Precision of high-resolution multibeam echo sounding coupled with high-accuracy positioning in a shallow water coastal environment

Over 4 years, repetitive bathymetric measurements of a shipwreck in the Grådyb tidal inlet channel in the Danish Wadden Sea were carried out using a state-of-the-art high-resolution multibeam echosounder (MBES) coupled with a real-time long range kinematic (LRK?) global positioning system. Seven measurements during a single survey in 2003 (n=7) revealed a horizontal and vertical precision of the MBES system of ±20 and ±2 cm, respectively, at a 95% confidence level. By contrast, four annual surveys from 2002 to 2005 (n=4) yielded a horizontal and vertical precision (at 95% confidence level) of only ±30 and ±8 cm, respectively. This difference in precision can be explained by three main factors: (1) the dismounting of the system between the annual surveys, (2) rougher sea conditions during the survey in 2004 and (3) the limited number of annual surveys. In general, the precision achieved here did not correspond to the full potential of the MBES system, as this could certainly have been improved by an increase in coverage density (soundings/m²), achievable by reducing the survey speed of the vessel. Nevertheless, precision was higher than that reported to date for earlier offshore test surveys using comparable equipment.     

A framework to quantify uncertainties of seafloor backscatter from swath mapping echosounders

Multibeam echosounders (MBES) have become a widely used acoustic remote sensing tool to map and study the seafloor, providing co-located bathymetry and seafloor backscatter. Although the uncertainty associated with MBES-derived bathymetric data has been studied extensively, the question of backscatter uncertainty has been addressed only minimally and hinders the quantitative use of MBES seafloor backscatter. This paper explores approaches to identifying uncertainty sources associated with MBES-derived backscatter measurements. The major sources of uncertainty are catalogued and the magnitudes of their relative contributions to the backscatter uncertainty budget are evaluated. These major uncertainty sources include seafloor insonified area (1–3 dB), absorption coefficient (up to >?6 dB), random fluctuations in echo level (5.5 dB for a Rayleigh distribution), and sonar calibration (device dependent). The magnitudes of these uncertainty sources vary based on how these effects are compensated for during data acquisition and processing. Various cases (no compensation, partial compensation and full compensation) for seafloor insonified area, transmission losses and random fluctuations were modeled to estimate their uncertainties in different scenarios. Uncertainty related to the seafloor insonified area can be reduced significantly by accounting for seafloor slope during backscatter processing while transmission losses can be constrained by collecting full water column absorption coefficient profiles (temperature and salinity profiles). To reduce random fluctuations to below 1 dB, at least 20 samples are recommended to be used while computing mean values. The estimation of uncertainty in backscatter measurements is constrained by the fact that not all instrumental components are characterized and documented sufficiently for commercially available MBES. Further involvement from manufacturers in providing this essential information is critically required.     

The fate of dumped sediments monitored by a high-resolution multibeam echosounder system,Weser Estuary,German Bight

With the development of high-resolution multibeam echosounder systems (MBES) for surveying shallow-water areas a new tool is available to monitor rapid changes in seabed morphology as, e.g., caused by the dumping of dredge spoil in coastal waters. In this study, four data sets of repeated bathymetric surveys with a MBES were processed and analyzed. The data were collected in a 1.94-km² dumping site in the outer Weser Estuary (German Bight). Between June and December 1998, 2.6 million m³ of dredged sediment were deposited there. The bathymetric maps generated in the course of this study reveal features such as subaqueous dunes, scour holes, and mounds of dumped dredge spoil. The mean water depth decreased by about 1 m during the dumping period. Furthermore, difference grids showing changes in sediment volume allowed a calculation of the sediment budget for the monitored area. After a time period of only 5 months, 0.5 million m³ of the originally dumped 2.6 million m³ of dredge spoil had already been removed from the dumping site.     

CUBE算法及其在多波束数据处理中的应用

阐述了一种基于表面生成的多波束数据处理方法——CUBE(Combined Uncertainty and Bathymetry Estimator)算法,用该方法可以对观测区域网格节点"真实"水深及相关误差进行估计。与从测量水深中选择出"最佳"数据的手工交互方式的多波束数据编辑手段不同,CUBE算法具有很强的抗差性和较高的效率,适合于实时多波束数据处理。对南海某测区多波束数据处理结果表明,在没有人工干预的情况下,利用CUBE算法去噪生成的海底DTM图与手工编辑生成的相当吻合。CUBE算法和手工编辑方法综合对比得出,CUBE算法能够很好地保留水深地形细节,在计算效率、误差评估、实时处理等方面比手工编辑方法具有较大的优势。     

Backscatter calibration of high-frequency multibeam echosounder using a reference single-beam system,on natural seafloor

The calibration of multibeam echosounders for backscatter measurements can be conducted efficiently and accurately using data from surveys over a reference natural area, implying appropriate measurements of the local absolute values of backscatter. Such a shallow area (20-m mean depth) has been defined and qualified in the Bay of Brest (France), and chosen as a reference area for multibeam systems operating at 200 and 300 kHz. The absolute reflectivity over the area was measured using a calibrated single-beam fishery echosounder (Simrad EK60) tilted at incidence angles varying between 0° and 60° with a step of 3°. This reference backscatter level is then compared to the average backscatter values obtained by a multibeam echosounder (here a Kongsberg EM 2040-D) at a close frequency and measured as a function of angle; the difference gives the angular bias applicable to the multibeam system for recorded level calibration. The method is validated by checking the single- and multibeam data obtained on other areas with sediment types different from the reference area.     

Multisource multibeam backscatter data: developing a strategy for the production of benthic habitat maps using semi-automated seafloor classification methods

The establishment of multibeam echosounders (MBES) as a mainstream tool in ocean mapping has facilitated integrative approaches towards nautical charting, benthic habitat mapping, and seafloor geotechnical surveys. The bathymetric and backscatter information generated by MBES enables marine scientists to present highly accurate bathymetric data with a spatial resolution closely matching that of terrestrial mapping, and can generate customized thematic seafloor maps to meet multiple ocean management needs. However, when a variety of MBES systems are used, the creation of objective habitat maps can be hindered by the lack of backscatter calibration, due for example, to system-specific settings, yielding relative rather than absolute values. Here, we describe an approach using object-based image analysis to combine 4 non-overlapping and uncalibrated (backscatter) MBES coverages to form a seamless habitat map on St. Anns Bank (Atlantic Canada), a marine protected area hosting a diversity of benthic habitats. The benthoscape map was produced by analysing each coverage independently with supervised classification (k-nearest neighbor) of image-objects based on a common suite of 7 benthoscapes (determined with 4214 ground-truthing photographs at 61 stations, and characterized with backscatter, bathymetry, and bathymetric position index). Manual re-classification based on uncertainty in membership values to individual classes—especially at the boundaries between coverages—was used to build the final benthoscape map. Given the costs and scarcity of MBES surveys in offshore marine ecosystems—particularly in large ecosystems in need of adequate conservation strategies, such as in Canadian waters—developing approaches to synthesize multiple datasets to meet management needs is warranted.     

Hydro-acoustic remote sensing of benthic biological communities on the shallow South East Australian continental shelf

Information regarding the composition and extent of benthic habitats on the South East Australian continental shelf is limited. In this habitat mapping study, multibeam echosounder (MBES) data are integrated with precisely geo-referenced video ground-truth data to quantify benthic biotic communities at Cape Nelson, Victoria, Australia. Using an automated decision tree classification approach, 5 representative biotic groups defined from video analysis were related to hydro-acoustically derived variables in the Cape Nelson survey area. Using a combination of multibeam bathymetry, backscatter and derivative products produced highest overall accuracy (87%) and kappa statistic (0.83). This study demonstrates that decision tree classifiers are capable of integrating variable data types for mapping distributions of benthic biological assemblages, which are important in maintaining biodiversity and other system services in the marine environment.     

Uncertainty Reduction of Estimated Geostrophic Volume Transports with Altimeter Observations East of Taiwan

The common geostrophic estimation of ocean current velocity uses only water temperature and conductivity profiles. The geostrophic volume transport of a western boundary current, like the Taiwan Current (Kuroshio east of Taiwan), between the coast and its eastern boundary can be easily estimated based on hydrographic survey data. But the eastern boundary of the Taiwan Current is very uncertain due to extremely variable hydrographic conditions. This uncertainty is strongly correlated with the propagating mesoscale eddies originating from the interior of the western North Pacific Ocean. The uncertainty of estimated transport can be greatly reduced if eddy distribution is considered when determining the integration boundaries with the assistance of satellite altimeter measurements. Eight hydrographic surveys east of Taiwan between November 1992 and June 1996 are demonstrated in this study. The average geostrophic transport of the Taiwan Current with a reference set to 1000 dbar at 22°N between the east coast of Taiwan and 124°E is 22.9 ±14.2 Sv and changes to 22.1 ± 8.3 Sv, the uncertainty of which is nearly halved after taking account of the eddy distribution. The estimation uncertainty is insensitive to vertical displacements of the reference level within the depth range between 800 and 2000 dbar. This revised version was published online in July 2006 with corrections to the Cover Date.     

Combining pixel and object based image analysis of ultra-high resolution multibeam bathymetry and backscatter for habitat mapping in shallow marine waters

Habitat mapping data are increasingly being recognised for their importance in underpinning marine spatial planning. The ability to collect ultra-high resolution (cm) multibeam echosounder (MBES) data in shallow waters has facilitated understanding of the fine-scale distribution of benthic habitats in these areas that are often prone to human disturbance. Developing quantitative and objective approaches to integrate MBES data with ground observations for predictive modelling is essential for ensuring repeatability and providing confidence measures for habitat mapping products. Whilst supervised classification approaches are becoming more common, users are often faced with a decision whether to implement a pixel based (PB) or an object based (OB) image analysis approach, with often limited understanding of the potential influence of that decision on final map products and relative importance of data inputs to patterns observed. In this study, we apply an ensemble learning approach capable of integrating PB and OB Image Analysis from ultra-high resolution MBES bathymetry and backscatter data for mapping benthic habitats in Refuge Cove, a temperate coastal embayment in south-east Australia. We demonstrate the relative importance of PB and OB seafloor derivatives for the five broad benthic habitats that dominate the site. We found that OB and PB approaches performed well with differences in classification accuracy but not discernible statistically. However, a model incorporating elements of both approaches proved to be significantly more accurate than OB or PB methods alone and demonstrate the benefits of using MBES bathymetry and backscatter combined for class discrimination.     

Seafloor multibeam backscatter calibration experiment: comparing 45°-tilted 38-kHz split-beam echosounder and 30-kHz multibeam data

Obtaining absolute seafloor backscatter measurements from hydrographic multibeam echosounders is yet to be achieved. We propose a low-cost experiment to calibrate the various acquisition modes of a 30-kHz Kongsberg EM 302 multibeam echosounder in a range of water depths. We use a 38-kHz Simrad EK60 calibrated fisheries split-beam echosounder mounted at 45° angle on the vessel’s hull as a reference for the calibration. The processing to extract seafloor backscatter from the EK60 requires bottom detection, ray tracing and motion compensation to obtain acceptable geo-referenced backscatter measurements from this non-hydrographic system. Our experiment was run in Cook Strait, New Zealand, on well-known seafloor patches in shallow, mid, and deep-water depths. Despite acquisition issues due to weather, our results demonstrate the strong potential of such an approach to obtain system’s absolute calibration which is required for quantitative use of backscatter strength data.     

Cetacean habitat in the northern oceanic Gulf of Mexico

Cetaceans (whales and dolphins) are diverse and abundant upper trophic level predators in the Gulf of Mexico, a semi-enclosed, intercontinental sea with a total area of about 1.5 million km². The objectives of this study were to better define the habitat of cetaceans in the northern oceanic Gulf of Mexico. An integrated methodology was used that included visual surveys and hydrographic collections from ships. Near real-time sea surface altimetry from the TOPEX/POSEIDON and ERS satellites was used during ship surveys to determine the location of hydrographic features (e.g., cyclones, anticyclones and confluence zones). Archival satellite sea surface altimetry data were also used to retrospectively determine the location of hydrographic features for analysis with earlier cetacean sightings. We estimated zooplankton and micronekton biomass using both net and acoustic sampling to indicate the amount of potential food available for higher trophic level foraging by cetaceans. Nineteen cetacean species were identified during ship surveys. Cetaceans were concentrated along the continental slope in or near cyclones and the confluence of cyclone–anticyclone eddy pairs, mesoscale features with locally concentrated zooplankton and micronekton stocks that appear to develop in response to increased nutrient-rich water and primary production in the mixed layer. A significant relationship existed between integrated zooplankton biomass and integrated cephalopod paralarvae numbers, indicating that higher zooplankton and micronekton biomass may correlate with higher concentrations of cetacean prey. In the north-central Gulf, an additional factor affecting cetacean distribution may be the narrow continental shelf south of the Mississippi River delta. Low salinity, nutrient-rich water may occur over the continental slope near the mouth of the Mississippi (MOM) River or be entrained within the confluence of a cyclone–anticyclone eddy pair and transported beyond the continental slope. This creates a deep-water environment with locally enhanced primary and secondary productivity and may explain the presence of a resident, breeding population of sperm whales within 100 km of the Mississippi River delta. Overall, the results suggest that the amount of potential prey for cetaceans may be consistently greater in the cyclone, confluence areas, and south of the MOM, making them preferential areas for foraging. However, this may not be true for bottlenose dolphins, Atlantic spotted dolphins and possibly Bryde's whales, which typically occur on the continental shelf or along the shelf break outside of major influences of eddies.     

Satellite Remote Sensing as a Reconnaissance Tool for Assessing Nautical Chart Adequacy and Completeness

National hydrographic offices need a better means of assessing the adequacy of existing nautical charts in order to plan and prioritize future hydrographic surveys. The ability to derive bathymetry from multispectral satellite imagery is a topic that has received considerable attention in scientific literature. However, published studies have not addressed the ability of satellite-derived bathymetry to meet specific hydrographic survey requirements. Specifically, the bathymetry needs to be referenced to a chart datum and statistical uncertainty estimates of the bathymetry should be provided. Ideally, the procedure should be based on readily-available, low-cost software, tools, and data. This paper describes the development and testing of a procedure using publicly-available, multispectral satellite imagery to map and portray shallow-water bathymetry in a GIS environment for three study sites: Northeast United States, Nigeria, and Belize. Landsat imagery and published algorithms were used to derive estimates of the bathymetry in shallow waters, and uncertainty of the satellite-derived bathymetry was then assessed using a Monte Carlo method. Results indicate that the practical procedures developed in this study are suitable for use by national hydrographic offices.     

条带测深网的质量检核与评估模型

基于实测数据,构建了条带测深网检核指标的计算模型,结合海道测量规范要求,对条带测深网某些定性指标实现了定量计算,构建了条带测深网数据质量评估指标。实际算例表明,检核指标的计算模型能够有效地反映数据的质量,有助于实现数据评估的标准化与规范化。     

多波束测深系统换能器的安装校准分析

在多波束测深系统的换能器安装与使用过程中,由于无法保证换能器坐标系统与船体坐标系统完全重合,因此必须进行横摇、纵倾以及航向偏差校准与改正,使两者坐标系统相一致.详细分析了多波束测深系统换能器安装校准的原理和方法,以"亚美通道"海底光缆路由调查中,挪威 Simrad EM 3000 多波束测深系统的安装与校准为例,阐述了其安装校准方法及在海底地形测量中的应用.     

Toward a standard line for use in multibeam echo sounder calibration

A procedure is suggested in which a relative calibration for the intensity output of a multibeam echo sounder (MBES) can be performed. This procedure identifies a common survey line (i.e., a standard line), over which acoustic backscatter from the seafloor is collected with multiple MBES systems or by the same system multiple times. A location on the standard line which exhibits temporal stability in its seafloor backscatter response is used to bring the intensity output of the multiple MBES systems to a common reference. This relative calibration procedure has utility for MBES users wishing to generate an aggregate seafloor backscatter mosaic using multiple systems, revisiting an area to detect changes in substrate type, and comparing substrate types in the same general area but with different systems or different system settings. The calibration procedure is demonstrated using three different MBES systems over 3 different years in New Castle, NH, USA.     

Combining historical and new hydrographic data

The NOAA National Ocean Service hydrographic surveys run between 1930 and 1965 have been digitized from the paper smooth sheets. The surveys since 1965 have been collected, processed, and stored in digital form. The new multibeam systems have been used since 1984 to cover over 100,000 square nautical miles of the Exclusive Economic Zone with overlapping swaths of digital soundings. Each of these multibeam surveys may contain millions of soundings. None of the above data has been assigned quality control tags by NOS, but they are stored by survey number, with indexes showing what younger data are available to supersede older data in any area.

Large digital databases, such as the Master Seaftoor Digital Database, are planned in connection with the Defense Hydrographic Initiative. It will be necessary to assign quality control ratings to the soundings in the databases. The detailed survey data may be indexed in the master database but maintained in distributed databases. The databases could supply historical sounding data in digital form for the planning, collection, processing, and evaluation of new survey data.

During the compilation of some bathymetric maps and nautical charts, it is necessary to junction and combine the newer multibeam surveys having total bottom coverage, with the more widely spaced historical data. Precedence is given to the newer hydrographic data, with some older data being removed as needed in order to provide a smooth transition between data sets. In applying multibeam data to nautical charts, it is necessary that actual soundings be positioned properly with respect to bottom contours, which may have been drawn using gridded values. The junctioning of historical and newer data sets is expected to be aided by the use of interactive cartographic workstations.     

Low Salinity, Cool-Core Cyclonic Eddy Detected Northwest of Luzon during the South China Sea Monsoon Experiment (SCSMEX) in July 1998

To detect eddies, intensive surveys of the northeast South China Sea (SCS) (114°30′–121°30′ E, 17°–22°N) were conducted in July 1998 during the international SCS Monsoon Experiment (SCSMEX), the U.S. Navy using Airborne Expendable Bathythermograph and Conductivity-Temperature-Depth sensors (AXBT/AXCTD), and the Chinese Academy of Sciences using Acoustic Doppler Current Profilers (ADCP). The hydrographic survey included 307 AXBT and 9 AXCTD stations, distributed uniformly throughout the survey area. The ADCP survey had two sections. The velocity field inverted from the AXBT/AXCTD data and analyzed from the ADCP data confirm the existence of a low salinity, cool-core cyclonic eddy located northwest of Luzon Island (i.e., the Northwest Luzon Eddy). The radius of this eddy is approximately 150 km. The horizontal temperature gradient of the eddy increases with depth from the surface to 100 m and then decreases with depth below 100 m. The cool core was evident from the surface to 300 m depth, being 1°–2°C cooler inside the eddy than outside. The tangential velocity of the eddy is around 30–40 cm/s above 50 m and decreases with depth. At 300 m depth, it becomes less than 5 cm/s. This revised version was published online in August 2006 with corrections to the Cover Date.     

Detecting fluctuations of the Kuroshio axis south of Japan using TOPEX/POSEIDON altimeter data

Sea surface dynamic topography (SSDT) can be divided into temporal mean SSDT and fluctuation SSDT. The former is approximated with a climatological mean SSDT and the latter is derived from satellite altimetry data, to give an approximated total SSDT (called a composite SSDT). The method is applied to detecting fluctuations of the Kuroshio axis south of Japan using TOPEX/POSEIDON altimeter data from the first year mission in 1992–1993. The fluctuation SSDT averaged over a wide area south of Japan clearly shows an annual cycle with an amplitude of about 15 cm. Temporal changes of SSDT along a subsatellite track crossing the Kuroshio compare moderately well with those estimated from repeated hydrographic observations, although there is a discrepancy of unknown origin. The composite SSDT also compares well with SSDT estimated from the same hydrographic data. Horizontal distribution of the surface geostrophic velocity component normal to subsatellite tracks is derived every ten days from the composite SSDT. Most locations of estimated strong eastward geostrophic velocities coincide well with locations of the Kuroshio axis determined every 15 days fromin situ surface velocity measurements on various vessels; for example, a fairly large meander of the Kuroshio south of Honshu is clearly detected. It is concluded that the composite SSDT can be used reliably to detect fluctuations of the Kuroshio axis south of Japan.     

Sediment transport and morphodynamics of the Douro River estuary

A combination of dredging data, hydrographic surveys and numerical modelling has been used to assess morphological change and sediment transport in the Douro River estuary. The system is dominated by sand- and gravel-sized sediments and confined by resistant rock types. The evolution of the bed in the last 20 years has been strongly influenced by the opening of a navigation channel. According to the data available to date, the average maintenance dredging volume has been of the order of 0.4 × 10⁶ m³ year⁻¹. Comparisons of hydrographic surveys reveal a rate of volume loss of the same magnitude. Apparently, maintenance dredging mainly involves local material, transported into the channel from shallower areas of the estuary. The results of numerical modelling indicate that the sediment transport capacity due to tidal currents is very limited. River flood events increase the transport capacity by several orders of magnitude, thus playing a critical role in sediment redistribution and supply to the coast. The average sediment transport capacity is estimated to be of the order of 0.1 × 10⁶ m³ year⁻¹ in most of the estuary and 0.5 × 10⁶ m³ year⁻¹ at the inlet, with a large uncertainty. It is concluded that, if morphological stability is set as an environmental objective, the dredged material should not be removed from the system but rather be used to nourish the estuarine beaches and the barrier spit.     

Acoustic monitoring of gas emissions from the seafloor. Part II: a case study from the Sea of Marmara

A rotating, acoustic gas bubble detector, BOB (Bubble OBservatory) module was deployed during two surveys, conducted in 2009 and 2011 respectively, to study the temporal variations of gas emissions from the Marmara seafloor, along the North Anatolian Fault zone. The echosounder mounted on the instrument insonifies an angular sector of 7° during a given duration (of about 1 h). Then it rotates to the next, near-by angular sector and so forth. When the full angular domain is insonified, the “pan and tilt system” rotates back to its initial position, in order to start a new cycle (of about 1 day). The acoustic data reveal that gas emission is not a steady process, with observed temporal variations ranging between a few minutes and 24 h (from one cycle to the other). Echo-integration and inversion performed on the acoustic data as described in the companion paper of Leblond et al. (Mar Geophys Res, 2014), also indicate important variations in, respectively, the target strength and the volumetric flow rates of individual sources. However, the observed temporal variations may not be related to the properties of the gas source only, but reflect possible variations in sea-bottom currents, which could deviate the bubble train towards the neighboring sector. During the 2011 survey, a 4-component ocean bottom seismometer (OBS) was co-located at the seafloor, 59 m away from the BOB module. The acoustic data from our rotating, monitoring system support, but do not provide undisputable evidence to confirm, the hypothesis formulated by Tary et al. (2012), that the short-duration, non-seismic micro-events recorded by the OBS are likely produced by gas-related processes within the near seabed sediments. Hence, the use of a multibeam echosounder, or of several split beam echosounders should be preferred to rotating systems, for future experiments.