Remote estimation of surficial seafloor properties through the application Angular Range Analysis to multibeam sonar data

The variation of the backscatter strength with the angle of incidence is an intrinsic property of the seafloor, which can be used in methods for acoustic seafloor characterization. Although multibeam sonars acquire backscatter over a wide range of incidence angles, the angular information is normally neglected during standard backscatter processing and mosaicking. An approach called Angular Range Analysis has been developed to preserve the backscatter angular information, and use it for remote estimation of seafloor properties. Angular Range Analysis starts with the beam-by-beam time-series of acoustic backscatter provided by the multibeam sonar and then corrects the backscatter for seafloor slope, beam pattern, time varying and angle varying gains, and area of insonification. Subsequently a series of parameters are calculated from the stacking of consecutive time series over a spatial scale that approximates half of the swath width. Based on these calculated parameters and the inversion of an acoustic backscatter model, we estimate the acoustic impedance and the roughness of the insonified area on the seafloor. In the process of this inversion, the behavior of the model parameters is constrained by established inter-property relationships. The approach has been tested using a 300 kHz Simrad EM3000 multibeam sonar in Little Bay, NH. Impedance estimates are compared to in situ measurements of sound speed. The comparison shows a very good correlation, indicating the potential of this approach for robust seafloor characterization.     

Applying Iterative Method to Solving High-Order Terms of Seafloor Topography

Abstract

We introduce an iterative inversion method to address the problems in high-order seafloor topography inversion using gravity data (gravity anomaly and vertical gravity gradient anomaly), such as the difficulty in computing the equation and the uniqueness of the calculation results. A part of the South China Sea is selected as the experimental area. Considering the coherence and admittance function of gravity topography and vertical gravity gradient topography, the inversion band of the gravity anomaly and vertical gravity gradient anomaly in the study area is 30?km–120?km. Seafloor topography models of different orders are constructed using an iterative method, and the performance of each seafloor topography model is analyzed against ETOPO1 and other seafloor topography models. The experimental results show that as the inversion order increases, the clarity and richness of seafloor topographic expression continuously improve. However, the accuracy of seafloor topography inversion does not improve significantly when the inversion order exceeds a certain value, which is related to the contribution of high-order seafloor topography to gravity information. The results show that the accuracy of BGT4 (inversion model constructed by the gravity anomaly) is slightly poorer than that of BVGGT4 (inversion model constructed by the vertical gravity gradient anomaly) in areas with complex topography, such as multi-seamounts and trenches, and the results are generally better in areas with flat seafloor topography.     

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.     

海南岛东南外海海底沉积物特征及其声学物理性质研究

分析研究了南海北部大陆架西南缘的海南岛东南外海海底沉积物声学物理特性,在多个航次中进行了海底沉积层取样、海水CTD测量、浅地层及旁侧声呐扫测等工作.在实验室里对沉积物样品进行声学参数、沉积学基本参数、物理力学参数和14C年龄测试等分析.根据多尔特曼公式求解出弹性模量、体积弹性模量、压缩系数、切变模量、泊松比和拉梅常数等六项沉积物弹性参数.分析结果表明在该海区海底沉积物的压缩波速为1.474~1.700 m/s,在不同的海区内有高低声速两类性质的沉积物分布;沉积物的切变波速为150~600 m/s;沉积物在100 kHz的声衰减为35~260 dB/m;沉积物的密度为1.4~2.0 g/cm3;沉积物的孔隙度为42%~88%.     

Sea Floor Sediment and Its Acouso-Physical Properties in the Southeast Open Sea Area of Hainan Island in China

Acouso-physical properties of sea floor sediments in the southeast offshore sea area of Hainan Island on the northern continental shelf of the South China Sea are analyzed. In many cruises, conductivity-temperature-depth measurements of seawater, measurements of shallow stratum and side-scan sonar have been made. Acoustic parameters, basic sedimentary parameters, physical-mechanical parameters and ¹⁴C age, etc., have been measured. The sediment elastic parameters, including Young's modulus, bulk modulus, constrained modulus, rigidity modulus, Poisson's ratio, Lames constant, etc., have been calculated. Results show that the compression wave velocity of the seafloor sediment in the sea area ranges from 1474–1700 m/s, and there are high and low sound velocity sediment types in the different sea areas; the shear wave velocity is 150–600 m/s; at 100 kHz the sediment sound attenuation is 35–260 dB/m, the sediment density is 1.4–2.0 g/cm³; the sediment porosity is 42–88%. Sound field parameters and describing sound reciprocity between sea and seafloor are described.     

High-resolution mapping of large gas emitting mud volcanoes on the Egyptian continental margin (Nile Deep Sea Fan) by AUV surveys

Two highly active mud volcanoes located in 990–1,265 m water depths were mapped on the northern Egyptian continental slope during the BIONIL expedition of R/V Meteor in October 2006. High-resolution swath bathymetry and backscatter imagery were acquired with an autonomous underwater vehicle (AUV)-mounted multibeam echosounder, operating at a frequency of 200 kHz. Data allowed for the construction of ~1 m pixel bathymetry and backscatter maps. The newly produced maps provide details of the seabed morphology and texture, and insights into the formation of the two mud volcanoes. They also contain key indicators on the distribution of seepage and its tectonic control. The acquisition of high-resolution seafloor bathymetry and acoustic imagery maps with an AUV-mounted multibeam echosounder fills the gap in spatial scale between conventional multibeam data collected from a surface vessel and in situ video observations made from a manned submersible or a remotely operating vehicle.     

Improved processing of Hydrosweep DS multibeam data on the R/V Maurice Ewing

We have developed a new software package, called MB-System, for processing and display of Hydrosweep DS multibeam data on the R/V Maurice Ewing. The new software includes tools for modeling water sound velocity profiles, calculating multibeam bathymetry from travel time values by raytracing through a water sound velocity profile, interactive and automatic editing of multibeam bathymetry, as well as a variety of tools for the manipulation and display of multibeam data. A modular input/output library allows MB-System programs to access and manipulate data in any of a number of supported swath-mapping sonar data formats, including data collected on Hydrosweep DS, Sea-Beam Classic, SeaBeam 2000, SeaBeam 2100, H-MR1, Simrad EM12, and other sonars. Examples are presented of the software's application to Hydrosweep data recently collected on the R/V Maurice Ewing.     

Sound velocity and related properties of seafloor sediments in the Bering Sea and Chukchi Sea

The Bering Sea shelf and Chukchi Sea shelf are believed to hold enormous oil and gas reserves which have attracted a lot of geophysical surveys. For the interpretation of acoustic geophysical survey results, sediment sound velocity is one of the main parameters. On seven sediment cores collected from the Bering Sea and Chukchi Sea during the 5th Chinese National Arctic Research Expedition, sound velocity measurements were made at 35, 50, 100, 135, 150, 174, 200, and 250 k Hz using eight separate pairs of ultrasonic transducers. The measured sound velocities range from 1 425.1 m/s to 1 606.4 m/s and are dispersive with the degrees of dispersion from 2.2% to 4.0% over a frequency range of 35–250 k Hz. After the sound velocity measurements, the measurements of selected geotechnical properties and the Scanning Electron Microscopic observation of microstructure were also made on the sediment cores. The results show that the seafloor sediments are composed of silty sand, sandy silt, coarse silt, clayey silt, sand-silt-clay and silty clay. Aggregate and diatom debris is found in the seafloor sediments. Through comparative analysis of microphotographs and geotechnical properties, it is assumed that the large pore spaces between aggregates and the intraparticulate porosity of diatom debris increase the porosity of the seafloor sediments, and affect other geotechnical properties. The correlation analysis of sound velocity and geotechnical properties shows that the correlation of sound velocity with porosity and wet bulk density is extreme significant, while the correlation of sound velocity with clay content, mean grain size and organic content is not significant. The regression equations between porosity, wet bulk density and sound velocity based on best-fit polynomial are given.     

Processing Multibeam Backscatter Data

A new highly precise source of data has recently become available using multibeam sonar systems in hydrography. Multibeam sonar systems can provide hydrographic quality depth data as well as high-resolution seafloor sonar images. We utilize the seafloor backscatter strength data of each beam from multibeam sonar and the automatic classification technology so that we can get the seafloor type identification maps. In this article, analyzing all kinds of error effects in backscatter strength, data are based on the relationship between backscatter strength and seafloor types. We emphasize particularly analyzing the influences of local bottom slope and near nadir reflection in backscatter strength data. We also give the correction algorithms and results of these two influent factors. After processing the raw backscatter strength data and correcting error effects, we can get processed backscatter strength data which reflect the features of seafloor types only. Applying the processed backscatter strength data and mosaicked seafloor sonar images, we engage in seafloor classification and geomorphy interpretation in future research.     

Processing Multibeam Backscatter Data

A new highly precise source of data has recently become available using multibeam sonar systems in hydrography. Multibeam sonar systems can provide hydrographic quality depth data as well as high-resolution seafloor sonar images. We utilize the seafloor backscatter strength data of each beam from multibeam sonar and the automatic classification technology so that we can get the seafloor type identification maps. In this article, analyzing all kinds of error effects in backscatter strength, data are based on the relationship between backscatter strength and seafloor types. We emphasize particularly analyzing the influences of local bottom slope and near nadir reflection in backscatter strength data. We also give the correction algorithms and results of these two influent factors. After processing the raw backscatter strength data and correcting error effects, we can get processed backscatter strength data which reflect the features of seafloor types only. Applying the processed backscatter strength data and mosaicked seafloor sonar images, we engage in seafloor classification and geomorphy interpretation in future research.     

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.     

Frontiers in Seafloor Mapping and Visualization

Over the past few years there have been remarkable and concomitant advances in sonar technology, positioning capabilities, and computer processing power that have revolutionized the mapping, imaging and exploration of the seafloor. Future developments must involve all aspects of the “seafloor mapping system,” including, sonars, ancillary sensors (motion sensors, positioning systems, and sound speed sensors), platforms upon which they are mounted, and the products that are produced. Current trends in sonar development involve the use of innovative new transducer materials and the application of sophisticated processing techniques including focusing algorithms that dynamically compensate for the curvature of the wavefront in the nearfield and thus allow narrower beam widths (higher lateral resolution) at close ranges . Future developments will involve “hybrid”, phase-comparison/beam-forming sonars, the development of broad-band “chirp” multibeam sonars, and perhaps synthetic aperture multibeam sonars. The inability to monitor the fine-scale spatial and temporal variability of the sound speed structure of the water column is often a limiting factor in the production of accurate maps of the seafloor; improvements in this area will involve continuous monitoring devices as well as improved ocean models and perhaps tomography. Remotely Operated Vehicles (ROV’s) and particularly Autonomous Underwater Vehicles (AUV’s) will become more important as platforms for seafloor mapping systems. There will also be great changes in the products produced from seafloor mapping and the processing necessary to create them. New processing algorithms are being developed that take advantage of the density of multibeam sonar data and use statistically robust techniques to “clean” massive data sets very rapidly. A range of approaches are being explored to use multibeam sonar bathymetry and imagery to extract quantitative information about seafloor properties, including those relevant to fisheries habitat. The density of these data also enable the use of interactive 3-D visualization and exploration tools specifically designed to facilitate the interpretation and analysis of very large, complex, multi-component spatial data sets. If properly georeferenced and treated, these complex data sets can be presented in a natural and intuitive manner that allows the simple integration and fusion of multiple components without compromise to the quantitative aspects of the data and opens up new worlds of interactive exploration to a multitude of users.     

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.     

Centimeter-Level Positioning of Seafloor Acoustic Transponders from a Deeply-Towed Interrogator

An array of three seafloor transponders was acoustically surveyed to centimeter precision with a deeply-towed interrogator. Measurements of two-way acoustic travel time and hydrostatic pressure made as the interrogator was towed above the array were combined in a least-squares adjustment to estimate the interrogator and transponder positions in two surveys spanning two years. No transponder displacements were expected at this site in the interior of the Juan de Fuca Plate (48^?11′ N, 127^?12′ W) due to the lack of active faults. This was confirmed to a precision of ±2 cm by least-squares adjustment. Marginally detectable blunders in the observations were shown to affect the transponder position estimates by no more than 3 mm, demonstrating the geometric strength of the data set. The accumulation of many hundreds of observations resulted in a significant computational burden on the least-squares inversion procedure. The sparseness of the normal matrix was exploited to reduce by a factor of 1000 the number of calculations. The acoustic survey results suggested that the near-bottom sound speed fields during the two surveys were in better agreement than inferred from yearly single-profile conductivity, temperature, and pressure (CTD) measurements.     

Precise Multibeam Acoustic Bathymetry

The maximum error in ocean depth measurement as specified by the International Hydrographic Organization is 1% for depth greater than 30m. Current acoustic multibeam bathymetric systems used for depth measurement are subject to errors from various sources which may significantly exceed this limit. The lack of sound speed profiles may be one significant source of error. Because of the limited ability of sound speed profile measurement, depth values are usually estimated using an assumed profile. If actual sound speed profiles are known, depth estimate errors can be corrected using ray-tracing methods. For depth measurements, the calculation of the location at which a sound pulse impinges on the sea bottom varies with the variation of the sound speed profile. We demonstrate that this location is almost unchanged for a family of sound speed profiles with the same surface value and the same area under them. Based on this observation, we can construct a simple constant-gradient equivalent sound speed profile to correct errors. Compared with ray-tracing methods, the equivalent sound speed profile method is more efficient. If a vertical depth is known (or independently measured), then depth correction for a multibeam system can be accomplished without knowledge of the actual sound speed profile. This leads to a new type of precise acoustic multibeam bathymetric system.     

Experimental study of the ballast in situ sediment acoustic measurement system in South China Sea

The mechanical structure, the function modules, the working principles, and a sea trial of the newly developed ballast in situ sediment acoustic measurement system are reported in this study. The system relies on its own weight to insert transducers into seafloor sediments and can accurately measure the penetration depth using a specially designed mechanism. The system comprises of an underwater position monitoring and working status judgment module and has two operation modes: self-contained measurement and real-time visualization. The designed maximum working water depth of the system is 3,000?m, and the maximum measured depth of seafloor sediment is 0.8?m. The system has one transmitting transducer with the transmitting frequency band of 20–35?kHz and three receiving transducers. The in situ acoustic measurement system was tested at 15 stations in the northern South China Sea, and repeated measurements in seawater demonstrated good working performance. Comparison with predictions from empirical equations indicated that the measured speed of sound and attenuation fell within the predicted range and that the in situ measured data were reliable.     

Precise Multibeam Acoustic Bathymetry

The maximum error in ocean depth measurement as specified by the International Hydrographic Organization is 1% for depth greater than 30m. Current acoustic multibeam bathymetric systems used for depth measurement are subject to errors from various sources which may significantly exceed this limit. The lack of sound speed profiles may be one significant source of error. Because of the limited ability of sound speed profile measurement, depth values are usually estimated using an assumed profile. If actual sound speed profiles are known, depth estimate errors can be corrected using ray-tracing methods. For depth measurements, the calculation of the location at which a sound pulse impinges on the sea bottom varies with the variation of the sound speed profile. We demonstrate that this location is almost unchanged for a family of sound speed profiles with the same surface value and the same area under them. Based on this observation, we can construct a simple constant-gradient equivalent sound speed profile to correct errors. Compared with ray-tracing methods, the equivalent sound speed profile method is more efficient. If a vertical depth is known (or independently measured), then depth correction for a multibeam system can be accomplished without knowledge of the actual sound speed profile. This leads to a new type of precise acoustic multibeam bathymetric system.     

Predicting Global Seafloor Topography Using Multi-Source Data

A new one-minute global seafloor topography model was derived from vertical gravity gradient anomalies (VGG), altimetric gravity anomalies, and ship soundings. Ship soundings are used to constrain seafloor topography at wavelengths longer than 200 km and to calibrate the topography to VGG (or gravity) ratios at short wavelengths area by area. VGG ratios are used to predict seafloor topography for wavelength bands of 100–200 km and to suppress the effect of crust isostasy. Gravity anomalies are used to recover seafloor topography at wavelengths shorter than 100 km. The data processing procedure is described in detail in this paper. The accuracy of the model is evaluated using ship soundings and existing models, including General Bathymetric Charts of the Oceans (GEBCO), DTU10, ETOPO1, and SIO V15.1. The results show that, in the discussed regions, the accuracy of the model is better than ETOPO1, GEBCO, and DTU10. Additionally, the model is comparable with V15.1, which is generally believed to have the highest accuracy. In the north-central Pacific Ocean, the accuracy of the model increased by approximately 29.5% compared with the V15.1 model. This indicates that a more accurate seafloor topography model can be formed by combining gravity anomalies, VGG, and ship soundings.     

菲律宾海中部海域声速剖面结构及季节性变化

利用2019年菲律宾海中部海域经质量校正后的Argo浮标数据,采用Wilson第二方程式计算得到每个浮标站位不同水深的声速值,分析了研究区声速的垂向结构、水平分布及季节性变化特征,并初步探讨了声速与海底地形的关系。结果显示研究区声速在垂向上表现为典型的三层结构,从上到下分别是混合层、主跃变层、深海等温层;声速在100 m以浅受季节影响最大,100～800 m影响程度基本一致,800 m以深逐渐减弱,1200 m以深基本不受影响。声速水平分布特征主要表现为：声道轴深度为900～1100 m,大致呈现南部较浅、北部较深的趋势,季节性变化不大;声速值在200 m以浅表现为南高北低,200～700 m为北高南低,800～1100 m为中间高、四周低,1200 m以深为南高北低。九州-帕劳海脊声道轴附近深度声速受地形影响明显低于周围海域。     

基于回波时间的多波束测深与声纳数据匹配方法

以多波束精确的水深数据为参照源,采用原始回波时间对多波束测深数据与其同源声纳数据进行匹配,从而获得高精度和高分辨率的海底影像数据,并避免了传统声纳图像处理过程中斜距改正所带来的几何形变。匹配结果采用光照图输出,并与三维水深图、原始声纳图像和CARIS处理后的声纳图像进行比较分析。该方法有效地提高了多波束数据的利用率,增强了对海底地形的探测分辨率。