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By Luc Rombouts

The resources and reserves calculation of marine diamond deposits should be based on a systematic sampling grid. The distribution of the sample grade results tends to be very skew and has a large variance. A bias is easily introduced due to the fact that the grade distribution of the samples is very different from the grades of the area of influence. The temptation is always there to extrapolate the highest grade samples simply to their area of influence. If this is done, the higher grade areas will be systematically overestimated, while the lower grade areas will be underestimated. Such a bias should surely be avoided by weighing the sample grades in such a way with their neighbours, so that the estimated grades have a similar distribution as the grades of the blocks. The grade distribution of small mining blocks tend to be lognormal-like. If the coefficient of variation is known, i.e. the standard deviation divided by the mean, then the grade distribution of the small mining blocks is relatively well-defined. The distribution of the diamonds within the deposits can be simulated, based on the histogram of the sample results and on the semivariogram. The diamonds tend to cluster in trapsites. From the semivariogram and the histogram, the average size and spacing between trapsites, and the grade distribution within the trapsites, can be calculated using the model of the General Family of Discrete Distributions. Using such a simulated deposit, the grade distribution for different block sizes can be obtained. The grade distributions become more lognormal-like with increasing block sizes, as the trapsite effect is reduced.

Jan 1, 1998

By Tetsuo Yamazaki

Natural methane hydrate has been scientifically studied as a global carbon reservoir. However, in Japan, it?s potential as an energy resource has been industrially highlighted, because there are few domestic oil and natural gas resources in Japan, but many potential deposition areas for methane hydrate in the sea around Japan. Less CO2 discharge from methane compared with coal, oil and conventional natural gas for the same calorie value is considered an advantage for its use as an energy resource. Because methane hydrate is distributed at shallow depth in sediments on the ocean floor, accidental leakage of methane may occur while we utilize methane hydrate. Methane itself has a considerable impact on the greenhouse effect, if it reaches the atmosphere. Therefore, it is necessary to estimate its behavior in the environment after leakage if we want to use methane hydrate as energy resource. The mass balance after leakage of methane on the seafloor and in the water column can be studied through the analyses of natural cold seepages and hydrothermal activity.

Jan 1, 2004

A C-CORE study on behalf of the government of Newfoundland identified the inner continental shelf off northeast Newfoundland as having a relatively higher potential for hosting placer gold than other parts of the inner shelf. Under the auspices of the Canada-Newfoundland Cooperation Agreement on Mineral Development, the Geological Survey of Canada conducted a three-year project to map the distribution of surficial sediments and the abundance of placer minerals (particularly gold) from White Bay to Cape Freels. Much of the study area is a fjord coast, with steep rocky slopes and scattered gravel beaches. The extreme east, from Hamilton Sound to Cape Freels, has a wide, shallow inner shelf, sandy beaches, and extensive coastal dunes. Relative sea level was high in the late glacial period. It has fallen continuously in the west, but in the east it dropped to -19 m, before rising to within several metres of the present level by 3 ka. In terms of surficial sediments and processes, five zones are identified: (1) Deep offshore deep basins that contain thick postglacial mud overlying glacialmarine gravelly sandy mud. This zone is below a depth of 370 m in White Bay, 300 m in the Notre Dame Basin. 2) Basin transition zone in which the sea bed has been eroded by currents, so that glacialmarine sediments are exposed in places. Winnowing has formed an uppermost layer of muddy gravel. There is a slight potential for enhanced levels of fine particulate gold, but the gold would not be exploitable. (3) Iceberg impacted zone Above 200 m the keels of icebergs impact the sea bed, causing furrowing and pitting. Furrows predominate in deeper areas, and pits are concentrated at the inner boundary of this zone. Iceberg turbates have developed in shallow waters (60-100 m). Combined with winnowing, iceberg turbation could enhance the potential for concentration of fine particulate gold, but not into economic quantities. 4) Wave dominated zone Above approximately 60 m the sea-bed sediments are highly mobile due to waves, currents, and iceberg impact. Sand is either rippled or organised into sand waves. Gravel is either poorly sorted, and organised into

Jan 1, 1995

By John Halkyard

Deep ocean mining is experiencing a rebirth following many years of low levels of activity. Large scale mining is being projected as just over the horizon. A lot has been made of the advances in deep water oil and gas developments over the last thirty years, and how this technology is directly applicable to ocean mining. The authors present their views on this from a perspective of a legacy of participating in the development of manganese nodule mining systems in the 1970s, followed by thirty years in the deepwater oil & gas arena. While it is true that great advances have been made in subsea technology, the differences between mining and oil and gas recovery should not be diminished. Fundamentally, oil and gas are stored in compact reservoirs under pressure. Any intervention leads to flow of the material up a pipe to the surface. The seabed hard minerals are stuck in place, either adhering to sticky pelagic sediment (nodules) or bonded together as hard rock (massive sulfides). The minerals require complex machinery in order to be extracted, sized, concentrated and lifted to the surface. Once at the surface the ore must be dewatered, de-fined and transferred to shore for processing. The overflow from this dewatered product must return to the sea in an environmentally satisfactory manner. These steps involve technology unique to mining that has to be addressed in a methodical fashion before commercial mining systems can be designed. The presentation will discuss the critical technical challenges of deepsea mining and thoughts on different routes to commercialization. The program will address the critical technical challenges, as perceived by the authors, and steps required to address them. Alternate development programs will be discussed focusing on nodules and sulfide. Keywords: manganese nodules, polymetallic sulfides, ocean mining

Jan 1, 2011

By Kris De Bruyne

Since 2013, GSR has undertaken 4 exploration campaigns, which focused on environmental baseline monitoring (marine biology), resource definition and technological change. The seabed nodule collection vehicle has a significant influence on the achievable production rate and is for that reason thought to be a serious risk in developing an economical viable mining operation. GSR is currently working on a pre-prototype of a seabed nodule collection vehicle. The program, called ProCat, started in 2015 and will take up to end of 2019. ProCat can be split up in 2 phases: ‐ ProCat#1 [2015 – Q2 2017]: separate parallel testing of the nodule collection- and driving mechanism (Tracked Soil Testing Device Patania I – TSTD Patania I). The trafficability was tested in-situ; the collection mechanism was tested in a laboratory. Phase 1 has been completed successfully in September 2017. ‐ ProCat#2 [Q3 2017 – end of 2019]: the knowledge acquired during the first phase was used in this 2nd phase. Both collection mechanism and driving mechanism were integrated into the design of a pre-prototype seabed nodule collection vehicle (Pre-Prototype Vehicle Patania II – PPV Patania II). This pre-prototype vehicle will be used for a simulated mining test in Q2 of 2019 in the GSR- and BGR license area. The main objective of the ProCat research program, and especially the 2nd phase, is to integrate the nodule collector on the tracked chassis and develop an operating vehicle causing minimal environmental impact hereby validating the requirements for a full scale polymetallic nodule collection vehicle in the actual operational environment of the CCFZ. Following the ProCat project, GSR is working towards a system-integrated mining test once exploitation regulations have been agreed by the ISA and its member States.

Jan 1, 2018

By James R. Hein

Ferromanganese oxyhydroxide crusts (Fe-Mn crusts) precipitate out of cold ambient seawater onto hard-rock surfaces at water depths of about 600-4000 m throughout the ocean basins. Fe-Mn crusts concentrate most elements in the Periodic Table above their mean concentration in the earth's crust (continental plus oceanic crust), except for the major rock-forming oxides and also notably gold and palladium. Tellurium is concentrated greater than any other element relative to its earth's crust mean (about 1 ppb). For example, mean contents of the elements heretofore known to be most enriched in crusts, Mo, Tl, Sb, Co, Mn, Bi, As, Se, and Pb are enriched 100 to 1000 times over their earth's crust mean, whereas the mean Te content in Fe-Mn crusts is enriched about 50,000 times. However, the distribution of Te in the earth is poorly known. Estimates of the mean Te content of the earth's crust range from 0.36 to 10 ppb, with 1 ppb being the most commonly cited mean content (compilations in Levinson, 1974 and Govett, 1983). If we took the highest estimate of 10 ppb, then Te would be enriched in Fe-Mn crusts five times more than the next most enriched element, or 5000 times the estimated maximum mean earth's crust.

Jan 1, 2000

By Sup Hong

"Lifting riser in deep-seabed mining (DSM) is exposed to acute and chronic stresses of materials, whose yield will result in the most critical loss of total mining system. For freehanging riser (FHR), the axial vibration and local bending of riser may produce acute stresses, in the meanwhile, vortex-induced vibration (VIV) in relative current, friction and collisions of solid particles with inner-wall, and material corrosion in seawater are representative causes of chronic stresses. The chronical stresses bring about fatigue failure or abrupt failure by material loss. Hydraulic lifting is effective and promising for transportation of minerals, however, ecofriendly treatment of operating seawater is an unease hurdle to come over. Sizing of riser section confronts multi-directional problems, i.e. safety of slurry transportation (flow assurance), material safety of riser (wall thickness), seawater treatment on board, etc.A free-standing riser (FSR) might exclude a part of design problems of free-hanging riser and give a way to sustainable mining. FSR stands vertically by means of sub-buoyancy part(s). The top of FSR emerges above sea surface and is connected with mining platform through jumper line (supported by external yoke). Total amount of sub-buoyancy and location(s) have to be carefully determined in viewpoints of dynamics of FSI (fluidstructure interaction) in waves and currents. The concept of FSR gives more freedom for design of multi-functional riser system in view of sustainability of DSM. In DSM, sustainability concept may be focused on eco-friendly treatment of seawater and sediment, and safety of total mining system. For feasibility of FSR, however, installation, maintenance and repair need to be investigated thoroughly in collaboration with industry experts"

Jan 1, 2017

By Fredrik Søreide

Several potential marine mineral deposits of various types have been identified within the Norwegian EEZ. The Norwegian University of Science and Technology has recently designed and built a new remotely operated vehicle (ROV) system for scientific investigations of the deep-ocean and seafloor. A program to locate and investigate the most interesting of the identified marine mineral deposits using the new ROV system is underway. The ROV has been designed for detailed survey and sampling tasks. Although initially built for a major marine archaeology project, the design is equally suited to locate and investigate marine mineral deposits. The ROV is equipped with a high precision multi-sensory package that consists of various high quality cameras and lighting systems (together with state-of-the-art video and photo mosaic systems), several sonar systems, magnetometer and various other sensors. The ROV is also equipped with a 7-function manipulator arm and an excavation system. Internal collection baskets are used to store material for retrieval to the surface. A closed-loop control dynamic positioning system is used for detailed positioning of the ROV. Position data and other information are stored in a digital data management system. The ROV will also be used together with a specially developed remotely operated tool (ROT). The size and shape of this benthic lander can be adjusted before it is carefully lowered to the seafloor. The ROV can be docked on a moving platform on the ROT, to do detailed scientific investigations. The ROT can also be equipped with a separate sensor and system package, including drilling, excavation and coring units. This paper will present the new remotely operated system and the planned projects in Norway.

Jan 1, 2004

By Mark Vardy, Kate Dobson, Isobel Yeo, Paul Lusty, Bramley Murton

In response to anthropogenic climate change, the way in which we use and generate energy is changing. To facilitate these developments, it is essential that we increase and diversify the supply of ‘E-Tech’ elements essential for cleaner energy generation and more efficient usage. The vast majority of these materials (e.g. cobalt, lithium, niobium, platinum group metals, rare earth elements and indium) come almost exclusively from mining and new resources must be found and developed in order to secure supply and meet the demands of the future. Ferromanganese (FeMn) crusts are rich in cobalt, tellurium and rare earth metals, and are common on seafloor hard grounds at water depths over 1000 m. The mining of both FeMn crusts and nodules is potentially viable dependent of the balance of cobalt and nickle prices (Martino & Parson, 2012), however, crusts need to be at least 4 cm thick with cobalt contents of at least 0.8% (International Seabed Authority, 2008). The difficulty for those wishing to exploit these resources is firstly finding them, and secondly assessing their potential remotely. Such capability would not only save time and money, but also allow mining operations to be more focused, reducing needless destruction of seafloor habitats from exploratory mining or mining of noneconomically worthwhile deposits. In this contribution, we examine the distribution of crusts on a single Atlantic Gyot (Tropic Seamount), the morphology of FeMn crusts, their variable growth patterns and the characteristic geophysical response from crusts in various datasets, including ship based 60 m resolution multibeam and high resolution bathymetry, backscatter and sub-bottom profiler data acquired using an Autonomous Underwater Vehicle (AUV).

Jan 1, 2017

By Boris Broere, Wiebe Boomsma, Pieter Lucieer

"The Blue Nodules project started February 2016 as part of the EU Horizon 2020 subsidy program. Blue Nodules aims at developing a sustainable deep sea mining system for the harvesting of polymetallic nodules from the sea floor. Blue Nodules is closely related to the Blue Mining and Midas projects, both EU subsidized projects. Blue Mining mainly concerned the development of technical capabilities to adequately and cost-effectively discover, assess and transport deep sea mineral deposits up to 6,000 m water depths. The MIDAS project - Managing Impacts of DeepseA reSource exploitation - was a multidisciplinary research programme investigating the environmental impacts of extracting mineral and energy resources from the deep-sea environment.The Blue Nodules project is divided in seven work packages defined to develop mining equipment and process equipment, to assess and integrate environmental, economic and technological aspects and to assess and minimize the environmental impact of mining polymetallic nodules.This abstract will address part of the work performed in the second work package called: ‘Subsea harvesting equipment and control technology’. The main topic addressed will be the development of a propulsion system to manoeuvre the harvesting system. The propulsion system will be developed with full incorporation of economical and compliance requirements and to have a minimal environmental impact.SummaryBased on information gathered in the 70’s during the first studies into polymetallic nodules mining and more recent data and developments, an initial full scale design of the propulsion system is developed. The largest challenge for the propulsion of a deep sea mining vehicle is to drive on the soft sediments associated with these deep sea environments. A short summary of the initial design criteria is given below."

Jan 1, 2017

By Shinichi Takagawa

The deep sea hydrothermal deposits are one of the most prospecting resources, and various works to develop these mines are now underway. There are also various methods for the pre-site survey of the mines: acoustic survey, electro-magnetic survey, and others. However, as a precise method at the final survey, drilling/coring is indispensable to confirm the three-dimensional distribution and to grasp the dignity of the ores for the final decision of industrialization. This drilling/coring at the final survey is done at many points with distance of 15~25m between each point for on-land deposits. This means that 1km by 1km square area requires (1,000m/25m)2 ~ (1,000m/15m)2 = 1,600 ~ 4,500 holes. The drilling/coring depths will be around 30m or more for the hydrothermal deposits. This depth seems very shallow, but because the stratum is very brittle and is very difficult to core, the average core recovery ratio is around 50%, and 0% core recovery happens very often. Thus, the indispensable work of coring for grasping the dignity of ores is a very difficult work although the coring depth is shallow, and also the required number of holes is enormous. Conventional drilling/coring method on the ocean is to use drillship. However, the cost is very huge. Recently a new technique has come out which is to use remotely controlled drilling machine on seafloor. This machine seems to have a very good performance. However, it is reported that the available inclination of the seafloor where the machine sits on must be less than 15 degrees. The sea floor inclinations of active hydrothermal vents area are usually very steep and slopes of 45 degrees or more are prevailing and it seems very hard to carry out drilling/coring for the machine at these steep slopes, although it is impossible to mine the ore at these areas because the temperature is too high to work there. The inclination of the sea floor at the dead or paused hydrothermal vents area where ore recovery is possible may be not so steep, and the machine may work well. However, the required number of holes is still a very heavy burden. In order to solve these problems, the author proposes a new concept of drilling/coring system operated from a conventional research ship. This concept is still a desk plan, but the author wants to realize this system at any means.

Jan 1, 2011

By Chris Castle

The Chatham Rise is a submarine topographic feature lying off the east coast of New Zealand between the South Island and the Chatham Islands and within New Zealand?s jurisdiction. The Chatham Rise hosts economically significant deposits of rock phosphate and other potentially valuable minerals. The deposits comprise nodules lying on, or just below the surface of the seabed in shallow waters. Rock phosphate is an essential ingredient of fertilizer and can be applied directly to pasture. There is a realistic opportunity the phosphate deposits could supply New Zealand?s agricultural requirements for an estimated 30-year period at current rates of consumption.

Jan 1, 2011

By William D. Siapno

Mining the deep ocean by the year 2000 may seem far fetched. The year 2000 is but a decade away, a scant 10 years. Remember, the youngsters of today will grow up in a little more than a decade and rebut the wisdom of the ages, especially the traditions of their elders. Rude perhaps, but none the less a fact of life. Ocean mining exhibits many of these same traits. We should all brace ourselves for some rude shifts in our rapidly moving society. Major shifts in economics, politics, and social orders are the rule of the day. Communism is in retreat, our own economic structures chaotic. So in this moment of cataclysmic change, a shift in the international market place of mineral resources should not be a great surprise.

Jan 1, 2011

By Wenbin Ma, Cees van Rhee, Dingena Schott

Since the concept of deep sea mining (DSM) was proposed by J. L. Mero with his book, The Mineral Resources of the Sea, in the 1960s, many research and significant developments have been implemented. However, its commercial mining process still has not yet commenced. One of the most important issues is that a sustainable DSM transport plan is difficult to determine, taking into consideration the DSM technological, economic, and environmental aspects simultaneously. The objective of this paper is to propose a method to determine the sustainable DSM transport plan utilizing a fuzzy analytic network process method, which is a typical multi-criteria decision making method (MCDM). The DSM transport plans evaluating major criteria consist of technological, economic, environmental, and social aspects with both qualitative and quantitative attributes. Different major criteria include several sub-criteria, respectively:  Technological aspect: energy consumption, proven technology, technology reliability, production rate, technology availability;  Economic aspect: gross income, capital cost, operation and maintenance cost, investment recovery period;  Environmental aspect: species disturbance variance, severity of ill effect, turbidity of ocean water, total organic carbon content, sedimentation thickness;  Social aspect: social acceptability, policy support; The weights for all evaluating criteria and sub-criteria are determined through a questionnaire survey interviewing experts at different research fields. All the transport plan candidates are ranked based on a comprehensive index. The conducted research in this paper is meaningful to promote the DSM commercialization process.

Jan 1, 2018

By Ning Yang, Yuxiang Chen, Ming Chen

An ultraviolet laser Raman spectrometer was developed to detect and analyze material components of seawater, seafloor sediment and rock at a depth of 7000m maximally. Wave length of the excitation resource of the spectrometer is set to 355nm, which can enhance eigen scattered intensity and detecting sensitivity, and avoid fluorescence interference. Miniaturization design was adopted for deep-sea application. Design of the optical system and pressure cartridge, material selection and seal design of the observation window, and design of the Lithium batteries are the key technologies in the procedure of research and development. The spectrometer was carried by a Lander sank to sea bottom of the Pacific's Mariana Trench for verification. During the sea trials, data acquisition for Raman spectra was conducted for analyzing seawater in the detection area, and the spectrometer was verified synthetically. According to the data, the spectrometer is stable and practicable with high resolution and precision, and it is appropriate to detect and analyze composition of substance under the tremendous ocean.

Jan 1, 2017

By Mark Lee, Isobel Yeo, Sarah Howarth, Christian Millo, Javier González Sanz, Paul Lusty, Bramley Murton, Pierre Josso

"Seafloor cobalt-rich ferromanganese crusts represent the most important yet least explored resource of ‘E-tech’ elements on the planet (Hein et al. 2003; ISA, 2008; Hein et al. 2010; Hein et al. 2013). These polymetallic deposits form a continuum from nodules rich in manganese and cobalt to crusts rich in tellurium and the heavy rare earth elements (HREE). It is this combination of traditional (base) metals and the extreme enrichment of ‘E-tech’ elements that makes seafloor ferromanganese oxide deposits particularly interesting to both science and society. Recent estimates of the global resource, based on the sparse data available, infers a dry mass of ferromanganese crusts on the seafloor of 35 x 109 tonnes (35GT). Of this, 3.7 GT is predicted in the Indian Ocean, 8 GT in the Atlantic, and 23 GT in the Pacific (Hein et al. 2013).At a global scale, the processes controlling the formation and distribution of ferromanganese (Fe-Mn) crusts are reasonably well understood (e.g. Hein et al. 2000; Verlaan et al. 2004; Cronan 2006; Halbach et al. 1989; Usui and Someya, 1997; Hein et al. 2000; Hein et al. 2003; Hein et al. 2009; Hein et al. 2010; Hein et al. 2013; Muiños et al. 2013; Marino et al., 2016). However, much of this knowledge is drawn from sparse sampling at a regional to ocean basin scale. As a result, there remains a fundamental gap in understanding of the role of local-scale factors, such as micro-topography, ocean currents and upwelling, sedimentation rates, micro-organisms, water mass composition and biological productivity, that are considered potentially crucial to controlling the growth and composition of Fe-Mn crusts. Indeed, quantitative, particularly temporal, information relating to these processes and their relative importance in deposit formation is almost completely absent. Hence, to make any significant advance in understanding these deposits require significant new research."

Jan 1, 2017

By Cheong-Kee Park

Since 1983, Korea Ocean Research and Development Institute (KORDI) have performed surveys on deep-sea mineral deposits in various areas with respects to their occurrences in Pacific ocean including manganese nodules in the C-C area of Northeast Pacific, Co-rich manganese crusts in various seamounts of West Pacific and hydrothermal sulfide deposits in back arc basins of Southwest Pacific. Among the results of these activities of KORDI, remarkable things were the registration as a pioneer investor in 1994 through the Government of Korea and the accomplishment of relinquishment on the allocated area in 2002 according to the relevant regulations. KORDI is faced to handle detailed surveys to select the optimum mining sites in the allocated area of 75,000 km2 and environmental studies to meet the requirements of the regulations or recommendations of the ISA. In respects of future exploration strategies, it is considered that methods and tools of previous exploration activities should be changed to the highly advanced technology. Establishment of an advanced exploration system and actual practice in appropriate areas become one of important tasks of KORDI in exploring deep-sea minerals, particularly manganese nodules. A technical strategy for future detailed surveys in the allocated area is realization of simultaneous and precise data acquisition on bottom information, such as variations of microtopography, nodule distribution, and transparent layer thickness of sediments in relatively small area (10 km x 10 km) representing certain specific regions, by high resolution survey technology. It would be not only a challenge for new exploration system in deep-sea environment, but also a mission for deep seabed mining venture.

Jan 1, 2003

By Yanis Miezitis, Gerald Mueller, Timothy F. McConachy, Ronald G. Sait, Keith R. Porritt, William J. McKay

In November 2004, Australia lodged with the United Nations Commission on the Limits of the Continental Shelf possible new maritime boundaries in relation to Australia’s continental shelf extending beyond 200 nautical miles from the Territorial Sea Baseline (Colwell and Symonds, 2005). If agreed by the commission, just over half of Australia’s land mass will lie below the sea, and Australia will have one of the largest marine jurisdictions in the world (14.41 million km2). With this jurisdiction comes a responsibility to manage and sustain the marine environment (McConachy, 2006). Knowledge of minerals and their resource potential is part of this responsibility but is generally poorly known (McConachy, 2005).

Aug 24, 2006

By Alexander Malahoff

The study of why and how life survives in the Extreme environment is a major frontier of science today. Extremophiles are organisms that require extreme environment including high temperature, pH, pressure and salt concentration, or low temperature, pH, nutrient concentration, or water availability. Their common habitats are geothermal vents, pools, lakes and craters of active volcanic regions, such as those of New Zealand, Japan, Kamchatka, Yellowstone USA or the hydrothermal vents of the ocean ridges and submarine volcanoes. These settings are accessible by foot, boat, helicopter, or submersibles. This presentation examines the geology, chemistry of geothermal sites of New Zealand, including the active volcano, White Island, Yellowstone, the submarine volcano Loihi in Hawaii, and sections of the mid-ocean ridges. Designing process and construction of Extremophilic sampling and bioreactor systems used in the study of Extremophiles will be discussed. The driving force behind the research of extremophiles is not only the fundamental science, but also biotechnological potential associated with these microorganisms and their cellular products. The University of Hawaii?s Marine Bioproducts and Engineering Center (MarBEC) is laying the foundations for such new industries.

Jan 1, 2001

By Pierre-Yves Morvan

One of the numerous challenge for underwater mining is the positioning. This paper describes an architecture for the integration of an Ultra Short BaseLine (USBL), an Acoustic Synthetic BaseLine (ASBL) operating in Sparse Array mode and a Doppler Velocity Log (DVL) closely coupled with an Inertial Navigation System (INS) for precise subsea positioning in severe environments. By using such architectures, the INS can help to reduce the noise on the measurements coming from acoustic sensors. Another advantage is the capability to reduce the number of required transponders on the seabed, and as a consequence, reduce the time for the deployment and calibration of each transponder. The paper further describes sea-trials performed to assess the ability of a complete positioning system to provide decimetric positioning precision even with a single beacon deployed in the navigation area.

Jan 1, 2017