DISASTER PREVENTION COASTAL MAP PRODUCTION BY MMS & C 3 D

In March 2011, Eastern Japan suffered serious damage of Tsunami caused by a massive earthquake. In 2012, Ministry of Land, Infrastructure and Transport published “Guideline of setting assumed areas of inundation by Tsunami” to establish the conditions of topography data used for simulation of Tsunami. In this guideline, the elevation data prepared by Geographical Survey Institute of Japan and 2m/5m/10m mesh data of NSDI are adopted for land area, while 500m mesh data of Hydrographic and Oceanographic Department of Japan Coast Guard and sea charts are adopted for water area. These data, however, do not have continuity between land area and water area. Therefore, in order to study the possibility of providing information for coastal disaster prevention, we have developed an efficient method to acquire continuous topography over land and water including tidal zone. Land area data are collected by Mobile Mapping System (MMS) and water area depth data are collected by interferometry echo sounder (C3D), and both data are simultaneously acquired on a same boat. Elaborate point cloud data of 1m or smaller are expected to be used for realistic simulation of Tsunami waves going upstream around shoreline. Tests were made in Tokyo Bay (in 2014) and Osaka Bay (in 2015). The purpose the test in Osaka Bay is to make coastal map for disaster prevention as a countermeasure for predicted Nankai massive earthquake. In addition to Tsunami simulation, the continuous data covering land and marine areas are expected to be used effectively for maintenance and repair of aged port and river facilities, maintenance and investigation of dykes, and ecosystem preservation. 1. PREFACE Japan is an archipelago subject to natural disasters like earthquakes, tsunamis, volcanic eruptions and typhoons and one of the most severely disaster-affected countries in the world. Particularly on March 11 2011, the tsunami of the Great East Japan Earthquake of magnitude of 9.0 caused unprecedented damage on the Pacific coast of eastern Japan. In 2012, Ministry of Land, Infrastructure and Transport issued “Guideline of setting assumed areas inundated by Tsunami”. It contains the use of topographic data of land and water areas to calculate simulation of the inundation and to estimate the damage by inundation. Figure 1. Immediately after the Great East Japan Earthquake (Near Kesenuma, Miyagi Pref.) Currently digital elevation model of 2m/5m/10m mesh data prepared by Geospatial Information Authority of Japan are used for land area, while 500m mesh seabed topography data of Japan Coast Guard are used for water area. Surface measurement by topographic LiDAR or narrow multi-beam echo sounder cannot secure continuity of the water edge data in land and water areas because water edge (near shoreline) is in blind spot. In view of the situation, we verified a method to acquire efficiently and accurately continuous water edge topographic data over land and water including intertidal zone. In this method, land area data were collected by Mobile Mapping System (MMS) and water area data were collected by Interferometry Echo-Sounder (C3D), and these two measuring devices were installed together on the same vessel to acquire the data simultaneously. The data thus acquired are 3D seamless topography of land and water areas and denominated in this study as “Disaster Prevention Coastal Map”. Because the map has elaborate data of point cloud with density of 100points/m2 or more, detailed topography and shapes of structures can be recognized and it can be used for simulation of inundation by tsunami and for maintenance of embankments, structures and other public facilities as well. *Corresponding author The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLI-B1, 2016 XXIII ISPRS Congress, 12–19 July 2016, Prague, Czech Republic This contribution has been peer-reviewed. doi:10.5194/isprsarchives-XLI-B1-595-2016 595 The system is intended for the anticipated area of devastation by the Nankai Trough Earthquake, predicted to occur within 30 years to come with probability of 70 percent. In December 2015, the verification test was made at Kishiwada Port, one of the impor that is anticipated to suffer severe damage by tsunami. This port has various structures like water gates, highway bridges and embankments and is suitable to see how the system can be used to check these public facilities. Figure 2. Damage Earthquake Before the tests at Kishiwada, similar tests had been made at Odaiba in Tokyo Bay in April 2014, and the following two problems were found. ・Horizontal position errors caused by difference of positioning devices in land and water areas ・Areas not measured (blank areas) in installation of positioning devices These problems were taken into consideration for constructing the system for testing at Kishiwada. Figure. 3. Verification test site (Kishiwada Port in Osaka) 2. VERIFICATION Estimation area of the Nankai Trough and Experimental location Kishiwada Port Nankai quake


PREFACE
Japan is an archipelago subject to natural disasters like earthquakes, tsunamis, volcanic eruptions and typhoons and

*Corresponding author
The system is intended for the anticipated area of devastation by the Nankai Trough Earthquake, predicted to occur within 30 years to come with probability of 70 percent.
In December 2015, the verification test was made at Kishiwada Port, one of the impor that is anticipated to suffer severe damage by tsunami.This port has various structures like water gates, highway bridges and embankments and is suitable to see how the system can be used to check these public facilities.

VERIFICATION
The system is intended for the anticipated area of devastation by the Nankai Trough Earthquake, predicted to occur within 30 years to come with probability of 70 percent.
In The system adopted at Kishiwada is similar to the one used at Odaiba in 2014.Table 1 system and to use positioning devices of the same type in both land and water areas acquired, therefore, synchronized with GPS time when processing.Time of PCs was also synchronized to minimize the error caused by different types of equipment.
To facilitate data processing after the measuring, C3D was installed on portside and MMS was installed on stern.At these positions, C3D could evade the noise of bubbles created by the wake of the vessel and MMS could keep obstacles like fixture of the vessel out of the measuring area.The system adopted at Kishiwada is similar to the one used at Odaiba in 2014.Table 1 system and Figure . 4 to use positioning devices of the same type in both land and water areas but the integration was impossible.The data acquired, therefore, synchronized with GPS time when processing.Time of PCs was also synchronized to minimize the error caused by different types of equipment.
Table 1.The system adopted at Kishiwada is similar to the one used at Odaiba in 2014.Table 1.shows the specification of the 4 show how it was installed.It is desirous to use positioning devices of the same type in both land and but the integration was impossible.The data acquired, therefore, synchronized with GPS time when processing.Time of PCs was also synchronized to minimize the error caused by different types of equipment.The system adopted at Kishiwada is similar to the one used shows the specification of the how it was installed.It is desirous to use positioning devices of the same type in both land and but the integration was impossible.The data acquired, therefore, synchronized with GPS time when processing.Time of PCs was also synchronized to minimize

Specification of MMS & C3D
To facilitate data processing after the measuring, C3D was installed on portside and MMS was installed on stern.At these positions, C3D could evade the noise of bubbles created by the wake of the vessel and MMS could keep obstacles like fixture Table 2. Time schedule of the work 2 days (including 1 day to spare) were spent to acquire the data.Table 2 shows time schedule of the work.First the vessel was navigated along the coastline in the area to measure and then shuttled in the direction of southwest and then in north east direction to make sure that no section would remain unmeasured in the area.
For correction of depth sounding of C3D, sonic speed was measured before and after the work.The specification of the MMS states that it must be initialized for 5 minutes at 40km/h but the vessel traveling speed is slower.Therefore, an additional GPS was installed on MMS to shorten the initialization time.).In such a case investigation by boats may be advantageous thanks to their mobility on water.

DATA PROCESSING
Figure 9.
(the Great East Japan Earthquake in 2011)

PROBLEMS OF THE SYSTEN YET TO BE SOLVED
Both MMS and C3D create blank areas due to laser or echo blocked by obstacles.Horizontal error (m) In view of higher inspecting various public facilities, it is necessary to integrate GNSS/IMU equipment and establish a system which will not create errors attributable to the system and will acquire the (3) to recognize actual situation at human eye level.C3D sounding data: Seabed topography (after analysis) To check sunken debris on seabed.
It is advisable to update and maintain the data at normal imes and use them (1) to compare with the data after the disaster, improve accuracy of calculating tsunami running upstream and (3) to recognize actual situation at human eye level.
shows the initial data Table 5.Data to be prepared To check sunken debris on seabed.

MMS
It is advisable to update and maintain the data at normal (1) to compare with the data after the disaster, improve accuracy of calculating tsunami running (3) to recognize actual situation at human eye level.
shows the initial data Data to be prepared at normal times The data acquired by this system may be used more quickly and effectively if GIS is prepared linking with the marine cadastre of Japan Coast Guard and tsunami hazard maps.
We express our sincere gratitude to Prof. Tomoyuki Takahashi of Kansai University who gave us guidance on how to use the system not only at the time of disaster but also a normal times and get ready for the Nankai Trough Earthquake.
We also thank Osaka Port Authority who granted us using  The data acquired by this system may be used more quickly and effectively if GIS is prepared linking with the marine cadastre of Japan Coast Guard and tsunami hazard maps.

Figure.14.
We express our sincere gratitude to Prof. Tomoyuki Takahashi of Kansai University who gave us guidance on how to use the system not only at the time of disaster but also a normal times and get ready for the Nankai Trough Earthquake.
We also thank Osaka Port Authority who granted us using Kishiwada Port for the test.

Megumi Koizumi, for Sensor Georeferencing
Mapping for Damage survey after Great east Japan earthquake" shows the flow of the coastal area disaster prevention system of MMS + C3D at the time of disaster and at normal times.It is imperative to set up time actions can be taken as per the disaster prevention master plan.
The data acquired by this system may be used more quickly and effectively if GIS is prepared linking with the marine cadastre of Japan Coast Guard and tsunami hazard maps.

Flow of coast disaster prevention for Sensor Georeferencing and Navigation
Mapping for Damage survey after Great east Japan shows the flow of the coastal area disaster prevention system of MMS + C3D at the time of disaster and at normal times.It is imperative to set up time actions can be taken as per the disaster prevention master plan.
The data acquired by this system may be used more quickly and effectively if GIS is prepared linking with the marine cadastre of Japan Coast Guard and tsunami hazard maps.

Acknowledgement
We express our sincere gratitude to Prof. Tomoyuki Takahashi of Kansai University who gave us guidance on how to use the system not only at the time of disaster but also a normal times and get ready for the Nankai Trough Earthquake.
We also thank Osaka Port Authority who granted us using The data acquired by this system may be used more quickly and effectively if GIS is prepared linking with the marine cadastre of Japan Coast Guard and tsunami hazard maps.

Flow of coast disaster prevention
We express our sincere gratitude to Prof. Tomoyuki Takahashi of Kansai University who gave us guidance on how to use the system not only at the time of disaster but also at normal times and get ready for the Nankai Trough Earthquake.
We also thank Osaka Port Authority who granted us using I/5: Integrated Systems ,Application," Mobile one of the most severely disaster-affected countries in the world.Particularly on March 11 2011, the tsunami of the Great East Japan Earthquake of magnitude of 9.0 caused unprecedented damage on the Pacific coast of eastern Japan.In 2012, Ministry of Land, Infrastructure and Transport issued "Guideline of setting assumed areas inundated by Tsunami".It contains the use of topographic data of land and water areas to calculate simulation of the inundation and to estimate the damage by inundation.

Figure
Figure 2. Damage Earthquake

Figure. 3 .
Figure. 3. Verification test site (Kishiwada Port in Osaka) December 2015, the verification test was made at Kishiwada Port, one of the impor that is anticipated to suffer severe damage by tsunami.This port has various structures like water gates, highway bridges and embankments and is suitable to see how the system can be used to check these public facilities.Damage Estimation area of the Nankai Trough arthquake and Experimental location Before the tests at Kishiwada, similar tests had been made at in Tokyo Bay in April 2014, and the following two problems were found.Horizontal position errors caused by difference of positioning devices in land and water areas Areas not measured (blank areas) in installation of positioning devices problems were taken into consideration for constructing the system for testing at Kishiwada.Verification test site (Kishiwada Port in Osaka) intended for the anticipated area of devastation by the Nankai Trough Earthquake, predicted to occur within 30 years to come with probability of 70 percent.In December 2015, the verification test was made at Kishiwada Port, one of the important ports in western Japan that is anticipated to suffer severe damage by tsunami.This port has various structures like water gates, highway bridges and embankments and is suitable to see how the system can be used to check these public facilities.Estimation area of the Nankai Trough Experimental location Before the tests at Kishiwada, similar tests had been made at in Tokyo Bay in April 2014, and the following two Horizontal position errors caused by difference of positioning devices in land and water areas Areas not measured (blank areas) in intertidal zones due to installation of positioning devices problems were taken into consideration for constructing the system for testing at Kishiwada.Verification test site (Kishiwada Port in Osaka) intended for the anticipated area of devastation by the Nankai Trough Earthquake, predicted to occur within 30 years to come with probability of 70 percent.In December 2015, the verification test was made at tant ports in western Japan that is anticipated to suffer severe damage by tsunami.This port has various structures like water gates, highway bridges and embankments and is suitable to see how the system can be Estimation area of the Nankai Trough Experimental location Before the tests at Kishiwada, similar tests had been made at in Tokyo Bay in April 2014, and the following two Horizontal position errors caused by difference of positioning devices in land and water areas intertidal zones due to problems were taken into consideration for constructing the system for testing at Kishiwada.Verification test site (Kishiwada Port in Osaka) Odaiba The system is intended for the anticipated area of devastation by the Nankai Trough Earthquake, predicted to occur within 30 years to come with probability of 70 percent.In December 2015, the verification test was made at tant ports in western Japan that is anticipated to suffer severe damage by tsunami.This port has various structures like water gates, highway bridges and embankments and is suitable to see how the system can be Estimation area of the Nankai Trough Before the tests at Kishiwada, similar tests had been made at in Tokyo Bay in April 2014, and the following two intertidal zones due to Verification test site (Kishiwada Port in Osaka)

Figure
Figure

Figure. 5
Figure. 5. shows flow of processing and integration of data of MMS and C3D.After integration with GNSS/IMU and sonic speed correction, errors data like acoustic noise, electrical noise, wakes of fish and ships and bubbles were removed from C3D depth sounding data.Then errors of installation angle of C3D and IMU (roll/pitch/yaw) were calculated and corrected.

Figure 6 .
Figure 6.Point cloud of LMV and Omnidirectional image link function

Figure 9 .
Figure 9. Damaged embankments (the Great East Japan Earthquake in 2011)

Figure 12 .
Figure 12.Point cloud of LMV are linked with omnidirectional images area because a blind spot was created by a moored boat.Seamless data was not created because C3D also failed to measure.deviation was created between land and water areas because two positioning devices of different types were used.But this time the deviation was not as big as the tests at Odaiba.shows horizontal position error (MMS in pink and C3D in light blue).GNSS positioning error is shown in Table 4. 12. Blank area due to moored boat of LMV are linked with omnidirectional images 13.Horizontal position deviation Horizontal errors in Odaiba and Kishiwada Table 4. GNSS positioning error Odaiba Horizontal error (m) In view of higher accuracy requested in the future for inspecting various public facilities, it is necessary to integrate GNSS/IMU equipment and establish a system which will not create errors attributable to the system and will acquire the same positioning data.area because a blind spot was created by a moored boat.Seamless data was not created because C3D also failed to measure.As shown in deviation was created between land and water areas because two positioning devices of different types were used.But this g as the tests at Odaiba.shows horizontal position error (MMS in pink and C3D in light blue).GNSS positioning error is shown in Table 4. Blank area due to moored boat of LMV are linked with omnidirectional the future for inspecting various public facilities, it is necessary to integrate GNSS/IMU equipment and establish a system which will not create errors attributable to the system and will acquire the Correction method Horizontal Error shows a blank area because a blind spot was created by a moored boat.Seamless data was not created As shown in Table 3, deviation was created between land and water areas because two positioning devices of different types were used.But this g as the tests at Odaiba. Figure shows horizontal position error (MMS in pink and C3D in light blue).GNSS positioning error is shown in Table 4. Blank area due to moored boat of LMV are linked with omnidirectional images Horizontal position deviation Horizontal errors in Odaiba and Kishiwada Kishiwada 0.6 accuracy requested in the future for inspecting various public facilities, it is necessary to integrateGNSS/IMU equipment and establish a system which will not create errors attributable to the system and will acquire the Emergency transportation route is absolutely necessary to carry out the operations of (2) to (5) transport of supplies and fuels by ships is important.The plan gives the first priority to eliminate obstacles on waterways to establish shipping terminals and ensure safe waterways on day 1 (24 hours).findingsobtained from the tests will be used for the emergency operations of Nankai Trough Earthquake and the followings were recommended: ・MMS laser data: 3D point cloud →To check collapsed buildings and facilities ・MMS omnidirectional images: Real ti →To check damages on berthing places ・MMS omnidirectional images: Panorama image →To check destroyed port facilities and scattered debris ・C3D sounding data: Underwater live sonar data →To search survivors and missing persons ・C3D sounding data: →To analyze capability of berthing boats and tsunami running upstream.・C3D sounding data: Seabed topography (after analysis) →To check sunken debris on seabed.It is advisable to update and maintain the data at normal times and use them (1) to compare with the data after the disaster, (2) to improve accuracy of calculating tsunami running upstream and Emergency transportation route is absolutely necessary ut the operations of (2) to (5) transport of supplies and fuels by ships is important.The plan gives the first priority to eliminate obstacles on waterways to establish shipping terminals and ensure safe waterways on day 1 (24 hours).ned from the tests will be used for the emergency operations of Nankai Trough Earthquake and the followings were recommended: MMS laser data: 3D point cloud To check collapsed buildings and facilities MMS omnidirectional images: Real ti To check damages on berthing places MMS omnidirectional images: Panorama image To check destroyed port facilities and scattered debris C3D sounding data: Underwater live sonar data To search survivors and missing persons C3D sounding data: Seabed topography (after analysis) To analyze capability of berthing boats and tsunami running upstream.
Emergency transportation route is absolutely necessary ut the operations of (2) to (5), and transport of supplies and fuels by ships is important.The plan gives the first priority to eliminate obstacles on waterways to establish shipping terminals and ensure safe waterways on day 1 (24 hours).Study was made on how the ned from the tests will be used for the emergency operations of Nankai Trough Earthquake and the followings MMS laser data: 3D point cloud (after analysis) To check collapsed buildings and facilities MMS omnidirectional images: Real time images To check damages on berthing places MMS omnidirectional images: Panorama image To check destroyed port facilities and scattered debris C3D sounding data: Underwater live sonar data To search survivors and missing persons Seabed topography (after analysis) To analyze capability of berthing boats and tsunami C3D sounding data: Seabed topography (after analysis) Figure prevention system of MMS + C3D at the time of disaster and at normal times.It is imperative to set up time actions can be taken as per the disaster prevention master plan.

Figure. 14 .
Figure.14. shows the flow of the coastal area disaster prevention system of MMS + C3D at the time of disaster and at normal times.It is imperative to set up time actions can be taken as per the disaster prevention master plan.
Mapping for Damage survey after Great east Japan shows the flow of the coastal area disaster prevention system of MMS + C3D at the time of disaster and at normal times.It is imperative to set up time-line so that actions can be taken as per the disaster prevention master plan.

Table 3 .
Horizontal errors in Odaiba and Kishiwada