Constrained iterative deconvolution applied to SeaMARC I sidescansonar imagery

Images collected by any sidescan sonar system represent the convolution of the acoustic beam pattern of the instrument with the true echo amplitude distribution over the seafloor. At typical low speeds, the 1.7° beam width of SeaMARC I (seafloor mapping and remote characterization) results in multiple insonification of individual targets, particularly at the outside of the swath. A nonlinearly constrained iterative deconvolution technique developed for radar applications can be applied to SeaMARC I imagery to reduce the effect of the beam pattern and equalize the spectral content of the image across the swath. Since the deconvolution is implemented in the along-track direction, the registration of individual scan lines must be precisely corrected before the operator is applied. The deconvolution operator must be modeled to account for beam shape, vehicle speed, swath width, slant range, and ping rate. The method is numerically stable and increases the effective resolution of the image, but results in some loss of dynamic range. The technique is applied to target recognition and imagery from volcanic terrains of the central Juan de Fuca Ridge     

A generic swath‐mapping data format

There is a pressing need for standardization of data derived from bathy‐metric swath‐mapping systems. Currently several dozen multibeam and sidescan sonar data formats exist within the oceanographic community, and more can be expected as new systems are developed. Without some standardization of swath‐mapping data formats, the capability for use and integration of data from different systems will be severely compromised.

This paper presents a strategy for organizing swath bathymetry data in a logical modular fashion that will allow data from all current swath bathymetric sonar systems to be stored and accessed in a common fashion. We have chosen the approach of defining compact efficient modules for each logically independent portion of a data record and storing it in a manner that is portable between diverse computer architectures and operating systems. This approach is extensible to accommodate new types of data. Although specifically developed for swath bathymetry, this format is also capable of supporting digital sidescan data and other types of swath data.     

Feasibility of interferometric swath bathymetry using GLORIA, along-range sidescan

The feasibility of adding an interferometric swath bathymetric system to GLORIA, a 6.6 kHz long-range sidescan sonar, is discussed. The size of GLORIA's low-frequency transducer arrays and towfish precludes significant modifications, but even without such changes bathymetric errors could be several tens of metres over a usable swath somewhat smaller than the normal GLORIA swath. A swath bathymetry based on GLORIA will have random errors depending strongly on wind speed, water depth, and swath width. Within the range of these parameters, root-mean-square bathymetry errors in the range of 1-100 m can be expected     

Geometric corrections on sidescan sonar images based on bathymetry. Application with SeaMARC II and Sea Beam data

Acoustic backscatter images of the seafloor obtained with sidescan sonar systems are displayed most often using a flat bottom assumption. Whenever this assumption is not valid, pixels are mapped incorrectly in the image frame, yielding distorted representations of the seafloor. Here, such distortions are corrected by using an appropriate representation of the relief, as measured by the sonar that collected the acoustic backscatter information. In addition, all spatial filtering operations required in the pixel relocation process take the sonar geometry into account. Examples of the process are provided by data collected in the Northeastern Pacific over Fieberling Guyot with the SeaMARC II bathymetric sidescan sonar system and the Sea Beam multibeam echo-sounder. The nearly complete (90%) Sea Beam bathymetry coverage of the Guyot serves as a reference to quantify the distortions found in the backscatter images and to evaluate the accuracy of the corrections performed with SeaMARC II bathymetry. As a byproduct, the processed SeaMARC II bathymetry and the Sea Beam bathymetry adapted to the SeaMARC II sonar geometry exhibit a 35m mean-square difference over the entire area surveyed.On leave at the Naval Research Laboratory, Code 7420, Washington D.C. 20375-5350.     

多波束声纳计量测试系统设计

为满足多波束声纳量值溯源与传递需求,设计多波束声纳关键参数的计量测试系统。基于大比尺原型深水港池和多维运行控制机构,通过水下横向测距代替垂向测深的方式对多波束声纳进行了测深准确度与有效条带宽度的计量测试。阐述了测试系统的主要组成和测试方法,给出了本测试系统测深结果的扩展不确定度。参考标准值与示值(或标称值)比对结果表明,被检多波束声纳测深示值误差小于0.2%,条带宽度误差小于7%。为规范水下声纳设备技术指标校准,指导多波束声纳计量标准建设提供参考。     

Wavelet analysis of bathymetric sidescan sonar data for the classification of seafloor sediments in Hopvågen Bay - Norway

In this paper we examine the use of bathymetric sidescan sonar for automatic classification of seabed sediments. Bathymetric sidescan sonar, here implemented through a small receiver array, retains the advantage of sidescan in speed through illuminating large swaths, but also enables the data gathered to be located spatially. The spatial location allows the image intensity to be corrected for depth and insonification angle, thus improving the use of the sonar for identifying changes in seafloor sediment. In this paper we investigate automatic tools for seabed recognition, using wavelets to analyse the image of Hopvågen Bay in Norway. We use the back-propagation elimination algorithm to determine the most significant wavelet features for discrimination. We show that the features selected present good agreement with the grab sample results in the survey under study and can be used in a classifier to discriminate between different seabed sediments.     

Toward remote seafloor classification using the angular response ofacoustic backscattering: a case study from multiple overlapping GLORIAdata

While the average seafloor backscatter strength within a narrow range of grazing angles can be used as a first-order classification tool, this technique often fails to distinguish seafloors of known differing geological character. In order to resolve such ambiguities, it is necessary to examine the variation in backscatter strength as a function of grazing angle. For this purpose, a series of multiply overlapping GLORIA sidescan sonar images (6.5 kHz) have been obtained in water depths ranging from 1000 to 2500 m. To constrain the placement of acoustic backscatter measurements and to measure the true impinging angle of the incident wave, the corresponding seafloor was simultaneously surveyed using the Seabeam multibeam system. As a result of the multiple overlap, the angular response of seafloor backscatter strength may be derived for regions much smaller than the swath width. By using the derived angular response of seafloor backscatter strength in regions for which sediment samples exist, an empirical seafloor classification scheme is proposed based on the shape, variance, and magnitude of the angular response. Because of the observed variability in the shape of the angular response with differing seafloor types, routine normalization of single-pass swath data to an equivalent single grazing angle image cannot be achieved. As a result, for the case of single-pass surveys, confident seafloor classification may only be possible for regions approaching the scale of the swath width     

High-resolution seafloor mapping using the DSL-120 sonar system: Quantitative assessment of sidescan and phase-bathymetry data from the Lucky Strike segment of the Mid-Atlantic Ridge

High-resolution, side-looking sonar data collected near the seafloor (100 m altitude) provide important structural and topographic information for defining the geological history and current tectonic framework of seafloor terrains. DSL-120 kHz sonar data collected in the rift valley of the Lucky Strike segment of the Mid-Atlantic Ridge near 37° N provide the ability to quantitatively assess the effective resolution limits of both the sidescan imagery and the computed phase-bathymetry of this sonar system. While the theoretical, vertical and horizontal pixel resolutions of the DSL-120 system are <1 m, statistical analysis of DSL-120 sonar data collected from the Lucky Strike segment indicates that the effective spatial resolution of features is 1–2 m for sidescan imagery and 4 m for phase-bathymetry in the seafloor terrain of the Mid-Atlantic Ridge rift valley. Comparison of multibeam bathymetry data collected at the sea-surface with deep-tow DSL-120 bathymetry indicates that depth differences are on the order of the resolution of the multibeam system (10–30 m). Much of this residual can be accounted for by navigational mismatches and the higher resolving ability of the DSL-120 data, which has a bathymetric footprint on the seafloor that is 20 times smaller than that of hull-mounted multibeam at these seafloor depths (2000 m). Comparison of DSL-120 bathymetry with itself on crossing lines indicates that residual depth values are ±20 m, with much of that variation being accounted for by navigational errors. A DSL-120 survey conducted in 1998 on the Juan de Fuca Ridge with better navigation and less complex seafloor terrain had residual depth values half those of the Lucky Strike survey. The quality of the bathymetry data varies as a function of position within the swath, with poorer data directly beneath the tow vehicle and also towards the swath edges.Variations in sidescan amplitude observed across the rift valley and on Lucky Strike Seamount correlate well with changes in seafloor roughness caused by transitions from sedimented seafloor to bare rock outcrops. Distinct changes in sonar backscatter amplitude were also observed between areas covered with hydrothermal pavement that grade into lava flows and the collapsed surface of the lava lake in the summit depression of Lucky Strike Seamount. Small features on the seafloor, including volcanic constructional features (e.g., small cones, haystacks, fissures and collapse features) and hydrothermal vent chimneys or mounds taller than 2 m and greater than 9 m² in surface area, can easily be resolved and mapped using this system. These features at Lucky Strike have been confirmed visually using the submersible Alvin, the remotely operated vehicle Jason, and the towed optical/acoustic mapping system Argo II.     

Basement imaging with Side-Looking Seismics

The multistreamer Side-Looking Seismic system presented in this paper makes a sonograph of uncovered or buried crustal topography, thus revealing the structural fabric of the oceanic basement, even when this is covered with a sedimentary layer. Major elements of the system are an airgun as a sound source, five single-channel parallel streamers and two minicomputers for signal capture and processing.The system is used simultaneously for enhanced single-channel seismic profiling and for side-looking seismics. A vertical section with an improved signal-to-noise ratio and a suppression of side-echoes is produced on a digital seismic recorder. Primary side-looking seismic output in the form of 5 profiles with different angles of incidence is obtained within 10 seconds. This part of the processing can be done in real time.In sediment-covered areas the low frequencies used cause the slanted profiles (the side beams in the primary output) to be side-looking sonar images of buried topography. The projection process yielding final side-looking output corrects for slant range deformation caused by the water column and, if necessary, for deformation caused by refraction within the sedimentary column. The result approaches a conformal map of the structure of the traversed basement. Swath width is mainly determined by water depth and refraction effects in the sediment. In Madeira abyssal plain a swath width of 8000 m was attained in a water depth of 5000 m.Within the swath, oceanic basement structures are recognized in the form of elongate more or less parallel reflectors. They are interpreted as buried spreading topography. The lack of side-echoes within fracture zones combined with typical wall signatures can be used to trace fracture zones. These features are demonstrated for an area in Madeira abyssal plain.     

An automatic approach to the detection and extraction of mine features in sidescan sonar

Mine detection and classification using high-resolution sidescan sonar is a critical technology for mine counter measures (MCM). As opposed to the majority of techniques which require large training data sets, this paper presents unsupervised models for both the detection and the shadow extraction phases of an automated classification system. The detection phase is carried out using an unsupervised Markov random field (MRF) model where the required model parameters are estimated from the original image. Using a priori spatial information on the physical size and geometric signature of mines in sidescan sonar, a detection-orientated MRF model is developed which directly segments the image into regions of shadow, seabottom-reverberation, and object-highlight. After detection, features are extracted so that the object can be classified. A novel co-operating statistical snake (CSS) model is presented which extracts the highlight and shadow of the object. The CSS model again utilizes available a priori information on the spatial relationship between the highlight and shadow, allowing accurate segmentation of the object's shadow to be achieved.     

Acoustic mapping as an environmental management tool: I. Detection of barrels of low-level radioactive waste, Gulf of the Farallones National Marine Sanctuary, California

The oceans have been and will continue to be disposal sites for a wide variety of waste products. Often these wastes are not dumped at the designated sites or transport occurs during or after dumping, and, subsequent attempts to monitor the effects the waste products have on the environment are inadequate because the actual location of the waste is not known. Acoustic mapping of the seafloor with sidescan sonar is a very effective technique for locating and monitoring dredge-spoil material and other debris. Sidescan sonar provides an acoustic image or sonograph of the sea floor that is similar to a satellite image of the Earth's land surface. In effect sidescan sonar allows the water column to be stripped from the sea floor, thereby providing a clear, unobstructed view of the sea bed.An example of the potential of this technique is summarized herein for the Gulf of the Farallones region. More than 47 800 drums (55 gallon) and other containers of low-level radioactive waste were dumped on the continental margin offshore the San Francisco Bay between 1946 and 1970. These drums now litter a large area (1200 km²) of the sea floor within the Gulf of the Farallones National Marine Sanctuary (GFNMS). The exact location of the drums and the potential hazard the drums pose to the environment are unknown. To evaluate the risk, samples of the sediment, biota and water must be collected near and distant from the concentrations of barrels. To do this the exact location of the barrels must be known prior to sampling. The USGS, through a cooperative research agreement with GFNMS, used sidescan sonar to map two areas within the sanctuary. Total sea-floor coverage was obtained and computer-processed sonographic mosaics were constructed on board ship. Many small nongeologic targets were distributed throughout the survey areas that covered about 70 km² on the shelf and 120 km² on the slope. Analysis of the sidescan data suggests that the targets are 55-gallon drums. This interpretation was confirmed at one site with an underwater video and 35-mm camera system. Data were collected with both a 30-kHz and a 120-kHz sidescan system within a 15-km² area on the shelf. We found that the barrels were more easily detected with the mid-range 30-kHz system than with the higher resolution 120-kHz system. Maps of barrel distribution derived from the sonographs are being used to design sampling schemes to evaluate the risk that the radioactivity may have on the biota and environment.     

Concurrent mapping and localization using sidescan sonar

This paper describes and evaluates a concurrent mapping and localization (CML) algorithm suitable for localizing an autonomous underwater vehicle. The proposed CML algorithm uses a sidescan sonar to sense the environment. The returns from the sonar are used to detect landmarks in the vehicle's vicinity. These landmarks are used, in conjunction with a vehicle model, by the CML algorithm to concurrently build an absolute map of the environment and to localize the vehicle in absolute coordinates. As the vehicle moves forward, the areas covered by a forward-look sonar overlap, whereas little or no overlap occurs when using sidescan sonar. It has been demonstrated that numerous reobservations by a forward-look sonar of the landmarks can be used to perform CML. Multipass missions, such as sets of parallel and regularly spaced linear tracks, allow a few reobservations of each landmark with sidescan sonar. An evaluation of the CML algorithm using sidescan sonar is made on this type of trajectory. The estimated trajectory provided by the CML algorithm shows significant jerks in the positions and heading brought about by the corrections that occur when a landmark is reobserved. Thus, this trajectory is not useful to mosaic the sea bed. This paper proposes the implementation of an optimal smoother on the CML solution. A forward stochastic map is used in conjunction with a backward Rauch-Tung-Striebel filter to provide the smoothed trajectory. This paper presents simulation and real results and shows that the smoothed CML solution helps to produce a more accurate navigation solution and a smooth navigation trajectory. This paper also shows that the qualitative value of the mosaics produced using CML is far superior to those that do not use it.     

Extensional faulting and segmentation of the Mid-Atlantic Ridge north of the Kane Fracture Zone (24° 00′ N to 24° 40′ N)

The combination of multi-beam echo-sounder swath bathymetry and high-resolution deep-towed sidescan sonar provides a powerful database from which to examine mid-ocean ridge processes. We have used such a database, gathered from the Mid-Atlantic Ridge north of the Kane Fracture Zone (the MARNOK area), to examine the relationship between tectonic, volcanic, and bathymetric segmentation. We have identified structural domains, with different fault distributions, and neovolcanic segments that are distinct from the 2nd or 3rd order bathymetric segmentation.From their mutual relationships, a model is proposed for the magmatic accretion of oceanic crust at slow spreading ridges that relates the local melt supply to the tectonic style. We suggest that these are mutually interactive, and determine whether volcanic extrusion along the ridge is continuous and slow, or episodic and rapid.     

Multibeam bathymetric sonar: Sea beam and hydro chart

Abstract

In May, 1977, the first non‐military version of a multi‐beam, wide swath, deep ocean, bathymetric sonar was placed in service. Called SEA BEAM, this equipment provides high resolution bathymetric data across a swath width approximately equal to 78% of the depth. Angu ar resolution is 2.7° with a maximum operating depth of 11,000 m. Real time displays include a CRT presentation of the thwartship profile and a continuous strip chart of bottom contours. All sounding data are recorded on digital magnetic tape for final processing and merging with corrected navigation data. More recently, a companion system called HYDRO CHART has gone into operation for continental shelf surveys.     

Side-scan sonar mapping and computer-aided interpretation in the Santa Barbara Channel,California

We have experimented with digital processing of side scan sonar data taken in a 14 sq-km area of continental shelf offshore Southern California. The data were FM tape recorded during the survey and digitized and processed later in the laboratory. The digital image processing included both image correction and image enhancement. Geometric corrections were applied to correct for image distortions due to variable ship position and speed and sonar slant range. Enhancements that were tried included contrast stretching, band-pass filtering, image restoration (inverse filtering), and various edge enhancements such as density slicing and standard deviation filters. Interpretive procedures were also attempted and included digital mosaicking, stereoscopic viewing, and falsecolor display. The most effective processing was geometric correction combined with contrast stretching. Mosaicking proved difficult due to imprecise navigation (±50 m), but was very effective in increasing the understanding of the geologic structure in the survey area.     

Simultaneous operation of the Sea Beam multibeam echo-sounder andthe SeaMARC II bathymetric sidescan sonar system

An experiment aboard the Scripps Institution of Oceanography's RV Thomas Washington has demonstrated the seafloor mapping advantages to be derived from combining the high-resolution bathymetry of a multibeam echo-sounder with the sidescan acoustic imaging plus wide-swath bathymetry of a shallow-towed bathymetric sidescan sonar. To a void acoustic interference between the ship's 12-kHz Sea Beam multibeam echo-sounder and the 11-12-kHz SeaMARC II bathymetric sidescan sonar system during simultaneous operations, Sea Beam transmit cycles were scheduled around SeaMARC II timing events with a sound source synchronization unit originally developed for concurrent single-channel seismic, Sea Beam, and 3.5-kHz profile operations. The scheduling algorithm implemented for Sea Beam plus SeaMARC II operations is discussed, and the initial results showing their combined seafloor mapping capabilities are presented     

Autonomous bathymetry survey system

This paper describes the Autonomous Bathymetry Survey System (AutoSurvey), a system that provides automation of swath sonar bathymetric surveys. This system enables faster surveying of an area through environmentally adaptive techniques while ensuring adequate coverage and data quality. AutoSurvey assesses data quality and coverage in real time and generates next-trackline waypoints based on actual system performance. The need for real-time performance assessment is discussed. A primary factor considered is the effect of the environment on swath bathymetry system performance, which is difficult to predict a priori. The system's features, design, and implementation are discussed in this paper. Simulation and sea trial results are presented, as well as an analysis of the system's ability to reduce survey time     

Automatic Registration of TOBI Side-Scan Sonar and Multi-Beam Bathymetry Images for Improved Data Fusion

Deep towed side-scan sonar vehicles such as TOBI acquire high quality imagery of the seafloor with very high spatial resolution but poor locational accuracy. Fusion of the side-scan sonar data with bathymetry data from an independent source is often desirable to reduce ambiguity in geological interpretations, to aid in slant-range correction and to enhance seafloor representation. The main obstacle to fusion is accurate registration of the two datasets.The application of hierarchical chamfer matching to the registration of TOBI side-scan sonar images and multi-beam swath bathymetry is described. This matches low level features such as edges in the TOBI image, with corresponding features in a synthetic TOBI image created by simulating the flight of the TOBI vehicle through the bathymetry. The method is completely automatic, relatively fast and robust, and much easier than manual registration. It allows accurate positioning of the TOBI vehicle, enhancing its usefulness as a research tool. The method is illustrated by automatic registration of TOBI and multi-beam bathymetry data from the Mid-Atlantic Ridge.