Heave Correction In MBES Survey Using A Blended Solution (Integration IMU+GNSS) With Wobble Analysis

Munir, Cindy Ulul Azmi (2025) Heave Correction In MBES Survey Using A Blended Solution (Integration IMU+GNSS) With Wobble Analysis. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 5016211005_Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only Download (5MB) | Request a copy

Abstract

Heave correction is critical for achieving accurate depth measurements in Multibeam Echosounder (MBES) surveys, especially in dynamic marine environments. This study proposes a Blended Heave Solution that integrates GNSS, Inertial Measurement Unit (IMU), and Induced Heave data using a Kalman Filter. The fused signal shows a mean of −0.028 meters and a standard deviation of 0.371 meters, indicating low vertical bias and effective noise reduction. Validation results show strong performance with RMSE of 0.133 m, MAE of 0.109 m, and a correlation coefficient (r) of 0.938, confirming both numerical accuracy and temporal consistency. Depth comparisons before and after correction across multiple locations show consistent vertical adjustments of +0.35 meters, enhancing the spatial integrity of the seafloor representation. Additionally, wobble analysis reveals residual low-frequency oscillations (0.02–0.08 Hz) with peak amplitudes up to 0.093 m, likely due to minor sensor mismatches. Despite this, the corrected data maintains stable statistical distribution and improves contour smoothness, resulting in clearer bathymetric models. These findings highlight the effectiveness of sensor fusion in minimizing vertical uncertainty while maintaining the fidelity of vessel motion, making the approach suitable for producing high-resolution and reliable bathymetric datasets.
Keywords: Heave Correction, GNSS, IMU, Kalman Filter, MBES, Bathymetry, Wobble Analysis,

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Heave Correction, GNSS, IMU, Kalman Filter, MBES, Bathymetry, Wobble Analysis,
Subjects:	G Geography. Anthropology. Recreation > GC Oceanography > GC89 Sea Level
Divisions:	Faculty of Civil, Planning, and Geo Engineering (CIVPLAN) > Geomatics Engineering > 29202-(S1) Undergraduate Thesis
Depositing User:	Cindy Ulul Azmi Munir
Date Deposited:	23 Jul 2025 01:54
Last Modified:	23 Jul 2025 01:54
URI:	http://repository.its.ac.id/id/eprint/120649

Actions (login required)

View Item