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.     

Sonar acoustic facies and sediment distribution on an area of the deep ocean floor

Long-range sidescan sonar can be used to map sediment distributions over wide expanses of deep ocean floor. Seven acoustic facies that arise from differing sediment or rock types have been mapped over the low-relief Saharan continental rise and Madeira abyssal plain. These have been calibrated with sampling, profiling and camera studies and the facies can be traced confidently on a regional scale using the sidescan data. The mapping of the sediment distribution shows that a complex interplay of turbidity current and debris flow processes can occur at a continental rise/abysaal plain transition over 1000 km from the nearest continental slope.     

基于声呐图像的深海采矿车组合定位导航算法

实现高精度的定位导航是深海采矿车完成海底工作任务的基础条件。在采矿车行进过程中,声呐设备生成的图像信息能够反映海底场景的变化,从而体现采矿车本身的运动,由此建立了一种声呐图像里程计,并将其与轮式里程计和USBL测量数据相结合提出了一种深海采矿车组合定位导航算法。首先对多波束前视声呐图像进行预处理,然后使用Canny算法进行特征检测并对特征点云进行配准,再结合声呐成像原理构建了声呐图像里程计运动模型,最后通过轮式里程计运动模型推导预测方程、声呐图像里程计运动模型和USBL测量数据推导更新方程,利用EKF（extended Kalman filter）算法实现基于多传感器融合的定位与姿态估计。海试数据验证了该组合定位算法能实现轮式里程计、声呐里程计和超短基线在速度、位置、艏向角估计、定位速率的精度互补,具有一定的有效性和精确性,该算法为深海采矿车的定位与导航算法研发提供了参考。     

TOBI image processing-the state of the art

TOBI (Towed Ocean Bottom Instrument) is a deep-tow sidescan sonar vehicle from which sidescan sonar data are now routinely collected and archived. This paper describes the algorithms developed for detailed processing of TOBI data. Sonar imagery has a characteristic set of processing challenges and these are addressed. TOBI provides a very large sonar dataset, and to limit the difficulties of handling and processing these data, the raw data are subjected to a data reduction technique prior to further processing. Slant-range correction is improved by editing vehicle altitude data using a median filter. Noise on TOBI imagery can appear in two main forms; speckle noise and line dropouts. Speckle noise is removed by a small median difference kernel and line dropouts are removed using a ratio of two box-car filters, each with appropriate thresholding techniques. Precise geocoding of the imagery requires an accurate estimate of vehicle location, and a method of calculation is presented. Two optional processing algorithms are also; presented; deblurring of imagery to improve along-track resolution at far range, and the suppression of a surface reflection return which may occur when TOBI is operated in relatively shallow water. Several of the techniques presented can be transcribed and modified to suit other datasets     

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     

Mapping benthic habitat in regions of gradational substrata: An automated approach utilising geophysical,geological, and biological relationships

The relationship between acoustic backscatter, sediment characteristics and benthic habitat is examined using high-resolution sidescan sonar data collected at the Loch Linnhe artificial reef site on the west coast of Scotland. The site is typical for the continental shelf of NW Europe, with a mix of seabed environments from muddy to coarse, stony substrata on a 10–100 m length scale. A sidescan sonar mosaic was produced and classified according to derived backscatter parameters (mean, median and standard deviation of the backscatter values) using an unsupervised classification procedure. The accuracy of the final classified map was assessed by comparison with a ground-truthing survey in which the biological habitat was derived from underwater video footage. The sidescan correctly predicted seabed surface characteristics of observed biological habitat with 78% accuracy. A second, and more challenging test of the acoustic data to correctly predict biological habitat was made by comparing it with data from 21 grab sampling stations. These stations were divided into three groups using multivariate statistical techniques based on their backscatter properties. Benthic assemblage structure was found to be significantly distinct between the high and low, and the medium and low backscatter stations. There was a low to moderate but significant correlation between the multivariate patterns of acoustic backscatter, benthic assemblage structure, and particle size distribution. The work shows that even in areas with subtle and gradational changes in substratum, the sidescan was able to predict biological community with an acceptable accuracy.     

Geometrical aspects of a sonar-based navigation system for underwater vehicles

A novel self-contained navigation system has been devised for underwater vehicles operating in and around offshore installations. This system matches data from a sector-scanning sonar device to a computer model of the installation. The paper begins by highlighting the existing approaches to subsea navigation before outlining the main features of the proposed system. It then concentrates on a key component of this system which is a method for calculating the position and heading of an underwater vehicle navigating in the vincinity of tubular steel structures. An iterative solution method is presented which incorporates six degree of freedom vehicle motions and this is verified in a series of laboratory experiments with various arrangements of structural members and using a commercial sonar device. The key features, applications and performance of this method are discussed. The main conclusion is that the proposed method for calculating the position and heading of an underwater vehicle contributes towards achieving an accurate and reliable subsea navigation capability.     

Accuracy of the spatial representation of the seafloor with bathymetric sidescan sonars

When isobath maps of the seafloor are constructed with a bathymetric sidescan sonar system the position of each sounding is derived from estimates of range and elevation. The location of each pixel forming the acoustic backscatter image is calculated from the same estimates. The accuracy of the resulting maps depends on the acoustic array geometry, on the performances of the acoustic signal processing, and on knowledge of other parameters including: the platform's navigation, the sonar transducer's attitude, and the sound rays' trajectory between the sonar and the seafloor. The relative importance of these factors in the estimation of target location is assesed. The effects of the platform motions (e.g. roll, pitch, yaw, sway, surge and heave) and of the uncertainties in the elevation angle measurements are analyzed in detail. The variances associated with the representation (orientation and depth) of a plane, rectangular patch of the seafloor are evaluated, depending on the geometry of the patch. The inverse problem is addressed. Its solution gives the lateral dimensions of the spatial filter that must be applied to the bathymetric data to obtain specified accuracies of the slopes and depths. The uncertainty in the estimate of elevation angle, mostly due to the acoustic noise, is found to bring the main error contribution in across-track slope estimates. It can also be critical for along-track slope estimates, overshadowing error contributions due to the platform's attitude. Numerical examples are presented.On leave at the Naval Research Laboratory, Code 7420, Washington D.C. 20375-5350, U.S.A.     

Decoupled stochastic mapping [for mobile robot & AUVnavigation]

This paper describes decoupled stochastic mapping (DSM), a new computationally efficient approach to large-scale concurrent mapping and localization (CML). DSM reduces the computational burden of conventional stochastic mapping by dividing the environment into multiple overlapping submap regions, each with its own stochastic map. Two new approximation techniques are utilized for transferring vehicle state information from one submap to another, yielding a constant-time algorithm whose memory requirements scale linearly with the number of submaps. The approach is demonstrated via simulations and experiments. Simulation results are presented for the case of an autonomous underwater vehicle navigating in an unknown environment with 110 and 1200 features using simulated observations of point features by a forward look sonar. Empirical tests are used to examine the consistency of the error bounds calculated by the different methods. Experimental results are also presented for an environment with 93 features using sonar data obtained in a 3 by 9 by 1 m testing tank     

侧扫声纳声线反射和折射干扰的实验分析

介绍了侧扫声纳由自身声源反射和折射衍生的两种干扰波的形成机理,提出以绘制声线图进行分析的研究方法,着重通过海上实作验证了温度跃层产生的声线弯曲对声纳的影响特点,为外业工作的设计和施测提供了几点建议。     

In Situ Alignment Calibration of Attitude and Doppler Sensors for Precision Underwater Vehicle Navigation: Theory and Experiment

This paper reports the development and experimental evaluation of two in situ least squares techniques for estimating the alignment matrix of Doppler sonars commonly used for precision navigation of oceanographic submersibles. Most previously reported methods addressed the problem of single degree-of-freedom heading alignment using bottom-lock Doppler sonar data and global positioning system (GPS) navigation data. This paper reports and evaluates two techniques for three degree-of-freedom calibration of attitude and Doppler sonar sensors using sensor data available to vehicles at full ocean depth. The first technique provides a general linear least squares estimate of the alignment matrix. The second technique results in a least squares alignment matrix estimate constrained to the group of rotation matrices. The performance of these estimates is evaluated with a laboratory remotely operated vehicle (ROV) and a field-deployed autonomous underwater vehicle (AUV). Experimental results are reported which demonstrate that Doppler navigation employing the reported alignment calibration techniques significantly improves navigation precision. The experiments show that the latter technique provides calibration estimates that improve Doppler navigation precision not only on the calibration data set itself, but also provide improved precision over a wide variety of vehicle trajectories other than the calibration data set.     

Mine avoidance techniques for underwater vehicles

It is shown that by implementing certain mine avoidance techniques, an underwater vehicle equipped with an obstacle avoidance sonar (OAS) and a navigation system can safely navigate an unknown minefield. The mine avoidance techniques take into account the physical limitations of the sonar and the navigation system, the maneuverability constraints on the underwater vehicle, and the required safe standoff distance from all mines. Extensive computer simulations have verified the mine avoidance capability in more than 50 different minefields. In all 50 simulations the vehicle reached a predetermined end point and maintained at least the specified, minimum safe standoff distance from each mine. The simulation accurately models the major difficulties associated with the sonar, the navigation system, and the vehicle dynamics. The sonar model includes surface, bottom, and volume reverberation; thermal, ambient, and flow noises; actual receiver and projector beam patterns; and false alarms and missed detections. The navigation system model contains the effects of biases, random noises, and scale factor errors. The vehicle dynamic model simulates angular velocities and accelerations associated with underwater vehicles     

Acoustic habitat and shellfish mapping and monitoring in shallow coastal water – Sidescan sonar experiences in The Netherlands

Sidescan sonar has been applied in a number of shallow water environments along the Dutch coast to map and monitor shellfish and seabed habitats. The littoral setting of these surveys may hamper data acquisition flying the towfish in zones of turbulence and waves, but also offers valuable opportunities for understanding, interpreting and validating sidescan sonar images because of the ability to ground-truth during low water periods, enabling easy identification and validation. Acoustical images of some of the mussel banks on the tidal flats of the Wadden Sea, recorded at high tide, show a marked resemblance with optical Google Earth images of the same banks. These sonar images may thus serve as ‘acoustic type signatures’ for the interpretation of sonar patterns recorded in deeper water where ground-truthing is more difficult and more expensive. Similarly, acoustic type signatures of (Japanese) oyster banks were obtained in the estuaries in the southwest of the Netherlands.     

侧扫声纳系统在海底障碍物扫测中的应用

针对海道测量中侧扫声纳位置精度低的问题,利用GPS定位数据、单波束水深数据和侧扫数据,研究侧扫声纳扫海测量中海底障碍物信息精化问题。海上试验数据表明：文中提出的多源水声测量信息联合扫测海底障碍物的方法,可改善单一侧扫系统目标探测的精度,对海底目标物扫测具有较好的适用性。     

Sidescan Sonar Segmentation Using Texture Descriptors and Active Contours

This paper is concerned with the application of active contour methods to unsupervised binary segmentation of high-resolution sonar images. First, texture features are extracted from a sidescan image containing two distinct regions. A region-based active contour model of Chan et al. [J. Vis. Commun. Image represent, vol. 11, pp. 130-141,2000] is then applied to the vector-valued image extracted from the original data. Our implementation includes a new automatic feature selection step used to readjust the weights attached to each feature in the curve evolution equation that drives the segmentation. Results are shown on simulated and real data. The influence of the algorithm parameters and contour initialization are also analyzed.     

基于BP网络对模拟声呐信号分类

针对常规的主动声呐调查设备,在简单海洋分层模型的基础上,模拟了多波束类单频信号、侧扫类单频信号、Ch irp调频信号和混合信号4类声呐接收信号,并针对接收信号特征构造了3层BP网络模型,将隐藏层神经元数目设为可调节;利用时间域脉冲宽度和水深与频率域功率谱密度相结合的特征参量,成功地对模拟信号进行了分类。采用改进的BP网络模型,用训练成功的BP网络对102个检测信号进行了分类测试,结果表明,分类成功率较高,可达76%~84.6%,因而利用BP网络可以对不同类别设备的模拟声呐接收信号进行分类。     

The contribution of marine geology to the knowledge of marine coastal environment off the Campania region (southern Italy): the geological map n. 502 “Agropoli” (southern Campania)

The marine geological map n. 502 “Agropoli”, located offshore the Cilento Promontory, southern Italy, is here described and the regional geology interpreted, particularly referring to water depths between the 30 and 200 m isobaths. The geologic map has been constructed in the frame of a research program financed by the National Geological Survey of Italy (CARG Project), finalized to the construction of up-to-date cartography of the Campania region. Geological and geophysical data on the continental shelf and slope offshore of the Southern Campania region have been collected in the study area, bounded northwards by the Salerno Gulf and southwards by the Policastro Gulf. A high resolution multibeam bathymetry allowed for the construction of a marine digital elevation map; sidescan sonar profiles also have been collected and interpreted. The latter, merged to the bathymetry, have represented the base for the marine geologic cartography. The integrated geologic interpretation of seismic, bathymetric and sidescan sonar data has been calibrated by sea-bottom samples. The morpho-structures and the seismic sequences overlying the outcrops of acoustic basement reported in the cartographic representation have been studied in detail using single-channel seismics. The interpretation of seismic profiles has been a support for the reconstruction of the stratigraphic and structural setting of the Quaternary continental shelf successions and the outcrops of rocky acoustic basement in correspondence to the Licosa Cape morpho-structural high. These areas result from the seaward prolongation of the stratigraphic and structural units, widely cropping out in the surrounding emerged sector of the Cilento Promontory. The cartographic approach is based on the recognition of laterally coeval depositional systems, interpreted in the frame of the system tracts of the Late Quaternary depositional sequence. We present evidence of now subaqueous terraces inferred to be palaeoshorelines representing past sea-level positions and tentatively correlated these to oxygen isotopic stratigraphy.     

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.