Latitude Knudsen 33 kHz
latknu_200=dlatknu_200(nmk,1)+interp1(CTS,LT,CTK);%Latitude Knudsen 200
kHz
longknu_33=dlongknu_33(nmk,1)+interp1(CTS,LG,CTK);%Longitude Knudsen 33
kHz
longknu_200=dlongknu_200(nmk,1)+interp1(CTS,LG,CTK);%Longitude Knudsen
200 kHz
end

%Konversi EM710 Transducer

for nme=1:21620
N(nme,:)=a./sqrt(1-(e2.*(sind(strlatem(nme)).^2)));
M(nme,:)=(a*(1-e2))./((1-(e2.*(sind(strlatem(nme)).^2))).^1.5);
dlatem_Tx(nme,1)=xaksenem_Tx(1,1,nme)./M(nme,:);
dlatem_Rx(nme,1)=xaksenem_Rx(1,1,nme)./M(nme,:);
dlongem_Tx(nme,1)=xaksenem_Tx(2,1,nme)./N(nme,:);
dlongem_Rx(nme,1)=xaksenem_Rx(2,1,nme)./N(nme,:);

%Latitude Longitude EM710 Transduser

latem_Tx=dlatem_Tx(nme,1)+interp1(CTS,LT,CTE);
latem_Rx=dlatem_Rx(nme,1)+interp1(CTS,LT,CTE);
longem_Tx=dlongem_Tx(nme,1)+interp1(CTS,LG,CTE);
longem_Rx=dlongem_Rx(nme,1)+interp1(CTS,LG,CTE);
end

%Konversi Longitude Latitude Starpack terhadap Knudsen Transducer

for nmks=1:499
dlatknusta(nmks,1)=xaksenknustp(1,1,nmks)./M(nmks,:);
dlongknusta(nmks,1)=xaksenknustp(2,1,nmks)./N(nmks,:);

%starpack
latknu_sta=dlatknusta(nmks,1)+interp1(CTS,LT,CTK);
longknu_sta=dlongknusta(nmks,1)+interp1(CTS,LG,CTK);
end

%Konversi Longitude Latitude Starpack terhadap EM710 Transducer

for nmes=1:21620
dlatemsta(nmes,1)=xaksenemstp(1,1,nmes)./M(nmes,:);
dlongemsta(nmes,1)=xaksenemstp(2,1,nmes)./N(nmes,:);

%Longitude Latitude Starpack terhadap EM710

latem_sta=dlatemsta(nmes,1)+interp1(CTS,LT,CTE);
longem_sta=dlongemsta(nmes,1)+interp1(CTS,LG,CTE);
end

%----------------------------------------------------------------------------
--------------------------------------------------------------
%7. MENGHITUNG Z TERHADAP CHART DATUM
%Z Knudsen terhadap Chart Datum
%Menghitung Heave Knudsen Transducers
%Induced Heave Knudsen 33 dan 200 kHz Transducer

for h=1:499;
%Induced Heave Knudsen 33 dan 200 kHz Transducer
ih_knu33=xaksenknu_33(3,1:h)-knu33khz(3,1);
 ih_knu200=xaksenknu_200(3,1:h)-knu200khz(3,1);
end

%Total Heave Knudsen

for t=1:499;
th_knu33(t,1)=HEAVE1(t)+ih_knu33(t);
th_knu200(t,1)=HEAVE1(t)+ih_knu200(t);

wl=1.310;
%Menghitung Draft Knudsen
drknu_33=knu33khz(3,1)-wl;
drknu_200=knu200khz(3,1)-wl;

%Total Z terhadap chart datum

zknu_33(t,1)=tideknu(t)-drknu_33-th_knu33(t,1);
zknu_200(t,1)=tideknu(t)-drknu_200-th_knu200(t,1);

end

%Z EM710 terhadap Chart Datum

%Menghitung Heave Tx dan Rx Transducer EM710

for te=1:21620;

wl=1.310;
%Menghitung Draft EM710
drem_Tx=emRx(3,1)-wl;
drem_Rx=emTx(3,1)-wl;

%Total Z terhadap chart datum

zem_Tx(te,1)=tideem(te)-drem_Tx-HEAVE2(te,1);
zem_Rx(te,1)=tideem(te)-drem_Rx-HEAVE2(te,1);

end

%----------------------------------------------------------------------------
-----------------------------------------------------------------
%8.MENGHITUNG Z TERHADAP ELLIPSOID

%Menghitung Z Knudsen terhadap Ellipsoid

for ze=1:499;
Zrp_Knu(ze,1)=strehknu(ze)+xaksenknustp(3,:,ze);
ZT_Knu33(ze,1)=Zrp_Knu(ze)+xaksenknu_33(3,:,ze);
ZT_Knu200(ze,1)=Zrp_Knu(ze)+xaksenknu_200(3,:,ze);
end

%Height Variation
zvar_knu33=ZT_Knu33-mean(ZT_Knu33);
zvar_knu200=ZT_Knu200-mean(ZT_Knu200);
disp('-----------------------------------------------------------------------
----------------------------------')

%Menghitung Z EM710 terhadap Ellipsoid

for zem=1:21620;
Zrp_em(zem,1)=strehem(ze)+xaksenemstp(3,:,zem);
ZT_emTx(zem,1)=Zrp_em(zem)+xaksenem_Tx(3,:,zem);
ZT_emRx(zem,1)=Zrp_em(zem)+xaksenem_Rx(3,:,zem);
end

%Height Variation
zvar_emTx=ZT_emTx-mean(ZT_emTx)
zvar_emRx=ZT_emRx-mean(ZT_emRx)

disp('-----------------------------------------------------------------------
----------------------------------')

%DELIVERABLES
%Nomor 1
%Knudsen
figure;1;
plot(latknu_33,longknu_33,'y',latknu_200,longknu_200,'g',latknu_sta,longknu_s
ta,'r')
title('Coordinates Plot for Knudsen 33 & 200 kHz Transducer and Starpack
antenna')
xlabel('Latitude');
ylabel('Longitude');
legend('LatLong Knu_33','LatLong Knu_200','LatLong_Starpack');
hold on

%EM710
figure;2;
plot(latem_Tx,longem_Tx,'m',latem_Rx,longem_Rx,'y',latem_sta,longem_sta,'b')
title('Coordinates for EM710 Transducer and Starpack antenna')
xlabel('Latitude');
ylabel('Longitude');
legend('LatLong Em_Tx','LatLong Em_Tx','LatLong_Starpack');
hold on

%Nomor 2
%Knudsen
figure;3;
plot(PITCH1,CTK,'g');
title('Pitch to UTC Times for Knudsen Attitude');
xlabel('Pitch Knudsen Attitude');
ylabel('UTC Times Knudsen Attitude');
legend('Pitch Knudsen','UTC Times');
hold on

%EM710
figure;4;
plot(PITCH2,CTE,'y');
title('Pitch to UTC Times for EM710 Attitude');
xlabel('Pitch EM710 Attitude');
ylabel('UTC Times Knudsen Attitude');
legend('Pitch EM710','UTC Times');
hold on

%Nomor 3
%Knudsen
figure;5;
plot(ROLL1,CTK,'b');
title('Roll to UTC Times for Knudsen Attitude');
xlabel('Pitch Knudsen Attitude');
ylabel('UTC Times Knudsen Attitude');
legend('Pitch Knudsen','UTC Times');
hold on

%EM710
figure;6;
plot(ROLL2,CTE,'m');
title('Roll to UTC Times for EM710 Attitude');
xlabel('Roll EM710 Attitude');
ylabel('UTC Times EM710 Attitude');
legend('Pitch EM710','UTC Times');
hold on

%Nomor 4
%Knudsen
figure;7;
plot(YAW1,CTK,'r');
title('Yaw to UTC Times for Knudsen Attitude');
xlabel('Yaw Knudsen Attitude');
ylabel('UTC Times Knudsen Attitude');
legend('Yaw Knudsen','UTC Times');
hold on

%EM710
figure;8;
plot(YAW1,CTK,'r');
title('Yaw to UTC Times for EM710');
xlabel('Yaw EM710 Attitude');
ylabel('UTC Times EM710 Attitude');
legend('Yaw EM710','UTC Times');
hold on

%Nomor 5
%Hanya untuk Knudsen 33 dan 200 kHz Transducer
%Knudsen 33 kHz Transducer
figure;9;
plot(HEAVE1,CTK,'r',ih_knu33,CTK,'g')
title('Heave to UTC time and induced heave to UTC time for Knudsen 33 kHz
Transducers')
xlabel('Heave Knudsen 33 kHz');
ylabel('Induce Heave Knudsen 33 kHz');
legend('Heave/Induce Heave','UTC Times');
hold on

%Knudsen 200 kHz Transducer

figure;10;
plot(HEAVE1,CTK,'b',ih_knu200,CTK,'m');
title('Heave to UTC time and induced heave to UTC time for Knudsen 200 kHz
Transducers');
xlabel('Heave Knudsen 200 kHz');
ylabel('Induce Heave Knudsen 200 kHz');
legend('Heave/Induce Heave','UTC Times');
hold on

%Nomor 6
%Knudsen
figure;11;
plot(zvar_knu33,CTK,'m',th_knu33,CTK,'g');
title('Height variation for Knudsen 33 kHz');
xlabel('Heave Variation for Knudsen');
ylabel('Total Heave');
legend('Height/Heave','UTC Times');
hold on

%EM710
figure;12;
plot(zvar_emTx,CTE,'y',HEAVE2,CTE,'b');
title('Height variation for EM710 Tx ');
xlabel('Heave Variation for EM710');
ylabel('Total Heave');
legend('Height/Heave','UTC Times');
hold on

%Nomor
%Knudsen 33 kHz Transducers
figure;13;
plot(zknu_33,CTK,'m');
title('Height above chart datum to UTC time for Knudsen 33 kHz Transducers
');
xlabel('Height above chart datum');
ylabel('UTC Times');
legend('Height','UTC Times');
hold on

%Knudsen 200 kHz Transducers

figure;14;
plot(zknu_200,CTK,'g');
title('Height above chart datum to UTC time for Knudsen 200 kHz
Transducers');
xlabel('Height above chart datum');
ylabel('UTC Times');
legend('Height','UTC Times');
hold on

%EM710 Tx Transducers
figure;15;
plot(zem_Tx,CTE,'g');
title('Height above chart datum to UTC time for EM710 Tx Transducers');
xlabel('Height above chart datum');
ylabel('UTC Times');
legend('Height','UTC Times');
hold on

%EM710 Rx Transducers
figure;16;
plot(zem_Rx,CTE,'g');
title('Height above chart datum to UTC time for EM710 Rx Transducers');
xlabel('Height above chart datum');
ylabel('UTC Times');
legend('Height','UTC Times');
hold on

%Nomor 8
figure;17;
plot(HEAVE2,CTE,'g',th_knu33,CTK,'r',th_knu200,CTK,'m');
title('EM710 heave to UTC time and Knudsen total heave to UTC time');
xlabel('Height above chart datum');
ylabel('UTC Times');
legend('Heave EM710','Heave 33 kHz Knudsen','Heave 200 kHz Knudsen');
hold on