LAB 1

SURVEY HIDROGRAFI

SHIP REFERENCE FRAME INTEGRATION

Oleh:

NAMA : M.Dwiki Amirullah

NRP : 03311440000080

DOSEN : Danar Guruh Pratomo, Ph.D.

DEPARTEMEN TEKNIK GEOMATIKA

FAKULTAS TEKNIK SIPIL, LINGKUNGAN, DAN KEBUMIAN

INSTITUT TEKNOLOGI SEPULUH NOPEMBER

SURABAYA

2017
Kode Program
clc
clear all

% ================= LAB 1 - SURVEI HIDROGRAFI =======================

% ========== Oleh: M.DWIKI AMIRULLAH / 3514 100 080 =================
% ===================================================================
% *******************************************************************
% ===================================================================

%1. DATA INSTRUMEN DIKETAHUI

%1.1. Input Vassel Instrumen

RP0 =[0 0 0]; %Reference point lokal
di kapal
Trans33KHz0 =[7.670;-3.240;3.420]; %
Trans200KHz0 =[5.140;-3.240;3.560]; %
TransEM710TX0 =[6.904;-3.158;3.477]; %Posisi alat terhadap
reference point
TransEM710RX0 =[5.990;-3.240;3.554]; %
Antenna0 =[-5.220;-0.139;-6.629];%
WLZ =1.31; %Water line Z

%1.2 Masukkan Data

[DT1, HT1, MT1, SecT1, FrSecT1, Day0T1, YawT1, RollT1, PitchT1,
HeaveT1]=textread('EM710Attitude.ascii', '%f %f %f %f %f %f %f %f %f %f');
%Trans EM710
[DT2, HT2, MT2, SecT2, FrSecT2, Day0T2, YawT2, RollT2, PitchT2,
HeaveT2]=textread('KnudsenAttitude.ascii', '%f %f %f %f %f %f %f %f %f
%f');%Trans Knudsen
[DTI1, HTI1, MTI1, H]
=textread('StJohnsPredictedTide.ascii', '%f %f %f %f'); %Pasang
Surut
[LONG, LAT, YEARS, DAYSP, HSP, MINSP, SECSP, EH, COG]
=textread('StarPack.ascii', '%f %f %f %f %f %f %f %f %f'); %Antena
GPS(Starpack)
Jumlah_Data_EM710 =numel(RollT1);
Jumlah_Data_Knudsen =numel(RollT2);

%2. MENYAMAKAN FORMAT WAKTU DARI INSTRUMEN

FW_EM710
=(DT1*24*3600)+(HT1*3600)+(MT1*60)+SecT1+FrSecT1; %Trans
EM710
FW_Knudsen
=(DT2*24*3600)+(HT2*3600)+(MT2*60)+SecT2+FrSecT2+(2.5*3600)-8.59; %Trans
Knudsen, 2.5 jam dan 8.59 detik adalah offset
FW_Tide =(DTI1*24*3600)+(HTI1*3600)+(MTI1*60);
%Pasang Surut
FW_GPS =(DAYSP*24*3600)+(HSP*3600)+(MINSP*60)+SECSP;
%Antenna GPS

%3. INTERPOLASI DATA GPS DAN TIDE TERHADAP EPOCH ECHOSOUNDER

%3.1 Interpolasi Terhadap Interval Pengukuran Transducer EM710

Lat_EM710_LinInterp =interp1(FW_GPS, LAT, FW_EM710);
Long_EM710_LinInterp =interp1(FW_GPS, LONG, FW_EM710);
EllipsoidH_EM710_LinInterp =interp1(FW_GPS, EH, FW_EM710);
TideH_EM710_LinInterp =interp1(FW_Tide, H, FW_EM710);

%3.2 Interpolasi Terhadap Interval Pengukuran Knudsen

Lat_Knudsen_LinInterp =interp1(FW_GPS, LAT, FW_Knudsen);
Long_Knudsen_LinInterp =interp1(FW_GPS, LONG, FW_Knudsen);
EllipsoidH_Knudsen_LinInterp=interp1(FW_GPS, EH, FW_Knudsen);
TideH_Knudsen_LinInterp =interp1(FW_Tide, H, FW_Knudsen);

%3.3 Pembuatan Matriks Hasil Interpolasi

GPS2_EM710 =zeros(21620,3);
GPS2_Knudsen =zeros(499,3);
for n=1:Jumlah_Data_EM710
GPS2_EM710(n,:) =[Lat_EM710_LinInterp(n)
Long_EM710_LinInterp(n) EllipsoidH_EM710_LinInterp(n)];
end
for m=1:Jumlah_Data_Knudsen
GPS2_Knudsen(m,:) =[Lat_Knudsen_LinInterp(m)
Long_Knudsen_LinInterp(m) EllipsoidH_Knudsen_LinInterp(m)];
end

%4. MENGHITUNG EFEK ROTASI

%4.1 EM710
MRoll_EM710 =zeros(3,3,21620);
MPitch_EM710 =zeros(3,3,21620);
MYaw_EM710 =zeros(3,3,21620);
MRotasi_EM710 =zeros(3,3,21620);
for n=1:Jumlah_Data_EM710
MRoll_EM710(:,:,n) =[1 0 0;0 cosd(RollT1(n)) -sind(RollT1(n));0
sind(RollT1(n)) cosd(RollT1(n))];
MPitch_EM710(:,:,n) =[cosd(PitchT1(n)) 0 sind(PitchT1(n));0 1 0;-
sind(PitchT1(n)) 0 cosd(PitchT1(n))];
MYaw_EM710(:,:,n) =[cosd(YawT1(n)) -sind(YawT1(n)) 0;sind(YawT1(n))
cosd(YawT1(n)) 0;0 0 1];
MRotasi_EM710(:,:,n)
=MYaw_EM710(:,:,n)*MPitch_EM710(:,:,n)*MRoll_EM710(:,:,n);
end
%4.2 Knudsen
MRoll_Knudsen =zeros(3,3,499);
MPitch_Knudsen =zeros(3,3,499);
MYaw_Knudsen =zeros(3,3,499);
MRotasi_Knudsen =zeros(3,3,499);
for m=1:Jumlah_Data_Knudsen
MRoll_Knudsen(:,:,m) =[1 0 0;0 cosd(RollT2(m)) -sind(RollT2(m));0
sind(RollT2(m)) cosd(RollT2(m))];
MPitch_Knudsen(:,:,m) =[cosd(PitchT2(m)) 0 sind(PitchT2(m));0 1 0;-
sind(PitchT2(m)) 0 cosd(PitchT2(m))];
MYaw_Knudsen(:,:,m) =[cosd(YawT2(m)) -sind(YawT2(m)) 0;sind(YawT2(m))
cosd(YawT2(m)) 0;0 0 1];

MRotasi_Knudsen(:,:,m)=MYaw_Knudsen(:,:,m)*MPitch_Knudsen(:,:,m)*MRoll_Knud
sen(:,:,m);
end

%5. MEMAKAI EFEK ROTASI TERHADAP POSISI INSTRUMEN DALAM KERANGKA NAVIGASI

EM710_RP =RP0*MRotasi_EM710(n);
KNUDSEN_RP =RP0*MRotasi_Knudsen(m);
SBS_33KHz_TR =zeros(3,499);
SBS_200KHz_TR =zeros(3,499);
EM710TX_TR =zeros(3,21620);
EM710RX_TR =zeros(3,21620);
KNUDSEN_SP =zeros(3,499);
EM710_SP =zeros(3,21620);
for n=1:Jumlah_Data_EM710
EM710TX_TR(:,n) =MRotasi_EM710(:,:,n)*TransEM710TX0;
EM710RX_TR(:,n) =MRotasi_EM710(:,:,n)*TransEM710RX0;
EM710_SP(:,n) =MRotasi_EM710(:,:,n)*Antenna0;
end
EM710TX_Xaksen =transpose(EM710TX_TR);
EM710RX_Xaksen =transpose(EM710RX_TR);
EM710_Xaksen_Starpack =transpose(EM710_SP);

for m=1:Jumlah_Data_Knudsen
SBS_33KHz_TR(:,m)
SBS_200KHz_TR(:,m)
KNUDSEN_SP(:,m)
end
SBS_33KHz_Xaksen
SBS_200KHz_Xaksen
Knudsen_Xaksen_Starpack
=MRotasi_Knudsen(:,:,m)*Trans33KHz0;
=MRotasi_Knudsen(:,:,m)*Trans200KHz0;
=MRotasi_Knudsen(:,:,m)*Antenna0;
=transpose(SBS_33KHz_TR);
=transpose(SBS_200KHz_TR);
=transpose(KNUDSEN_SP);

%6. KONVERSI KE SISTEM KOORDINAT LINTANG DAN BUJUR

%6.1 Parameter Datum Referensi(WGS84)

a=6378137; %Semi major axis

b=6356752.314; %Semi minor axis
f=(a-b)/a; %flattening
Eksentrisitas=(a^2-b^2)/(a^2); %Nilai Eksentrisitas Pertama

%6.2 Menghitung Delta Lintang dan Bujur Dari Transducer EM710

EM710_M = a*(1-Eksentrisitas)./(1-
(Eksentrisitas.*((sind(Lat_EM710_LinInterp)).^2))).^(3/2); %Radius
Vertikal Kurvatur
EM710_N = a./(1-
(Eksentrisitas.*((sind(Lat_EM710_LinInterp)).^2))).^(1/2);
%Radius Kurvatur Dari Lintang
EM710TX_dLong_TRANS
=EM710TX_Xaksen(1:n,2)./(EM710_N.*cosd(Lat_EM710_LinInterp));
EM710TX_dLat_TRANS =EM710TX_Xaksen(1:n,1)./EM710_M;
EM710RX_dLong_TRANS
=EM710RX_Xaksen(1:n,2)./(EM710_N.*cosd(Lat_EM710_LinInterp));
EM710RX_dLat_TRANS =EM710RX_Xaksen(1:n,1)./EM710_M;
EM710_dLong_STARPACK
=EM710_Xaksen_Starpack(1:n,2)./(EM710_N.*cosd(Lat_EM710_LinInterp));
EM710_dLat_STARPACK
=EM710_Xaksen_Starpack(1:n,1)./(EM710_N.*cosd(Lat_EM710_LinInterp));

%6.3 Menghitung Delta Lintang dan Bujur Dari Transducer Knudsen

KNUDSEN_N =a./(1-
(Eksentrisitas.*((sind(Lat_Knudsen_LinInterp)).^2))).^(1/2);
KNUDSEN_M =a*(1-Eksentrisitas)./(1-
(Eksentrisitas.*((sind(Lat_Knudsen_LinInterp)).^2))).^(3/2);
SBS_33KHz_dLong_TRANS
=SBS_33KHz_Xaksen(1:m,2)./(KNUDSEN_N.*cosd(Lat_Knudsen_LinInterp));
SBS_33KHz_dLat_TRANS =SBS_33KHz_Xaksen(1:m,1)./KNUDSEN_M;
SBS_200KHz_dLong_TRANS
=SBS_200KHz_Xaksen(1:m,2)./(KNUDSEN_N.*cosd(Lat_Knudsen_LinInterp));
SBS_200KHz_dLat_TRANS =SBS_200KHz_Xaksen(1:m,1)./KNUDSEN_M;
KNUDSEN_dLong_STARPACK
=Knudsen_Xaksen_Starpack(1:m,2)./(KNUDSEN_N.*cosd(Lat_Knudsen_LinInterp));
KNUDSEN_dLat_STARPACK
=Knudsen_Xaksen_Starpack(1:m,1)./(KNUDSEN_N.*cosd(Lat_Knudsen_LinInterp));

%7. PENENTUAN KOORDINAT INSTRUMEN BERDASARKAN HASIL ROTASI

%7.1 EM710

RP1_EM710 =zeros(21620,3);
RP1_Knudsen =zeros(499,3);
Koord_Transducer_33KHz =zeros(499,3);
Koord_Transducer_200KHz =zeros(499,3);
Koord_Transducer_EM710TX =zeros(21620,3);
Koord_Transducer_EM710RX =zeros(21620,3);
for n=1:Jumlah_Data_EM710
RP1_EM710(n,:) =[GPS2_EM710(n,1)+EM710_dLat_STARPACK(n,1)
GPS2_EM710(n,2)+EM710_dLong_STARPACK(n,1)
GPS2_EM710(n,3)+EM710_Xaksen_Starpack(n,3)];
Koord_Transducer_EM710TX(n,:)=[RP1_EM710(n,1)+EM710TX_dLat_TRANS(n,1)
RP1_EM710(n,2)+EM710TX_dLong_TRANS(n,1)
RP1_EM710(n,3)+EM710TX_Xaksen(n,3)];
Koord_Transducer_EM710RX(n,:)=[RP1_EM710(n,1)+EM710RX_dLat_TRANS(n,1)
RP1_EM710(n,2)+EM710RX_dLong_TRANS(n,1)
RP1_EM710(n,3)+EM710RX_Xaksen(n,3)];
end
Lat_Transducer_EM710TX =Koord_Transducer_EM710TX(:,1);
Long_Transducer_EM710TX =Koord_Transducer_EM710TX(:,2);
Z_Transducer_EM710TX =Koord_Transducer_EM710TX(:,3);
Lat_Tranducer_EM710RX =Koord_Transducer_EM710RX(:,1);
Long_Transducer_EM710RX =Koord_Transducer_EM710RX(:,2);
Z_Transducer_EM710RX =Koord_Transducer_EM710RX(:,3);

%7.2 Knudsen

for m=1:Jumlah_Data_Knudsen
RP1_Knudsen(m,:)
=[GPS2_Knudsen(m,1)+KNUDSEN_dLat_STARPACK(m,1)
GPS2_Knudsen(m,2)+KNUDSEN_dLong_STARPACK(m,1)
GPS2_Knudsen(m,3)+Knudsen_Xaksen_Starpack(m,3)];
Koord_Transducer_33KHz(m,:)
=[RP1_Knudsen(m,1)+SBS_33KHz_dLat_TRANS(m,1)
RP1_Knudsen(m,2)+SBS_33KHz_dLong_TRANS(m,1)
RP1_Knudsen(m,3)+SBS_33KHz_Xaksen(m,3)];
Koord_Transducer_200KHz(m,:)
=[RP1_Knudsen(m,1)+SBS_200KHz_dLat_TRANS(m,1)
RP1_Knudsen(m,2)+SBS_200KHz_dLong_TRANS(m,1)
RP1_Knudsen(m,3)+SBS_200KHz_Xaksen(m,3)];
end
Lat_Transducer_33KHz =Koord_Transducer_33KHz(:,1);
Long_Transducer_33KHz =Koord_Transducer_33KHz(:,2);
Transducer_33KHz_Z =Koord_Transducer_33KHz(:,3);
Lat_Transducer_200KHz =Koord_Transducer_200KHz(:,1);
Long_Transducer_200KHz =Koord_Transducer_200KHz(:,2);
Transducer_200KH_Z =Koord_Transducer_200KHz(:,3);

%8. KEDALAMAN DARI CHART DATUM(DIPENGARUHI PASANG SURUT, VESSEL'S DRAUGHT,

DAN TOTAL HEAVE

%8.1 Kedalaman Knudsen

Transducer_33KHz_dZ =transpose(SBS_33KHz_TR(3,:));
Transducer_200KHz_dZ =transpose(SBS_200KHz_TR(3,:));
% Transducer 33KHz
Induced_Heave_Transducer_33KHz(1:m,1) =Transducer_33KHz_dZ(1:m,1)-
Trans33KHz0(3,1);
Total_Heave_Transducer_33KHz(1:m,1)
=Induced_Heave_Transducer_33KHz(1:m,1)+HeaveT2(1:m,1);
Draught_Transducer_33KHz(1:m,1) =Trans33KHz0(3,1)-WLZ;
Depth_Transducer_33KHz(1:m,1) =TideH_Knudsen_LinInterp(1:m)-
Draught_Transducer_33KHz(1:m,1)-Total_Heave_Transducer_33KHz(1:m,1);
% Transducer 200KHz
Induced_Heave_Transducer_200KHz(1:m,1) =Transducer_200KHz_dZ(1:m,1)-
Trans200KHz0(3,1);
Total_Heave_Transducer_200KHz(1:m,1)
=Induced_Heave_Transducer_200KHz(1:m,1)+HeaveT2(1:m,1);
Draught_Transducer_200KHz(1:m,1) =Trans200KHz0(3,1)-WLZ;
Depth_Transducer_200KHz(1:m,1) =TideH_Knudsen_LinInterp(1:m)-
Draught_Transducer_200KHz(1:m,1)-Total_Heave_Transducer_200KHz(1:m,1);

%8.2 Kedalaman EM710

Transducer_EM710TX_dZ =transpose(EM710TX_TR(3,:));
Transducer_EM710RX_dZ =transpose(EM710RX_TR(3,:));
% Transducer EM710TX
Draught_Transducer_EM710TX(1:n,1) =TransEM710TX0(3,1)-WLZ;
Depth_Transducer_EM710TX(1:n,1) =TideH_EM710_LinInterp(1:n)-
Draught_Transducer_EM710TX(1:n,1)-HeaveT1(1:n,1);
% Transducer EM710RX
Draught_Transducer_EM710RX(1:n,1) =TransEM710RX0(3,1)-WLZ;
Depth_Transducer_EM710RX(1:n,1) =TideH_EM710_LinInterp(1:n)-
Draught_Transducer_EM710RX(1:n,1)-HeaveT1(1:n,1);

%9. Pembuatan Plot

%9.1 Lintang dan Bujur Instrumen

% Transducer Knudsen dan Antenna GPS

figure;1;
plot(Long_Transducer_33KHz,Lat_Transducer_33KHz,'r',Long_Transducer_200KHz,
Lat_Transducer_200KHz,'g',Long_Knudsen_LinInterp,Lat_Knudsen_LinInterp,'b')
title('Posisi Transducer Knudsen Terhadap StarPack')
xlabel('Longitude')
ylabel('Latitude')
legend('Transducer 33KHz','Transducer 200KHz', 'StarPack')

% Transducer EM710 dan Antena GPS')

figure;2;
plot(Long_Transducer_EM710TX,Lat_Transducer_EM710TX,'r',Long_Transducer_EM7
10RX,Lat_Tranducer_EM710RX,'g',Long_EM710_LinInterp,Lat_EM710_LinInterp,'b'
)
hold on
title('Posisi Transducer EM710 Terhadap StarPack')
ylabel('Longitude')
xlabel('Latitude')
legend('Transducer EM710TX','Transducer EM710RX', 'StarPack')

%9.2 Pitch Knudsen Terhadap Waktu UTC

figure;3;
plot(FW_Knudsen,PitchT2,'c')
title('Nilai Pitch Knudsen Terhadap Waktu UTC')
ylabel('Pitch')
xlabel('Waktu UTC')
legend('Knudsen')

%9.2 Pitch EM710 Terhadap Waktu UTC

figure;4;
plot(FW_EM710,PitchT1,'c')
title('Nilai Pitch EM710 Terhadap Waktu UTC')
ylabel('Pitch')
xlabel('Waktu UTC')
legend('EM710')

%9.3 Roll Knudsen Terhadap Waktu UTC

figure;5;
plot(FW_Knudsen,RollT2,'m')
title('Nilai Roll Knudsen Terhadap Waktu UTC')
ylabel('Roll')
xlabel('Waktu UTC')
legend('Knudsen')

%9.3 Roll EM710 Terhadap Waktu UTC

figure;6;
plot(FW_EM710,RollT1,'m')
title('Nilai Pitch EM710 Terhadap Waktu UTC')
ylabel('Roll')
xlabel('Waktu UTC')
legend('EM710')

%9.4 Yaw Knudsen Terhadap Waktu UTC

figure;7;
plot(FW_Knudsen,YawT2,'y')
title('Nilai Yaw Knudsen Terhadap Waktu UTC')
ylabel('Yaw')
xlabel('Waktu UTC')
legend('Knudsen')
%9.4 Yaw EM710 Terhadap Waktu UTC
figure;8;
plot(FW_EM710,YawT1,'y')
title('Nilai Yaw EM710 Terhadap Waktu UTC')
ylabel('Yaw')
xlabel('Waktu UTC')
legend('EM710')

%9.5 Heave dan Induced Heave Knudsen 33KHz Terhadap UTC Time

figure;9;
plot(FW_Knudsen,HeaveT2)
hold on
plot(FW_Knudsen,Induced_Heave_Transducer_33KHz,'r')
title('Heave dan Induced Heave 33KHz Transducer')
xlabel('UTC Time')
ylabel('Heave')
legend('Heave','Induced Heave')

%9.5 Heave dan Induced Heave Knudsen 200KHz Terhadap UTC Time

figure;10;
plot(FW_Knudsen,HeaveT2)
hold on
plot(FW_Knudsen,Induced_Heave_Transducer_200KHz,'r')
title('Heave dan Induced Heave 200KHz Transducer')
xlabel('UTC Time')
ylabel('Heave')
legend('Heave','Induced Heave')

%9.6 Variasi Tinggi Dari Rata-Rata Tinggi Terhadap UTC Time

MeanZ_EM710TX=mean(Z_Transducer_EM710TX);
ZVariation_EM710TX=Z_Transducer_EM710TX-MeanZ_EM710TX;
figure;11;
plot(FW_EM710,ZVariation_EM710TX,'r');
hold on
plot(FW_EM710,HeaveT1);
title('Variasi Tinggi Dari Rata-Rata Tinggi Terhadap UTC Time dan Total
Heave Transducer EM710TX');
ylabel('Variasi Tinggi');
xlabel('UTC Time')
legend('Variasi Tinggi','Heave')

%9.6 Variasi Tinggi Dari Rata-Rata Tinggi Terhadap UTC Time

MeanZ_33KHz=mean(Transducer_33KHz_Z);
ZVariation_33KHz=Transducer_33KHz_Z-MeanZ_33KHz;
figure;12;
plot(FW_Knudsen,ZVariation_33KHz,'r');
hold on
plot(FW_Knudsen,Total_Heave_Transducer_33KHz);
title('Variasi Tinggi Dari Rata-Rata Tinggi Terhadap UTC Time dan Total
Heave Transducer Knudsen 33KHz');
ylabel('Variasi Tinggi');
xlabel('UTC Time')
legend('Variasi Tinggi','Heave')

%9.7 Tinggi Di Atas Chart Datum

% Transducer Knudsen 33KHz

figure;13;
plot(FW_Knudsen,Depth_Transducer_33KHz);
title('Tinggi Di Atas Chart Datum Dari Transducer Knudsen 33KHz Terhadap
UTC Time')
ylabel('Tinggi Di Atas Chart Datum')
xlabel('UTC Time')
legend('Transducer 33KHz')

% Transducer Knudsen 200KHz

figure;14;
plot(FW_Knudsen,Depth_Transducer_200KHz);
title('Tinggi Di Atas Chart Datum Dari Transducer Knudsen 200KHz Terhadap
UTC Time')
ylabel('Tinggi Di Atas Chart Datum')
xlabel('UTC Time')
legend('Transducer 200KHz')

% Transducer EM710TX

figure;15;
plot(FW_EM710,Depth_Transducer_EM710TX);
title('Tinggi Di Atas Chart Datum Dari Transducer EM710TX Terhadap UTC
Time')
ylabel('Tinggi Di Atas Chart Datum')
xlabel('UTC Time')
legend('Transducer EM710TX')

% Transducer EM710TX

figure;16;
plot(FW_EM710,Depth_Transducer_EM710RX);
title('Tinggi Di Atas Chart Datum Dari Transducer EM710RX Terhadap UTC
Time')
ylabel('Tinggi Di Atas Chart Datum')
xlabel('UTC Time')
legend('Transducer EM710RX')

%9.8 Perbandingan Heave EM710TX Dengan Total Heave Knudsen 33KHz Terhadap
%UTC Time
figure;17;
plot(FW_EM710,HeaveT1,'r')
hold on
plot(FW_Knudsen,Total_Heave_Transducer_33KHz,'g');
title('Perbandingan Heave EM710TX dengan Total Heave Knudsen 33KHz')
ylabel('Heave')
xlabel('UTC Time')
legend('EM710TX','Knudsen 33KHz')

%Catatan: Credit untuk "Beaker" dari forum stackoverflow yang membantu

pembuatan matriks rotasi.
% Info lebih lanjut kunjungi http://stackoverflow.com/questions/
% 42790984/trying-to-create-matrix-when-error-attempted-to-access-
myawt110-index-out-of?noredirect=1

% ================= LAB 1 - SURVEI HIDROGRAFI =======================

% ===================================================================
% ===============ALHAMDULILLAH DAN TERIMAKASIH=======================
% *******************************************************************
% ===================================================================
Gambar Ploting
1.Plot Lintang Bujur Echosounder dan antenna GPS
2.Plot nilai Pitch terhadap Waktu UTC
3.Plot nilai Roll terhadap waktu UTC
4.Plot nilai Yaw terhadap waktu UTC
5.Plot Heave dan induced heave terhadap waktu UTC
6. Plot variasi tinggi(dikurangi rata-rata tinggi) ellipsoid dan total heave terhadap waktu UTC.
7. Plot tinggi di atas chart datum terhadap waktu UTC dari tiap Echosounder.
8. Heave EM710 dan total heave Knudsen terhadap waktu UTC
Discusion

1. Survey ini berada di laut sekitar St. John, New Brunswick, Kanada. Dimulai di koordinat
52.50406377 BB, 47.57415364 LU dan berakhir di 52.52593269 BB, 47.57689426 LU.
2. Posisi pada sounder dan posisi antenna GPS berbeda dikarenakan ada pengaruh perbedaan
epoch(interval perekaman data)dimana antenna GPS merekam data tiap 1 detik dan sounder
EM710 tiap 0,01 detik, sehingga perubahan koordinat tiap satuan waktu dapat lebih terlihat
bedanya. Pergerakan kapal, baik rotasi maupun rute perjalanan kapal juga mempengaruhi
perbedaan posisi terhadap waktu. Untuk menyamakan sistem waktu, dapat dilakukan
interpolasi linier sehingga data GPS ada di epoch yang sama dengan sounder.
3. Transducer Knudsen 33kHz dan 200kHz memiliki ketinggian di atas chart datum yang
berbeda karena terdapat pengaruh perbedaan posisi kedua transducer terhadap kerangka
navigasi, pengaruh vessel’s draught terhadap posisi alat, dan nilai induced heave dari masing-
masing transducer.
4. Induced heave adalah nilai naik turunan kapal yang disebakan oleh rotasi roll atau pitch dari
kapal karena pengaruh ombak, pergerakan kapal, dan hal sebagainya. Ketika kapal dikenakan
suatu gaya yang merubah arahnya(misal ombak/wave load), maka nilai heave meningkat, lalu
ketika energi gerak heave melewati nilai tertentu, energi gerak dipindah ke pitch, setelah itu
dari pitch ke gerakan roll. Karena adanya pengaruh dari rendahnya frekuensi, respon roll lebih
kompleks dari respon pitch, maka dapat diketahui bahwa gerak tidak stabil dari roll lebih
dominan dalam induced heave.
5. Tinggi ellipsoid yang didapat dari data GPS dari echosounder akan berbeda dengan tinggi
yang menggunakan sensor gerak. Apabila ketinggian hanya diukur melalui tinggi ellipsoid,
maka efek pergerakan kapal akan terabaikan sehingga menyebabkan nilai ketinggian tidak
akurat. Untuk meningkatkan akurasi nilai tinggi, digunakan sensor gerak untuk menentukan
pengaruh gerakan kapal seperti heave, roll, pitch, dan yaw terhadap tinggi ellipsoid sehingga
tinggi yang didapat dapat menyesuaikan kondisi realita di lapangan.