Correction for depth biases to shallow water multibeam bathymetric data

Vertical errors often present in multibeam swath bathymetric data. They are mainly sourced by sound refraction, internal wave disturbance, imperfect tide correction, transducer mounting, long period heave, static draft change, dynamic squat and dynamic motion residuals, etc. Although they can be partly removed or reduced by specific algorithms, the synthesized depth biases are unavoidable and sometimes have an important influence on high precise utilization of the final bathymetric data. In order to confidently identify the decimeter-level changes in seabed morphology by MBES, we must remove or weaken depth biases and improve the precision of multibeam bathymetry further. The fixed-interval profiles that are perpendicular to the vessel track are generated to adjust depth biases between swaths. We present a kind of postprocessing method to minimize the depth biases by the histogram of cumulative depth biases. The datum line in each profile can be obtained by the maximum value of histogram. The corrections of depth biases can be calculated according to the datum line. And then the quality of final bathymetry can be improved by the corrections. The method is verified by a field test.     

Reevaluation of historical ocean heat content variations with time-varying XBT and MBT depth bias corrections

As reported in former studies, temperature observations obtained by expendable bathythermographs (XBTs) and mechanical bathythermographs (MBTs) appear to have positive biases as much as they affect major climate signals. These biases have not been fully taken into account in previous ocean temperature analyses, which have been widely used to detect global warming signals in the oceans. This report proposes a methodology for directly eliminating the biases from the XBT and MBT observations. In the case of XBT observation, assuming that the positive temperature biases mainly originate from greater depths given by conventional XBT fall-rate equations than the truth, a depth bias equation is constructed by fitting depth differences between XBT data and more accurate oceanographic observations to a linear equation of elapsed time. Such depth bias equations are introduced separately for each year and for each probe type. Uncertainty in the gradient of the linear equation is evaluated using a non-parametric test. The typical depth bias is +10 m at 700 m depth on average, which is probably caused by various indeterminable sources of error in the XBT observations as well as a lack of representativeness in the fall-rate equations adopted so far. Depth biases in MBT are fitted to quadratic equations of depth in a similar manner to the XBT method. Correcting the historical XBT and MBT depth biases by these equations allows a historical ocean temperature analysis to be conducted. In comparison with the previous temperature analysis, large differences are found in the present analysis as follows: the duration of large ocean heat content in the 1970s shortens dramatically, and recent ocean cooling becomes insignificant. The result is also in better agreement with tide gauge observations. On leave from the Meteorological Research Institute of the Japan Meteorological Agency.     

Mosaic-based positioning and improved motion-estimation methods forautomatic navigation of submersible vehicles

Knowledge of the camera trajectory, which may be determined from the motions between consecutive frames of a video clip, can be used to register images for constructing image mosaics. We discuss a mosaic-based positioning framework for building photo-mosaics and concurrently utilizing them for improved positioning. In this approach, the mosaic is directly exploited in bounding the accumulation of position errors as we integrate the incremental motions of the camera. It is also shown that two earlier closed-form solutions for the estimation of motion directly from spatio-temporal image gradients, as for most gradient-based techniques based on the application of linear(ized) image motion constraint equations, are corrupted with systematic biases. These can be reduced significantly by incorporating the higher-order terms. We propose recursive methods to solve the new nonlinear constraint equations, and investigate the performance of the new solutions in a number of experiments with synthetic and real data     

Undifferenced Cycle Slip Estimation of Triple-Frequency BeiDou Signals with Ionosphere Prediction

With the rapid development of BeiDou satellite navigation system (BDS), high-quality service has been provided in the Asia-Pacific region currently, which will be extended to the whole world very soon. BDS is the first Global Navigation Satellite System that all satellites broadcast the triple-frequency signals. The triple-frequency signals in theory can improve the cycle slip detection that is one of the preconditions in precise positioning by making use of carrier phase. This paper discusses the development of a cycle slip detection method for undifferenced BDS triple-frequency observations in kinematic scenario. In this method, two geometry-free extra-wide-lane combinations and one geometry-free narrow-lane (NL) combinations are employed. The key is to mitigate the between-epoch ionospheric biases in the geometry-free NL combinations. We propose to predict the ionospheric biases of current epoch by using those from its consecutive foregoing epochs. The method is tested with extensive experiments in varying observation scenarios. The results show that in case of sampling interval as small as 5 s, the between-epoch ionospheric biases can be ignored and the correct cycle slips can be determined. Meanwhile in case of lower sampling frequency, one needs to compensate the ionospheric biases of current epoch by using the predicted ionospheric biases. The presented method can correctly detect all cycle slips even if they are as small as 1 cycle.     

WEC-透空式防波堤集成装置能量转换效率研究

基于成本共享理念的波浪能发电装置(WEC)的开发与设计为降低建设成本提供了新的研究思路,应用计算流体力学方法对在透空箱式防波堤前附加垂荡浮子的集成装置进行数值模拟研究,主要研究了流体黏性和非线性PTO系统以及浮子形状对此类集成装置能量转换效率的影响。结果表明,此类集成装置可以获得较高的波能捕获宽度比(CWR),最高可达0.7,可以较好地利用反射波波能。共振区间上受黏性影响较大,相比于线性无黏理论解,CWR下降明显;实现了2种非线性PTO系统的模拟,有待于进一步的优化未获得更高的CWR值;浮子形状优化效果明显,采用圆底形浮子受黏性影响更小,可以获得更大的CWR值。此种集成模型的模拟和研究可以为新型防波堤设计和现有防波堤的改造提供思路和参考。     

一个区域海洋——海冰——大气耦合模式中的北极气候偏差：年结果检验

The Coupling of three model components, WRF/PCE （polar climate extension version of weather research and forecasting model （WRF））, ROMS （regional ocean modeling system）, and CICE （community ice code）, has been implemented, and the regional atmosphere-ocean-sea ice coupled model named WRF/PCE- ROMS-CICE has been validated against ERA-interim reanalysis data sets for 1989. To better understand the reasons that generate model biases, the WRF/PCE-ROMS-CICE results were compared with those of its components, the WRF/PCE and the ROMS-CICE. There are cold biases in surface air temperature （SAT） over the Arctic Ocean, which contribute to the sea ice concentration （SIC） and sea surface temperature （SST） biases in the results of the WRF/PCE-ROMS-CICE. The cold SAT biases also appear in results of the atmo- spheric component with a mild temperature in winter and similar temperature in summer. Compared to results from the WRF/PCE, due to influences of different distributions of the SIC and the SST and inclusion of interactions of air-sea-sea ice in the WRF/PCE-ROMS-CICE, the simulated SAT has new features. These influences also lead to apparent differences at higher levels of the atmosphere, which can be thought as responses to biases in the SST and sea ice extent. There are similar atmospheric responses in feature of distribution to sea ice biases at 700 and 500 hPa, and the strength of responses weakens when the pressure decreases in January. The atmospheric responses in July reach up to 200 hPa. There are surplus sea ice ex- tents in the Greenland Sea, the Barents Sea, the Davis Strait and the Chukchi Sea in winter and in the Beau- fort Sea, the Chukchi Sea, the East Siberian Sea and the Laptev Sea in summer in the ROMS-CICE. These differences in the SIC distribution can all be explained by those in the SST distributions. These features in the simulated SST and SIC from ROMS-CICE also appear in the WRF/PCE-ROMS-CICE. It is shown that the performance of the WRF/PCE-ROMS-CICE is determined to a l     

An embedded anchor with an improved response to repeated loading

As ocean operations have expanded and moved into deeper waters the need for development of high capacity, reliable anchors for long term moorings has emerged. The advantages of embedded anchors are demonstrated but the ‘cyclic creep’ phenomenon is highlighted as potentially damaging to their long term behaviour. A small scale device to prevent cyclic creep is described (AECC system) and the behaviour of an anchor incorporating this device compared to a conventional embedded anchor. Response to both static and repeated loading is presented and the deleterious effect of repeated loading on the life of the system, particularly when installed by soil disturbing procedures, emphasized. It is shown that the use of the AECC device will provide considerable improvements in anchor life. In addition, it is clear that the use of static loading test results in order to demonstrate the general suitability of an embedded anchor is misleading and bears little relationship to subsequent long term response. Finally, proposals are made regarding the incorporation of the AECC device into existing large scale anchors and it is considered that this will result in substantial improvements in behaviour.     

一种涵道双向泵叶轮浪流发电装置的研究分析

为解决海洋波浪能和潮流能耦合利用的问题,提升浪流发电装置的发电效率,上海海洋大学课题组设计了一种新型涵道双向泵叶轮浪流发电装置。主要对轴流泵的工作原理进行理论分析,阐述将轴流泵排水原理应用于浪流发电装置捕获浪流能的可行性,基于轴流泵叶片设计原理,设计出一种可以双向捕获浪流能的叶片。经数据仿真和水槽实验进行验证,得出涵道双向泵叶轮浪流发电装置可以在浪流流速v=0.5 m/s工况下浪即可启动,满足低流速启动要求,发电效率最高为23.7%。     

Monitoring Surface Velocity from Repeated ADCP Observations and Satellite Altimetry

A method has been developed to monitor the surface velocity field by combining repeated acoustic Doppler current profiler (ADCP) observations and satellite altimetry data. The geostrophic velocity anomaly is calculated from the sea surface height anomaly field estimated from the altimetry data by an optimal interpolation. It has been confirmed that this accurately observes the smoothed velocity anomaly field when the interpolation scales are set according to the spatio-temporal sampling pattern of the altimeter used. The velocity anomaly obtained from the altimetry data is subtracted from the repeated ADCP observations to estimate temporal mean velocity along the ship tracks. Regularly sampled, nine-year time series of surface velocity can then be obtained by adding the computed mean velocity and the altimetry anomaly components. This clearly illustrates surface velocity fluctuations such as the movement of the Kuroshio axis due to its meandering and an increase of the interannual variability of the Subtropical Countercurrent toward its downstream region. This revised version was published online in July 2006 with corrections to the Cover Date.     

Estimating the Time Tag Bias of HY-2A Radar Altimeter and Its Application to Dual-frequency Ionosphere Correction

The sea surface height (SSH) derived from radar altimetry is determined by the distance from the satellite to the sea surface and the altitude of the satellite above a reference ellipsoid. The former is measured by the radar altimeter, while the latter is determined by the precision orbit determination (POD). The clock for the POD equipment is independent from that of the radar altimeter onboard the HY-2A satellite. The time tag bias, which is the bias between the time tags provided by the two independent clocks, can greatly affect the SSH measurement accuracy of HY-2A altimeter. This paper estimates the time tag bias of HY-2A radar altimeter using the crossover differences obtained from the sensor geophysical dataset records (SGDR) from February 2014. We obtained a ?0.61-ms Ku-band time tag bias and a ?5.61-ms C-band time tag bias. After we added the time tag bias corrections to the SSH measurements from Ku and C bands, respectively, the means and standard deviations of the global crossover differences can be significantly reduced. We then applied the SSH measurements with the time tag biases corrected to calculate the HY-2A dual-frequency ionosphere correction, significantly improving the accuracy of the HY-2A dual-frequency ionosphere correction.     

A closed-form solution to bearings-only target motion analysis

Bearings-only target motion analysis is a nonlinear state estimation problem in which the noise corrupted angle of arrival measurements of an emitted signal are used to obtain estimates of the source's range, bearing, course, and speed. The estimation process is complicated by unusual observability properties that render the quality of the estimate highly dependent on both the measurement noise levels and the source-observer geometry. Solutions that use recursive Kalman filtering approach or batch-style algorithms have been reported. The nonlinear batch style estimators for this process require iterative solution methods and under certain scenarios can be sensitive to initial conditions. Pseudolinear solutions that alleviate some of the difficulties with the iterative batch algorithms have been proposed. Although early versions of the pseudolinear filter suffered from biased estimates, subsequent improvements appear to have reduced the bias problem. This paper discusses a new pseudolinear solution based on the observable parameters from individual data segments defined by periods of constant observer velocity (termed “legs”). This solution is a true closed-form solution to the bearings-only target motion analysis problem. Although theoretically interesting, the technique does suffer under conditions of poor observability. A practical pseudolinear estimate, that does not suffer from the same observability problems, is developed and related to the first solution. Algorithm performance results, obtained from computer simulation, are presented. For the scenarios examined, the technique provides good state estimates under conditions of high observability. As observability conditions deteriorate, the solution does develop biases. However, it may still be useful for initializing an iterative nonlinear batch-style estimation algorithm     

基于AIS信息校准的双频地波雷达的船只融合跟踪

高频地波雷达（HFSWR）和自动船只确认系统（AIS）是船只跟踪的重要传感器。高频地波雷达可以用来跟踪探测区域的所有船只,而AIS只能用来确认合作船只的信息。由于海杂波的干扰,使用单频率地波雷达的船只跟踪会淹没在布拉格峰值的盲区里,改变探测频率是克服这一缺点的有效手段。在这种背景下,我们提出一种基于AIS校准的双频雷达融合探测算法。因为不同频率的地波雷达测量与AIS的测量值存在系统误差,所以AIS信息可以用来估计和校准地波雷达的每个频率的系统误差。首先,将合作目标的点迹测量与地波雷达的点迹测量通过JVC分配算法进行点迹关联。从合作船只的点迹关联结果中,双频雷达的系统误差可以估计和校准。其次,基于校准的双频雷达数据,使用融合JPDA-UKF算法进行船只跟踪。通过真实探测的数据的实验结果显示所提算法可以实时跟踪船只,相比单频率跟踪可以进一步提高跟踪能力和跟踪精度。     

双矩形浮子波能装置辐射问题的解析方法

在有限水深下1个漂浮在水中的矩形浮子和1个淹没在水下的浮子构成双矩形波能装置模型。基于特征函数展开法求解了线性入射波作用下双矩形浮子波能装置的辐射问题,得出了双矩形浮子辐射速度势的1种新解析式,然后根据Haskind关系由入射势和辐射势来计算波浪激励力,并且采用数值方法对相同算例进行了计算,得到了完全一致的结果,从而证明这种方法是正确的。研究了在不同工况下的波浪激励力和系统的水动力学系数变化的规律。     

Pop-up bottom seismic recorder (PUBS) of the Institute of Oceanographic Sciences,U.K.

A pop-up bottom seismic recorder designed for seismic refraction experiments was built by the Institute of Oceanographic Sciences in 1968. The device is housed within a 71 cm diameter sphere weighing 270 kg when launched. signals picked up by a hydrophone are recorded in analogue form on magnetic tape in the band 2–100 Hz. The total continuous recording period is 12 hr but the lifetime of the system can be effectively extended by cycling the tape-recorders to allow shooting to go on for up to 3 days. Ballast release is by acoustic command or by pre-set clock. The instruments have been used in water depths from 150 to 4820 m making a total of 63 deployments with a 95% recovery rate. A new version with three-component geophones is being built.     

Artificial upwelling in regular and random waves

Mathematical modeling conducted in this study evaluated the hydrodynamic performance of a wave-driven artificial upwelling device in ocean waves off the Hawaiian islands. The device consisted of a buoy (4.0 m in diameter) and a tail pipe (1.2 m in diameter, 300 m in length) with a flow controlling valve. Random ocean waves off the Hawaiian islands used in the device's modeling analysis were synthesized from a wave spectrum obtained from available data. For comparison, the device's performance was also evaluated in regular waves whose height and period are the same as the significant wave height and wave period of random Hawaiian waves. Modeling results indicated that an upwelling flow of 0.95 m³/sec can be generated by this device in random Hawaiian waves and an upwelling flow rate of 0.45 m³/sec can be generated in regular waves. A simple mathematical model which assumed that the device exactly follows the incident waves was used in previous studies. Analysis results also indicated that the simple model cannot satisfactorily simulate the relative velocity and acceleration of the water column in the device. Since the relative velocity and acceleration are important factors in determining the rate of upwelling flow, the simple model must be applied with caution.     

An evaluation of the Arctic clouds and surface radiative fluxes in CMIP6 models

To assess the performances of state-of-the-art global climate models on simulating the Arctic clouds and surface radiation balance, the 2001–2014 Arctic Basin surface radiation budget, clouds, and the cloud radiative effects(CREs) in 22 coupled model intercomparison project 6(CMIP6) models are evaluated against satellite observations. For the results from CMIP6 multi-model mean, cloud fraction(CF) peaks in autumn and is lowest in winter and spring, consistent with that from three satellite observation products(Cloud Sat-CALIPSO, CERESMODIS, and APP-x). Simulated CF also shows consistent spatial patterns with those in observations. However,almost all models overestimate the CF amount throughout the year when compared to CERES-MODIS and APP-x.On average, clouds warm the surface of the Arctic Basin mainly via the longwave(LW) radiation cloud warming effect in winter. Simulated surface energy loss of LW is less than that in CERES-EBAF observation, while the net surface shortwave(SW) flux is underestimated. The biases may result from the stronger cloud LW warming effect and SW cooling effect from the overestimated CF by the models. These two biases compensate each other,yielding similar net surface radiation flux between model output(3.0 W/m~2) and CERES-EBAF observation(6.1 W/m~2). During 2001–2014, significant increasing trend of spring CF is found in the multi-model mean,consistent with previous studies based on surface and satellite observations. Although most of the 22 CMIP6 models show common seasonal cycles of CF and liquid water path/ice water path(LWP/IWP), large inter-model spreads exist in the amounts of CF and LWP/IWP throughout the year, indicating the influences of different cloud parameterization schemes used in different models. Cloud Feedback Model Intercomparison Project(CFMIP)observation simulator package(COSP) is a great tool to accurately assess the performance of climate models on simulating clouds. More intuitive and credible evaluation results can be obtained based on the COSP model output. In the future, with the release of more COSP output of CMIP6 models, it is expected that those inter-model spreads and the model-observation biases can be substantially reduced. Longer term active satellite observations are also necessary to evaluate models' cloud simulations and to further explore the role of clouds in the rapid Arctic climate changes.     

Systematic errors as the cause for an apparent deep water property variability: global analysis of the WOCE and historical hydrographic data

High-quality hydrographic sections occupied during the World Ocean Circulation Experiment (WOCE) have allowed the first estimates to be made of property changes in the deep ocean on a decadal time-scale. The magnitude of the property variability on deep isothermal surfaces (below about 2–3°C) was found to be comparable with the magnitude of possible systematic errors in the data (except for a few regions where formation of deep and bottom waters occurs). However, the problem of systematic errors in hydrographic data was only marginally addressed in the literature.We conducted an analysis of property offsets between the cruises of an expansive global hydrographic dataset, including 1314 cruises. Because of significant differences in quality, a distinction is made between the high-quality modern data (1970–1998) and less accurate historical data (since 1920s). Inter-cruise offsets are determined on isothermal surfaces for salinity, oxygen, silicate, nitrate and phosphate within crossover areas. Offsets are decomposed into a systematic part (the difference of respective systematic errors (biases)) and a non-systematic part (a combined effect of temporal and spatial variability). For the reference subset of N=384 high-quality cruises with M=2201 crossover areas (for salinity) a system of M algebraic equations in N unknown cruise biases is obtained and solved by least squares.Accounting for biases allows a drastic reduction of inter-cruise offsets (a factor of 2–4 depending on property and dataset considered), bringing data from different cruises to agreement within WOCE quality requirements. For a composite WOCE/non-WOCE high-quality dataset calculated root-mean-square inter-cruise offsets before and after adjustment (in parentheses) are 3.2*10⁻³ (1.34*10⁻³) for salinity, 2.498 (0.782) μmol/kg for oxygen, 2.4 (0.95) μmol/kg for silicate, 0.55 (0.26) μmol/kg for nitrate and 0.045 (0.018) μmol/kg for phosphate. Our results demonstrate, that quality requirements for the WOCE Hydrographic Programme have been obviously fulfilled.Biases for historical cruises are calculated relative to the corrected reference data and are found to be on average a factor of 3–6 larger than the modern cruise biases. Calculated property offsets and biases for both high-quality and historical data are found to be in a good agreement with independent offset estimates. Though small differences of IAPSO Standard Seawater salinity from label salinity are reported in the literature, they can not explain observed inter-cruise offsets, and operator/salinometer related errors seem to be the main cause for inter-cruise differences.Systematic biases can provide an explanation for apparent changes in deep water temperature–parameter relationships as an alternative to natural variability. For instance, we argue that apparent variability of the deep water salinity in the Argentine Basin during 1980s as reported by Coles, McCartney, and Olson (J. Geophys. Res. 101, 1996, 8957–8970) is mostly the result of systematic errors in the data used for their analysis. Removing inconsistencies in a composite data set is also important for producing consistent climatological property fields even in the data abundant regions.     

点吸收式波浪能俘获装置结构优化方法研究

根据布设海域波浪能资源特征,对点吸收式波浪能装置结构进行优化,可有效提高装置的能量俘获效率。本文以威海褚岛北部海域为装置布设目标海域,在对该海域波浪资源特征进行统计分析的基础上,计算得到装置的直径,同时利用数值软件计算出多组工况下点吸收装置吃水深度和装置固有周期的对应关系,并利用统计学方法得出装置固有周期随吃水深度的变化规律,进而分析得出装置在该海域的最佳设计吃水深度,为点吸收波浪能装置结构优化设计提供了新的思路。该方法对于其他技术类型波浪能装置的结构优化设计同样具有借鉴意义。     

利用南极走航观测评估卫星遥感海表面温度

利用1989-2005年间南极走航观测的海表面温度,对目前3个主要的卫星反演的SST产品AVHRR(Advanced Very High Resolution Radiometer),TMI(TRMM Microwave Imager)和AMSR-E(Advanced Microwave Scanning Radiometer for the Earth Observing System)进行了较为系统的评估,并着重检验了它们在南大洋的准确性.结果表明,AVHRR SST比观测数据偏冷,白天的偏差为-0.12℃,夜晚的偏差为-0.04℃,而且南大洋的冷偏差更为显著.TMI SST比观测数据明显偏暖,白天的偏差为0.48℃,夜晚的偏差为0.57℃,其温差ΔT受37GHz风速影响,在强风速(>6m/s)下这种影响仍然存在.AMSR-ESST比观测数据偏暖,白天的偏差为0.34℃,夜晚的偏差为0.27℃,而且南大洋的暖偏差相对较大.AMSR-E SST温差受水汽影响,并在南大洋随着水汽的增加而增加.通过进一步比较微波(AMSR-E和TMI)和红外(AVHRR)遥感的SST在2004年北半球冬季(即南半球夏季)的差别,发现微波遥感在热带(15°S-15°N)和南大洋区域(45°S以南)比红外遥感偏暖,而且在南大洋区域的偏差相对较大,相反在北半球中纬度区域(15°~40°N)偏冷.AMSR-E与AVHRR SST的温差,从白天到夜晚有减小的趋势,而TMI与AVHRR SST的温差无明显的变化.     

Sensitivity of wave model predictions to wind fields in the Western Mediterranean sea

The paper compares the wave hindcast in the Western Mediterranean sea using the reanalysis wind fields from HIPOCAS and ERA-40 from ECMWF for November 2001. The study has concentrated on the Mediterranean coast of Spain where there are known difficulties with the wind and wave modelling. Two winter storms have been compared. The main differences between the significant wave heights using the ERA-40 reanalysis (ECMWF) and HIPOCAS reanalysis winds were observed to increase when moving southwards in the geographical domain at the offshore locations. Systematic negative biases of Hs were obtained with the ERA-40 data at all the coastal locations analyzed, whereas positive biases are typical for the HIPOCAS reanalysis. For offshore and coastal locations when using the ERA-40 data the Hs biases increased moving to South, while this pattern was not so clear for the HIPOCAS data. The inconsistencies in the comparisons of modelled waves against measurements seem to be associated with the quality of the wind fields.