Canadian Hydrographic Conference May 16-19 2016 Halifax, NS

Shallow water surveying with swath bathymetry 3D sidescan

Kalman 1
Czotter , Paul 2
Kraeutner , Dave Jackson 1

Canadian Hydrographic Service, Pacific 1

Region , Ping DSP Inc. 2

INTRODUCTION TEST METHOD – SHALLOW WATER BATHYMETRY

This poster summarizes testing of a new Swath Bathymetry 3D Sidescan sonar. The
3DSS-DX-450 (Ping DSP Inc.) employs Computed Angle-of-Arrival Transient Imaging
(CAATI) to overcome the inherent limitations of phase based swath bathymetry
sonars. As a result, the 3DSS-DX-450 offers: IOS Boat
Launch
• IHO Exclusive order bathymetry over swath widths 6-14 times altitude
depending on backscattering conditions and geometry
• Simultaneous, full water-column 3D point cloud imagery of small–scale seabed
features , hazards, structures, vegetation and texture
• Extended range, enhanced 2D sidescan imagery To test bathymetric performance for both flat and complex seabed geometries, a
near shore survey was conducted. Binned bathymetry and variance results were
PRINCIPLE OF OPERATION VS INTERFEROMETRY compiled along with individual sounding examples at different swath distances.

Interferometry vs CAATI
CAATI extends conventional phase RESULTS
N
based interferometry to multiple
N sensors 1 M
(phase arrival sensors arrivals simultaneous angles of arrival.
differenced)
sN aM
d 
d CAATI separates arrivals in both
angle and amplitude from the
R  seabed, sea surface, water-column
s1 and multipaths.
a1 
R
a1 3D display of individual CAATI
2π
 d sin θ backscatter samples provides high
λ 2 34m17m
M  j ( n 1) d sin  m resolution bathymetry and imagery Shallow Water Bathymetry Spot Soundings (2.2-2.5m )
sn   am e 
concurrently (i.e. 3D Sidescan). Real-time 3D point cloud with spot measurements, 50m swath width
m 1
Binned Bathymetry (2.2-2.5m ) • Incredible 40m (18x nadir depth) swath width
20cm grid cells, 50m swath width • 2 sigma (95% confidence level) uncertainty measurements 1cm to 11cm
Seabed bathymetry data in the Multipath induced • no data cleaning
Water-column target incorrectly • <4cm to ~17m, 7.5x (dark blue) • Boat ramp and adjacent wall clearly defined
presence of backscatter from a depth variance limits
swath width
merged into seafloor
• <10cm to ~34m, 15x (light blue) • Nadir fully covered, though sounding density is reduced
water-column target processed
Bathymetric performance analysis over a flat seabed, 2.2-2.5m depths, exceeded
using CAATI (foreground) and
IHO Exclusive Order specifications with a 2σ uncertainty of <4cm to 7.5x depth, and
Interferometry (background).
10cm to 15x depth. Sounding results in complex geometries were also impressive.
CAATI processing separates the
Data from the concrete cube survey was gridded, examined for features and
water-column target from the
compared with 3D point cloud data. 3D point cloud results resolved both the
seabed and reduces variance at
1.0m and 0.5m cubes at varying offset distances (all cubes detected) and provided
greater range. Interferometry
dimensional measurements. However, gridded processing obscured detection of
blends targets with the seabed. Wide swath coverage with Water-column target correctly
reduced depth variance separated from seafloor
the cubes, indicating a processing limitation (e.g. navigation offsets error).

TEST METHOD - DETECTION OF SMALL SEABED FEATURES Three consecutive

targets (E,Q,F) in
3D Target Logger
vertical and horizontal
3D point cloud measurements of target A
Patricia Bay Concrete Cube
Test Range
Complete survey,
0.25m Grid

3D Target Logger
Target Catalogue

3D Target Logger 3D Target Logger

View of Target Q (0.5m) vertical measurement
of target Q

To test detection of small-scale features, a survey was conducted of the Patricia Bay
Concrete Cube Test Range using the CHS vessel Shoal Seeker with the 3DSS-DX-450 Point cloud view provides detection
bow mounted. Binned bathymetry and 3D point cloud results were compiled . of small targets even with a single
ping due to contextual points.

ACKNOWLEDGEMENTS CONCLUSIONS
The authors would like to acknowledge the financial support of the Build Canada The 3DSS-DX-450 sonar exceeded IHO Exclusive Order specifications in shallow
Innovation Program through Public Works and Government Services Canada and water bathymetry testing and resolved all 1m and 0.5m concrete cubes in 20m
the technical support of Marek Butowski and Kurtis Newman from Ping DSP. and 40m water depths at offsets exceeding 40m and 75m respectively.