Computation of calibration parameters for multibeam echo sounders using the least squares method

A new method for field calibration of multibeam echo sounders is presented. The method applies least-squares adjustment computation of static offsets in parameters such as roll, pitch, heading and the horizontal shift of the transducer relative to the reference point of the positioning system. All the parameters are derived simultaneously. An investigation demonstrates the precision and the flexibility of the method. Flexibility is here related to the design of calibration lines, i.e., their number, their direction and length. The strength of the method is its ability to utilize all the depth measurements in an optimal way. The variance of the parameters can be derived directly from least-squares adjustment, but limited knowledge of the stochastic properties of the observations can lead to optimistic precision estimates. An alternative method to compute quality estimates is proposed and demonstrated.     

Analysis of seafloor backscatter strength dependence on the survey azimuth using multibeam echosounder data

The sediment backscatter strength measured by multibeam echosounders is a key feature for seafloor mapping either qualitative (image mosaics) or quantitative (extraction of classifying features). An important phenomenon, often underestimated, is the dependence of the backscatter level on the azimuth angle imposed by the survey line directions: strong level differences at varying azimuth can be observed in case of organized roughness of the seabed, usually caused by tide currents over sandy sediments. This paper presents a number of experimental results obtained from shallow-water cruises using a 300-kHz multibeam echosounder and specially dedicated to the study of this azimuthal effect, with a specific configuration of the survey strategy involving a systematic coverage of reference areas following “compass rose” patterns. The results show for some areas a very strong dependence of the backscatter level, up to about 10-dB differences at intermediate oblique angles, although the presence of these ripples cannot be observed directly—neither from the bathymetry data nor from the sonar image, due to the insufficient resolution capability of the sonar. An elementary modeling of backscattering from rippled interfaces explains and comforts these observations. The consequences of this backscatter dependence upon survey azimuth on the current strategies of backscatter data acquisition and exploitation are discussed.     

Processing of high-frequency multibeam echo sounder data for seafloor characterization

Processing simultaneous bathymetry and backscatter data, multibeam echosounders (MBESs) show promising abilities for remote seafloor characterization. High-frequency MBESs provide a good horizontal resolution, making it possible to distinguish fine details at the water-seafloor interface. However, in order to accurately measure the seafloor influence on the backscattered energy, the recorded sonar data must first be processed and cleared of various artifacts generated by the sonar system itself. Such a preprocessing correction procedure along with the assessment of its validity limits is presented and applied to a 95-kHz MBES (Simrad EM 1000) data set. Beam pattern effects, uneven array sensitivities, and inaccurate normalization of the ensonified area are removed to make possible further quantitative analysis of the corrected backscatter images. Unlike low-frequency data where the average backscattered energy proves to be the only relevant feature for discriminating the nature of the seafloor, high-frequency MBES backscatter images exhibit visible texture patterns. This additional information involves different statistical distributions of the backscattered amplitudes obtained from various seafloor types. Non-Rayleigh statistics such as K-distributions are shown to fit correctly the skewed distributions of experimental high-frequency data. Apart from the effect of the seafloor micro-roughness, a statistical model makes clear a correlation between the amplitude statistical distributions and the signal incidence angle made available by MBES bathymetric abilities. Moreover, the model enhances the effect of the first derivative of the seafloor backscattering strength upon statistical distributions near the nadir and at high incidence angles. The whole correction and analysis process is finally applied to a Simrad EM 1000 data set.     

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.     

An uncertainty model for deep ocean single beam and multibeam echo sounder data

Comparing single beam and multibeam echo sounder data where surveys overlap we find that: 95% of multibeam measurements are repeatable to within 0.47% of depth; older single beam data can be at least as accurate as multibeam; single beam and multibeam profiles show excellent agreement at full-wavelengths longer than 4 km; archival sounding errors are not Gaussian; 95% of archival soundings in the northwest Atlantic are accurate to within 1.6% of depth; the 95th percentile error is about five times greater in pre-1969 data than in post-1968 data; many of the largest errors are located over large seafloor slopes, where small navigation errors can lead to large depth errors. Our uncertainty model has the form σ ² = a ² + (bz)² + (cs)², where 2σ is approximately the 95th percentile error, z is the depth, s is the slope, and a, b, c are constants we determine separately for pre-1969 and post-1968 data.     

Control of the repeatability of high frequency multibeam echosounder backscatter by using natural reference areas

The increased use of backscatter measurements in time series for environmental monitoring necessitates the comparability of individual results. With the current lack of pre-calibrated multibeam echosounder systems for absolute backscatter measurement, a pragmatic solution is the use of natural reference areas for ensuring regular assessment of the backscatter measurement repeatability. This method mainly relies on the assumption of a sufficiently stable reference area regarding its backscatter signature. The aptitude of a natural area to provide a stable and uniform backscatter response must be carefully considered and demonstrated by a sufficiently long time-series of measurements. Furthermore, this approach requires a strict control of the acquisition and processing parameters. If all these conditions are met, stability check and relative calibration of a system are possible by comparison with the averaged backscatter values for the area. Based on a common multibeam echosounder and sampling campaign completed by available bathymetric and backscatter time series, the suitability as a backscatter reference area of three different candidates was evaluated. Two among them, Carré Renard and Kwinte, prove to be excellent choices, while the third one, Western Solent, lacks sufficient data over time, but remains a valuable candidate. The case studies and the available backscatter data on these areas prove the applicability of this method. The expansion of the number of commonly used reference areas and the growth of the number of multibeam echosounder controlled thereon could greatly contribute to the further development of quantitative applications based on multibeam echosounder backscatter measurements.     

Comparisons of sea surface height variability observed by pressure-recording inverted echo sounders and satellite altimetry in the Kuroshio Extension

Satellite-measured along-track and gridded sea surface height (SSH) anomaly products from AVISO are compared with in situ SSH anomaly measurements from an array of 43 pressure-recording inverted echo sounders (PIESs) in the Kuroshio Extension. PIESs measure bottom pressure (P _bot) and round-trip acoustic travel time from the sea floor to the sea surface (τ). The P _bot and τ measurements are used to estimate, respectively, the mass-loading and steric height variations in SSH anomaly. All comparisons are made after accurate removal of tidal components from all data. Overall good correlations are found between along-track and PIES-derived SSH anomalies with mean correlation coefficient of 0.97. Comparisons between the two measurements reveal that the mass-loading component estimated from P _bot is relatively small in this geographical region. It improves regression coefficients about 5?% and decreases mean root-mean-squared (rms) differences from 7.8 to 6.4?cm. The AVISO up-to-date gridded product, which merges all available satellite measurements of Jason-1, Envisat, Geosat Follow-On, and TOPEX/Poseidon interlaced, shows better correlations and smaller rms differences than the AVISO reference gridded product, which merges only Jason-1 and Envisat. Especially, the up-to-date gridded product reveals 6.8?cm rms improvement on average at sites away from Jason-1 ground tracks. Gridded products exhibit low correlation (0.75–0.9) with PIES-derived SSH in a subregion where the SSH fluctuations have relatively high energy at periods shorter than 20?days.     

Evaluation of image-based multibeam sonar backscatter classification for benthic habitat discrimination and mapping at Stanton Banks,UK

In recent years, efforts have increased to develop quantitative, computer-directed methods for segmentation of multibeam (MBES) backscatter data. This study utilises MBES backscatter data acquired at Stanton Banks (UK) and subsequently processed through the QTC-Multiview software environment in a bid to evaluate the program's ability to perform unsupervised classification. Statistical comparison with ground-truth data (grab, stills and video) enabled cross validation of acoustic segmentation and biological assemblages observed at the site. 132 unspecified variables were extracted from user-specified rectangular patches of the backscatter image, reduced to three vectors by PCA, then clustered and classified by the software. Multivariate analyses of ground-truth data were conducted on 75 stills images and 51 grab samples. Video footage coincident with the stills was divided into 30 s segments and coded by dominant substrate and species. Cross tabulation determined the interrelationship between software classifications, multivariate analysis of the biological assemblages and coded video segments. Multiview optimally identified 19 classes using the automated clustering engine. These were revised to 6 habitats a posteriori, using combined analysis of ground-truth data and Multiview data products. These habitats broadly correspond to major physiographic provinces within the region. Multivariate statistical analysis reveals low levels of assemblage similarity (<35%) for samples occurring within Multiview classes, irrespective of the mode of acquisition. Coded video data is more spatially appropriate than the other methods of ground-truthing investigated, although it is less well suited to the extraction of truly quantitative data. Multivariate analysis indicates assemblages within physiographically distinct Multiview classes have a low degree of biological similarity, supporting the notion that abiotic proxies may be contraindicative of benthic assemblage variations. QTC-Multiview performs well as a mechanism for computer-assisted segmentation of MBES backscatter imagery into acoustic provinces; however a degree of caution is required prior to ascribing ecological significance to these classifications.     

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.     

Morphology of pockmarks along the western continental margin of India: Employing multibeam bathymetry and backscatter data

This study addresses the morphology of pockmarks along the western continental margin of India using multibeam bathymetry and backscatter data. Here, for the first time we have utilized the application of ArcGIS (Geographical Information System) for understanding the morphology of pockmarks from the western continental margin of India. The pockmarks observed in water depths of 145–330 m are circular, elliptical or elongated in plan-view, with an average length and width of 157 (±72) m and 83 (±19) m respectively. The average pockmark relief and perimeter are 1.9 (±0.9) m and 412 (±181) m, respectively. The pockmarks have average areas and volumes of 10 759 m² and 15 315 m³ respectively. Spatial separation that coincides with 210 m isobath divides the pockmarks into two groups with differing distributions and morphologies. These pockmarks originated from seepages of biogenic or thermogenic gas or from pore fluids from deeper sources, migrated vertically along the faults. Besides a possible structural control, the pockmark morphologies are also affected by bottom currents and/or by submarine slumping. The average acoustic backscatter strength from pockmark centre is higher (−35 dB) than the average backscatter of the total area (−40 dB), which suggests their possible linkage to the precipitation of diagenitic minerals from biodegradation of seepage material.     

Seafloor change detection using multibeam echosounder backscatter: case study on the Belgian part of the North Sea

To characterize seafloor substrate type, seabed mapping and particularly multibeam echosounding are increasingly used. Yet, the utilisation of repetitive MBES-borne backscatter surveys to monitor the environmental status of the seafloor remains limited. Often methodological frameworks are missing, and should comprise of a suite of change detection procedures, similarly to those developed in the terrestrial sciences. In this study, pre-, ensemble and post-classification approaches were tested on an eight km² study site within a Habitat Directive Area in the Belgian part of the North Sea. In this area, gravel beds with epifaunal assemblages were observed. Flourishing of the fauna is constrained by overtopping with sand or increased turbidity levels, which could result from anthropogenic activities. Monitoring of the gravel to sand ratio was hence put forward as an indicator of good environmental status. Seven acoustic surveys were undertaken from 2004 to 2015. The methods allowed quantifying temporal trends and patterns of change of the main substrate classes identified in the study area; namely fine to medium homogenous sand, medium sand with bioclastic detritus and medium to coarse sand with gravel. Results indicated that by considering the entire study area and the entire time series, the gravel to sand ratio fluctuated, but was overall stable. Nonetheless, when only the biodiversity hotspots were considered, net losses and a gradual trend, indicative of potential smothering, was captured by ensemble and post-classification approaches respectively. Additionally, a two-dimensional morphological analysis, based on the bathymetric data, suggested a loss of profile complexity from 2004 to 2015. Causal relationships with natural and anthropogenic stressors are yet to be established. The methodologies presented and discussed are repeatable and can be applied to broad-scale geographical extents given that broad-scale time series datasets become available.     

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.     

Analysis of simrad EM12 multibeam bathymetry and acoustic backscatter data for seafloor mapping,exemplified at the Mid-Atlantic Ridge at 45° N

The EM12 multibeam echosounder can record acoustic backscatter information as well as high resolution bathymetry. The dataset presented, from the axis of the Mid-Atlantic Ridge at 45° N, was the first EM12 survey of a mid-ocean ridge. This paper presents methods for utilising the backscatter information. Data processing enables the production of a mosaic of acoustic backscatter, and visualisation techniques are investigated to provide initial qualitative views of the combined backscatter and bathymetry datasets. The co-registration of the backscatter and bathymetry data enables quantitative analysis of their relationships. Various sites of different geological type have been selected and their angular acoustic backscattering relationships estimated, including the effect on backscatter of incidence angle, its regional variability with bottom type and the influence of bottom slope. Incidence angles and bottom type are shown to affect backscatter to a similar degree, while slopes appear to contribute little. The geometry of hull-mounted systems, such as the EM12, is significantly different from that of conventional sidescan sonars, such as GLORIA, and the backscatter images from the two types differ in various respects. Because of the wide variations in incidence angle that are common with hull-mounted systems, and the importance of incidence angle in determining backscatter strength, it is vital to consider the effect of incidence angle during interpretation.     

Calibration techniques and sampling resolution requirements for groundtruthing multibeam acoustic backscatter (EM3000) and QTC VIEW™ classification technology

Both acoustic and sediment surveys were carried out in the Broughton Archipelago, British Columbia, in order to map a former aquaculture site and calibrate acoustic surveys with georeferenced sediment properties. The acoustic surveys included EM3000 Multibeam (including backscatter) and QTC VIEW™ (Series IV) technologies, while the geotechnical survey entailed Van Veen grab sampling of surface sediments and associated analyses. The two acoustic technologies were consistent in their ability to identify distinct regions of seafloor characterized by rock outcrops, consolidated substrates, or gel-mud depositional fields. Both multibeam backscatter data and QTC VIEW™ number-coded classifications were extracted across a range of circular areas located at each georeferenced sampling station (radii: 2, 3, 4, 5, 8, 12, 16, 20 m). Statistical correlations were observed between backscatter and certain geotechnical properties, such as sediment porosity, sediment grain size fractions (<2 μm, silt content), and particulate sulfur concentration. The areal resolution of backscatter extraction was explored in terms of determining a sensitive calibration technique between backscatter and sediment properties. In general the highest r² values between backscatter and sediment variables were observed across extraction radii between 8 and 20 m. Such groundtruthing techniques could be used to interpolate seafloor characteristics between sampling stations and provide a steering tool for sampling designs associated with benthic monitoring programs.     

Modelling the distribution of hard seabed using calibrated multibeam acoustic backscatter data in a tropical,macrotidal embayment: Darwin Harbour,Australia

Spatial information on the distribution of seabed substrate types in high use coastal areas is essential to support their effective management and environmental monitoring. For Darwin Harbour, a rapidly developing port in northern Australia, the distribution of hard substrate is poorly documented but known to influence the location and composition of important benthic biological communities (corals, sponges). In this study, we use angular backscatter response curves to model the distribution of hard seabed in the subtidal areas of Darwin Harbour. The angular backscatter response curve data were extracted from multibeam sonar data and analysed against backscatter intensity for sites observed from seabed video to be representative of “hard” seabed. Data from these sites were consolidated into an “average curve”, which became a reference curve that was in turn compared to all other angular backscatter response curves using the Kolmogorov–Smirnov goodness-of-fit. The output was used to generate interpolated spatial predictions of the probability of hard seabed (p-hard) and derived hard seabed parameters for the mapped area of Darwin Harbour. The results agree well with the ground truth data with an overall classification accuracy of 75% and an area under curve measure of 0.79, and with modelled bed shear stress for the Harbour. Limitations of this technique are discussed with attention to discrepancies between the video and acoustic results, such as in areas where sediment forms a veneer over hard substrate.     

A new method for weakening the combined effect of residual errors on multibeam bathymetric data

Multibeam bathymetric system (MBS) has been widely applied in the marine surveying for providing high-resolution seabed topography. However, some factors degrade the precision of bathymetry, including the sound velocity, the vessel attitude, the misalignment angle of the transducer and so on. Although these factors have been corrected strictly in bathymetric data processing, the final bathymetric result is still affected by their residual errors. In deep water, the result usually cannot meet the requirements of high-precision seabed topography. The combined effect of these residual errors is systematic, and it’s difficult to separate and weaken the effect using traditional single-error correction methods. Therefore, the paper puts forward a new method for weakening the effect of residual errors based on the frequency-spectrum characteristics of seabed topography and multibeam bathymetric data. Four steps, namely the separation of the low-frequency and the high-frequency part of bathymetric data, the reconstruction of the trend of actual seabed topography, the merging of the actual trend and the extracted microtopography, and the accuracy evaluation, are involved in the method. Experiment results prove that the proposed method could weaken the combined effect of residual errors on multibeam bathymetric data and efficiently improve the accuracy of the final post-processing results. We suggest that the method should be widely applied to MBS data processing in deep water.     

Investigation of the relationship between seafloor echo strength and sediment type—a case study in Jiaozgou Bay,China

In recent years, increasing attention is being given to investigating the relationships between seafloor echo strength and sediment type. This aspect was assessed in a course of a marine survey conducted in Jiaozhou Bay near the city of Qingdao, China, where various sediment types are known to exist. Multi-beam echo data and sediment samples were acquired, processed and analyzed. The findings demonstrate that multi-beam echo strengths are strongly related to seabed types such as rock, sand and clay. Thus, echo strength increases progressively with the increase in sand content in gravely, sandy, and clayey sediments. However, echo strength is more sensitive to changes in sand content in fine-grained sediment and less sensitive in coarse-grained sediment. Also, high shell content of sediments greatly enhances the acoustic reflection. These findings help to predict seafloor sediment types by analyzing echo strength.     

Cautionary considerations for geohazard mapping with multibeam sonar: resolution and the need for the third and fourth dimensions

Most modern submarine geohazard investigations rely heavily on multibeam sonar data, yet there are limitations to these data that must be respected. Disregard of fundamental aspects of spatial sampling, averaging and interpolation, and statistical parameters that accompany all forms of measurement, can lead to over-interpretation of data. Beam spreading and sounding density govern spatial resolution and therefore limit seafloor features that are resolved and interpreted as indicative of geohazards. These resolution limitations are shown with a synthetic model of the seafloor convolved with a spherically spreading wavefront approximated with a spherical smoothing algorithm. This simulation shows the inability to resolve metrics of objects, as well as determine critical parameters such as slope angles with increasing water depth. As well, real case examples are presented showing these effects on identification of targets, slope angles and pockmarks. Misinterpretation of seafloor features is common in multibeam data, particularly without the benefit of coincident subbottom data. Thus it is critical to image the third dimension below the seafloor. Finally, seafloor mapping for geohazards is just one step in a geohazard assessment: it is critical to know frequency of recurrence of geohazard events and their modern geologic context in order to appropriately assess risk.     

Variations of backscatter strength along the super slow-spreading Southwest Indian Ridge between 57°E and 70°E

Simrad EM12 backscatter strength data of the Southwest Indian Ridge (SWIR), between 57°E and 70°E, are used to reveal the along-axis segmentation of this super slow-spreading ridge. The backscatter properties of different geologic domains, like bathymetric highs and oblique basins within the rift valley, are characterized using 66 small test sites. We show that backscatter strength is higher on bathymetric swells, corresponding to segment centres, and lower in deep oblique basins corresponding to axial non-transform discontinuities and fracture zones. This contrast between segment centres and discontinuities is produced by both a thicker sediment cover and less frequent volcanic eruptions at segment ends. Using the model of Mitchell (1993), sediments have been estimated to be 2 to 5 m thicker in these areas than at segment centres. The distribution of the seamounts within the rift valley is controlling the long-wavelength variations of the mean backscatter strength calculated along the axis. Lower densities of seamounts and thicker sediments are producing lower and heterogeneous reflectivity levels in the deepest part of the axial valley floor between 61°45′E and 63°45′E. We propose that cooler mantle temperatures inducing construction of fewer volcanoes occur beneath this part of the ridge. The mean backscatter strength along the SWIR axis decreases dramatically toward the Rodrigues Triple Junction suggesting that volcanic production is reduced between 68°20′E and 69°20′E and that the transition from amagmatic tectonic deformation at the triple junction to new seafloor spreading occurs between 69°20′E and 70°E.     

Possibilities for determining temperature and emissivity of the land surface from data of satellite IR sounders with high spectral resolution (IRFS-2)

Numerical experiments on the simultaneous retrieval of the temperature and spectral emissivity of different land types are performed on the basis of inversion of the simulated high spectral resolution measurements by the IRFS-2 satellite IR sounder. The IRFS-2 data inversion method is based on using a priori information on the spectral behavior of emissivity of different land types and the multiple linear regression technique. The rms errors of determination of the underlying surface temperature using different solving operators are 0.26–0.71 K. The application of the developed IRFS-2 measurement inversion method makes it possible to estimate the land surface emissivity with an rms error not larger than 0.015.