Multibeam sonar backscatter data processing

Multibeam sonar systems now routinely record seafloor backscatter data, which are processed into backscatter mosaics and angular responses, both of which can assist in identifying seafloor types and morphology. Those data products are obtained from the multibeam sonar raw data files through a sequence of data processing stages that follows a basic plan, but the implementation of which varies greatly between sonar systems and software. In this article, we provide a comprehensive review of this backscatter data processing chain, with a focus on the variability in the possible implementation of each processing stage. Our objective for undertaking this task is twofold: (1) to provide an overview of backscatter data processing for the consideration of the general user and (2) to provide suggestions to multibeam sonar manufacturers, software providers and the operators of these systems and software for eventually reducing the lack of control, uncertainty and variability associated with current data processing implementations and the resulting backscatter data products. One such suggestion is the adoption of a nomenclature for increasingly refined levels of processing, akin to the nomenclature adopted for satellite remote-sensing data deliverables.     

多波束反向散射强度数据处理研究

在探讨多波束测深系统反向散射强度与海底底质类型的关系基础上,研究影响反向散射强度的各种因素,主要分析了海底地形起伏、中央波束区反射信号对反向散射强度的影响,并给出了消除这些影响的方法;将处理后的“纯”反向散射强度数据镶嵌生成海底声像图,为海底底质类型划分以及地貌解译提供了基础数据和辅助判读依据.     

An improved processing sequence for uncorrelated Chirp sonar data

Chirp sonar systems can be used to obtain high resolution seismic reflection images of the sub-seafloor during marine surveys. The exact knowledge of the Chirp signature allows the use of deterministic algorithms to process the data, similarly to that applied to Vibroseis data on land. Here, it is described an innovative processing sequence to be applied to uncorrelated Chirp data, which can improve vertical and lateral resolution compared to conventional methods. It includes application of a Wiener filter to transform a frequency-modulated sweep into a minimum-phase pulse sequence. In this way, the data become causal and can undergo predictive deconvolution to reduce ringing and enhance vertical resolution. Afterwards, FX-deconvolution and Stolt migration can be applied to obtain an improved imaging of the subsurface. The result of this procedure is a seismic reflection image with higher resolution than traditional ones, which are normally represented using the envelope function of the signal. This technique can be particularly useful for engineering-geotechnical surveys and archaeological investigations that require a fine detail imaging of the uppermost meters of the sub-seafloor.     

A processing requirement and resolution capability comparison ofside-scan and synthetic-aperture sonars

The processing requirements and resolution capabilities of both side-look sonar (SLS) and synthetic-aperture sonar (SAS) systems are outlined. Side-look sonar is presented as a real-beam imaging technique along with expressions for relevant system- and image-related parameters. Synthetic-aperture sonar is discussed, and the limitations imposed by the speed of sound in the ocean environment are identified. A specific side-look system (SeaMARC I) is presented under two configurations and comparable SAS designs are proposed. Based on the examples provided by the SeaMARC I system and the hypothetical SAS designs, it is shown that single-beam SAS systems can be designed to achieve area coverage rates comparable to single-beam side-scan systems, yet with improved azimuth resolution     

Improved detection and mapping of deepwater hydrocarbon seeps: optimizing multibeam echosounder seafloor backscatter acquisition and processing techniques

Marine seep hunting surveys are a current focus of hydrocarbon exploration surveys due to recent advances in offshore geophysical surveying, geochemical sampling, and analytical technologies. Hydrocarbon seeps are ephemeral, small, discrete, and therefore difficult to sample on the deep seafloor. Multibeam echosounders are an efficient seafloor exploration tool to remotely locate and map seep features. Geophysical signatures from hydrocarbon seeps are acoustically-evident in bathymetric, seafloor backscatter, midwater backscatter datasets. Interpretation of these signatures in backscatter datasets is a fundamental component of commercial seep hunting campaigns. Degradation of backscatter datasets resulting from environmental, geometric, and system noise can interfere with the detection and delineation of seeps. We present a relative backscatter intensity normalization method and an oversampling acquisition technique that can improve the geological resolvability of hydrocarbon seeps. We use Green Canyon (GC) Block 600 in the Northern Gulf of Mexico as a seep calibration site for a Kongsberg EM302 30 kHz MBES prior to the start of the Gigante seep hunting program to analyze these techniques. At GC600, we evaluate the results of a backscatter intensity normalization, assess the effectiveness of 2X seafloor coverage in resolving seep-related features in backscatter data, and determine the off-nadir detection limits of bubble plumes using the EM302. Incorporating these techniques into seep hunting surveys can improve the detectability and sampling of seafloor seeps.     

Multi-angle backscatter classification and sub-bottom profiling for improved seafloor characterization

This study applies three classification methods exploiting the angular dependence of acoustic seafloor backscatter along with high resolution sub-bottom profiling for seafloor sediment characterization in the Eckernförde Bay, Baltic Sea Germany. This area is well suited for acoustic backscatter studies due to its shallowness, its smooth bathymetry and the presence of a wide range of sediment types. Backscatter data were acquired using a Seabeam1180 (180 kHz) multibeam echosounder and sub-bottom profiler data were recorded using a SES-2000 parametric sonar transmitting 6 and 12 kHz. The high density of seafloor soundings allowed extracting backscatter layers for five beam angles over a large part of the surveyed area. A Bayesian probability method was employed for sediment classification based on the backscatter variability at a single incidence angle, whereas Maximum Likelihood Classification (MLC) and Principal Components Analysis (PCA) were applied to the multi-angle layers. The Bayesian approach was used for identifying the optimum number of acoustic classes because cluster validation is carried out prior to class assignment and class outputs are ordinal categorical values. The method is based on the principle that backscatter values from a single incidence angle express a normal distribution for a particular sediment type. The resulting Bayesian classes were well correlated to median grain sizes and the percentage of coarse material. The MLC method uses angular response information from five layers of training areas extracted from the Bayesian classification map. The subsequent PCA analysis is based on the transformation of these five layers into two principal components that comprise most of the data variability. These principal components were clustered in five classes after running an external cluster validation test. In general both methods MLC and PCA, separated the various sediment types effectively, showing good agreement (kappa >0.7) with the Bayesian approach which also correlates well with ground truth data (r²?>?0.7). In addition, sub-bottom data were used in conjunction with the Bayesian classification results to characterize acoustic classes with respect to their geological and stratigraphic interpretation. The joined interpretation of seafloor and sub-seafloor data sets proved to be an efficient approach for a better understanding of seafloor backscatter patchiness and to discriminate acoustically similar classes in different geological/bathymetric settings.     

Some experiments and considerations for development of Doppler-based riverine sonars

Sonar counting devices have been utilized by fisheries biologists to estimate annual spawning migrations of anadromous salmon. Recent developments in signal detection based on the Doppler principle, and new information on fish sound scattering characteristics at the high frequencies used in riverine sonar, should result in much improved detection and classification capability. These are discussed along with some practical considerations for the deployment of sonar devices for counting fish in rivers.     

High-speed real-time data acquisition for vector measuring currentmeters

The authors describe an integrated hardware and software approach used to provide real-time acquisition and display of vector measuring current meter (VMCM) data at high sample rates (0.5 Hz) with supporting data from other instruments of somewhat slower rates. The hardware component consisted of a new circuit board for the VMCM that captured the VMCM data output, stored it, and transmitted it at high speed in response to a request from the data acquisition computer. The data acquisition software ran on a Masscomp 5600 computer under the UNIX operating system. A central control program provided timing information to several software processes that handled serial data acquisition, display, and storage for one or more instruments. Deployed as a part of the Surface Waves Processes Program (SWAPP) experiment, the integrated data acquisition system successfully collected, processed, stored, and displayed data from 19 VMCMs and four other instruments over a 22-day period in February and March of 1990     

Spatio-temporal processing of coherent acoustic communication datain shallow water

Achieving reliable underwater communication in shallow water is a difficult task because of the random time-varying nature of multipath propagation. When the product of Doppler-related signal bandwidth spread and multipath-related time spread of the channel is larger than one, some types of adaptive signal processing may not work very well. In this paper, various methods of coherent space-time processing are compared for a condition of a marginally overspread channel operating at 50 kHz. Various combinations of suboptimal spatially adaptive and time adaptive methods are considered. The coherent path beamformer (CPB) and recursive least squares (RLS) adaptive beamformer, both in combination with RLS time filtering, are analyzed. Also considered in the analysis is the combined RLS space-time optimal adaptive processor. Many experiments using broad-band phase-shift-keyed transmissions in shallow water have been conducted to provide data for testing these various processing methods. Because of the rapid time variation of the multipath, the product of bandwidth spread and time spread at this test site approached unity. In this environment, a suboptimal approach consisting of the adaptive beamformer followed by RLS equalization reduced reverberation and transmission errors     

Validation of automated supervised segmentation of multibeam backscatter data from the Chatham Rise,New Zealand

Using automated supervised segmentation of multibeam backscatter data to delineate seafloor substrates is a relatively novel technique. Low-frequency multibeam echosounders (MBES), such as the 12-kHz EM120, present particular difficulties since the signal can penetrate several metres into the seafloor, depending on substrate type. We present a case study illustrating how a non-targeted dataset may be used to derive information from multibeam backscatter data regarding distribution of substrate types. The results allow us to assess limitations associated with low frequency MBES where sub-bottom layering is present, and test the accuracy of automated supervised segmentation performed using SonarScope® software. This is done through comparison of predicted and observed substrate from backscatter facies-derived classes and substrate data, reinforced using quantitative statistical analysis based on a confusion matrix. We use sediment samples, video transects and sub-bottom profiles acquired on the Chatham Rise, east of New Zealand. Inferences on the substrate types are made using the Generic Seafloor Acoustic Backscatter (GSAB) model, and the extents of the backscatter classes are delineated by automated supervised segmentation. Correlating substrate data to backscatter classes revealed that backscatter amplitude may correspond to lithologies up to 4 m below the seafloor. Our results emphasise several issues related to substrate characterisation using backscatter classification, primarily because the GSAB model does not only relate to grain size and roughness properties of substrate, but also accounts for other parameters that influence backscatter. Better understanding these limitations allows us to derive first-order interpretations of sediment properties from automated supervised segmentation.     

Vertical spatial coherence of backscatter from bubbles

A basic formalism is developed to treat the vertical spatial coherence of backscatter from wind-generated microbubbles beneath the ocean surface. This formalism treats signals multiply scattered by the sea surface and the subsurface scatterers, as well as absorption in the bubble layer. Approximate solutions are obtained for the case of narrow beamwidth sources and are applied to study the influence of measurement system and environmental parameters on coherence. Using bubble densities derived from acoustic backscatter data, the coherence is found to depend strongly on source frequency and beam pattern. The primary environmental effect is due to the increase in both bubble density and penetration depth below the surface that occurs with increasing windspeed. At high wind speeds, the vertical coherence is sufficiently dependent on the scatterer depth distribution to provide a viable means of studying this phenomenon.     

Evaluation of a high-speed serial link for marine data acquisition

Evaluation of the Gazelle Microcircuits, Inc., HOT ROD high-speed (400 Mbit/sec) gallium arsenide serial link indicates that the device has tremendous potential as a multiplexer/demultiplexer designed to telemeter data through fiber-optic media. The TTL compatibility of all data I-O lines, transparent link operation, and synchronous mode of operation create a near-ideal environment for interfacing the HOT ROD chipset into external systems. The 40 bit parallel bus architecture of the chipset allows for great flexibility in system-level design, including the capability of simultaneous transmission of parallel and serial data. The chipset appears to be capable of extremely low bit error rates.     

Temporal variability of zooplankton biomass from ADCP backscatter time series data at the Bermuda Testbed Mooring site

Temporal variability of acoustically estimated zooplankton biomass at the Bermuda Testbed Mooring (BTM) site in the Sargasso Sea (at 31°43′N, 64°10′W) is described for time scales from less than an hour to the seasonal cycle primarily using data obtained between August 1996 and November 2000, and from May 10 to November 13, 2003. Concurrent high frequency BTM observations of meteorological, physical, and bio-optical variables are used to interpret processes contributing to the zooplankton variability. Zooplankton biomass estimates are derived from regressions of backscatter intensity data measured with an upward looking 153-kHz acoustic Doppler current profiler (ADCP) and zooplankton net tow data collected near the BTM site as part of the Bermuda Atlantic Time-series Study (BATS). Our data show clear event-scale variations. Peaks are associated with annual spring blooms involving mixed layer shoaling and in some cases passages of mesoscale eddy features. Biomass peaks are often coincident with maxima seen in BTM chlorophyll fluorescence measurements (inferred phytoplankton biomass). Some storm events do not appear to manifest in significant perturbations of zooplankton distributions; however, Hurricane Fabian (2003) greatly impacted these distributions. Estimates of zooplankton biomass and relative vertical velocity show the vertical structure of daily migration patterns. Seasonal variations in migration patterns are also evident, with diel changes in zooplankton biomass most pronounced in spring and least pronounced in winter. In summary, our high temporal resolution time series of estimated zooplankton biomass in the open ocean provide information on scales inaccessible through conventional monthly ship-based sampling. These data have implications for upper ocean ecology and the vertical transport of carbon and nitrogen through the diel migration of zooplankton.     

Strategies for waveform processing in sparker data

A sparker is a marine seismic impulsive source used for high-resolution seismic surveys. Sparker sources were very popular during the late 1960s and 1970s before being supplanted by small volume airguns. However, in the last 10 years there has been renewed interest in sparker technology because (1) it can be easily deployed at relatively low costs and (2) in certain areas the use of small airguns is restricted for environmental purposes. In this study a sparker source was used to assess the seismic stratigraphy of Quaternary deposits and to image the sediment/bedrock interface. Three different inverse filtering methods were tested (i.e., spiking deconvolution, match-filtering and vertical seismic profile (VSP) deconvolution) to correct the poor shot-to-shot repeatability of the source and to compress its reverberations. Results show that the matched-filter and VSP deconvolution methods, which design and apply one operator for each shot, produced comparable results, whereas the spiking deconvolution that used the same operator on all traces failed to compress the source signature properly.     

The use of a microcomputer for data acquisition and reduction from a continuous flow analysis system for use at sea

Details are given of a microcomputer-controlled continuous flow analysis system, which has been successfully used for the determination of micronutrients in seawater on board ship. The important steps in constructing the computer program to deal with the reduction of the data are discussed.     

Display and processing of seismic wide angle reflection data from expendable sonobuoys

A method for the display of expendable sonobuoy data using a variable area recorder has been developed to improve the effectiveness and interpretation of the data. Each signal trace is digitised, processed and delayed using a mini-computer capable of shipboard operation. The final display flattens the reflection hyperbolae and enables improved trace correlation and reflector digitisation. The method has particular application to the interpretation of poor quality records.     

Theoretical accuracy of Doppler navigation sonars and acoustic Doppler current profilers

This paper addresses the problem of Doppler shift estimation in Doppler sonar systems. The analysis focuses on the single-beam geometry formed by a circular planar array and considers both narrow-band (or so-called incoherent) and wide-band (or coherent) Doppler sonars, transmitting, respectively, one long continuous-wave pulse and a train of short continuous-wave pulses. The correlation function of the reverberation signal at the beam output is derived for volume reverberation. Directive transmission or reception and a combination of both is considered. Estimation theory is applied to derive the Cramer-Rao bound of the Doppler parameter estimate. The effect of pulse duration, sonar geometry, beamwidth, and signal-to-noise ratio are discussed. The accuracy of coherent and incoherent systems is compared for a specific case.