Improved Estimation of ADCP Apparent Bed-Load Velocity Using a Real-Time Kalman Filter
Publication: Journal of Hydraulic Engineering
Volume 133, Issue 12
Abstract
An estimate of apparent bed-load velocity can be derived from the difference between differential global positioning system (DGPSs) and acoustic Doppler current profiler (ADCP) bottom track (BT) measurements when BT is biased by a moving bottom. A Kalman filter has been developed to integrate GPS and bottom track data to improve estimation of boat velocity during ADCP measurements under moving bed conditions (Rennie and Rainville, 2008, J. Hydraulic Eng., in review). The boat velocity estimated using the Kalman filter is superior to boat velocity from raw GPS data. In this paper we assess the improvement in estimation of using the Kalman filter as opposed to raw GPS data. Specifically, a synthetic moving bed bias was generated for 22 repeat transects of the Gatineau River, Quebec. The synthetic moving bed bias had mean, variance, and distribution across the section as typically observed during bed-load transport conditions, and had the advantage that it was known explicitly. The errors in estimated apparent bed-load velocity derived using either raw DGPS data or the Kalman filter boat velocity were compared. It was found that the improved boat velocity from the Kalman filter yielded significantly better estimates of , (e.g., 61% reduction in error when the Kalman filter boat velocity was used instead of wide area augmentation system GGA), because boat velocity errors were reduced. Tests with real moving bed data confirmed the Kalman filter was able to significantly reduce errors in bed load calculated with stand alone GPS.
Get full access to this article
View all available purchase options and get full access to this article.
Acknowledgments
The writers wish to thank Environment Canada staff for data collection: specifically, Dwayne Mayell and Roger Pilling (Northern Alberta rivers), and Paul-Émile Bergeron (Gatineau River). They also wish to thank the United States Geological Survey for a contract to test the Kalman filter, and NSERC for further operational funding.
References
Gaeuman, D., and Jacobson, R. B. (2006). “Acoustic bed velocity and bed load dynamics in a large sand bed river,” J. Geophys. Res., 111, F02005.
Gaeuman, D., and Rennie, C. D. (2006). “A comparison of two field studies of acoustic bed velocity: grain size and instrument frequency effects.” Proc., Federal Interagency Sedimentation Conf., Reno, Nev.
Gomez, B., Naff, R. I., and Hubbell, D. W. (1989). “Temporal variations in bedload transport rates associated with the migration of bedforms.” Earth Surf. Processes Landforms, 14, 135–156.
Hamamori, A. 1962. “A theoretical investigation on the fluctuation of bedload transport.” Rep. No. R4, Delft Hydraulic Lab., Delft, The Netherlands.
Houck, C., Joines, J., and Kay, M. 1995. “A genetic algorithm for function optimization: A Matlab application.” Technical Rep. No. 95-09, Dept. of Industrial Engineering, North Corolina State Univ., Raleigh, N.C.
McLean, D. G., and Tassone, B. (1987). “Discussion of ‘bed load sampling and analysis’ by D. Hubbell.” Sediment transport in gravel-bed rivers, C. R. Thorne, J. C. Bathurst, and R. D. Hey, eds., Wiley, New York, 109–113.
Rennie, C. D., and Millar, R. G. (2004). “Measurement of the spatial distribution of fluvial bedload transport velocity in both sand and gravel.” Earth Surf. Processes Landforms, 29(10), 1173–1193.
Rennie, C. D., and Millar, R. G. (2007). “A deconvolution technique to separate signal from noise in gravel bedload velocity data.” J. Hydraul. Eng., 133(8), 845–856.
Rennie, C. D., Millar, R. G., and Church, M. A. (2002). “Measurement of bed load velocity using an acoustic Doppler current profiler.” J. Hydraul. Eng., 128(5), 473–483.
Rennie, C. D., and Rainville, F. (2006). “A case study of precision of GPS differential correction strategies: Influence on ADCP velocity and discharge estimates.” J. Hydraul. Eng., 132(3), 225–234.
Rennie, C. D., and Rainville, F. (2008). “Improving precision in reference velocity of ADCP measurements using a Kalman filter with GPS and bottom track.” J. Hydraulic Eng., in review.
Rennie, C. D., and Villard, P. V. (2004). “Site specificity of bed load measurement using an acoustic Doppler current profiler.” J. Geophys. Res., 109, F03003.
Zar, J. H. (1996). Biostatistical analysis, 3rd Ed., Prentice-Hall, Englewood Cliffs, N.J.
Information & Authors
Information
Published In
Copyright
© 2007 ASCE.
History
Received: May 2, 2006
Accepted: Aug 7, 2007
Published online: Dec 1, 2007
Published in print: Dec 2007
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.