Post on 02-Aug-2019
transcript
DIGITAL ELEVATION MODEL BATHYMETRY MAPPING OF SEAFLOOR
USING QINSy QLOUD
AUWAL GARBA ABUBAKAR
A project report submitted in partial fulfilment of the
requirements for the award of the degree of
Master of Science (Geomatic Engineering)
Faculty of Geoinformation and Real Estate
Universiti Teknologi Malaysia
JUNE 2014
iii
I humbly dedicated this project to my entire family especially my brother Alhaji
Rabiu Abubakar who supported me financially to study oversea (Malaysia), may the
Almighty Allah Subhanahu Wataala reward him and protect him against the evil.
Ameen !
iv
ACKNOWLEDGEMENT
All thanks be to Allah the creator of all kinds and master of the day of
judgment day, who gave us a little out of His knowledge to make this world habitant
to all humans. I wish to express my happiness and gratitude to my supervisor Prof.
Dr. Mohd Razali Mahmud in which through his wonderful lectures on Hydrographic
Survey that geared me to choose this topic, Digital Elevation Model Bathymetry
mapping of Seafloor using QINSy QLOUD and also his guidance, suggestions,
comments, and corrections to my project. I really appreciate his patience and
guidance. I would like to extend my appreciation to Mr Mohd Hilmi Abdullah, Mrs
Nor’ainah Amat, Mr Ghazalli Khalid, and the rest of the hydro research team for
their cooperation.
Special thanks to my lecturers who thought me on various subjects and also
my classmates for their usual cooperation, help, and advise whenever a problem
arises.
v
ABSTRACT
Digital elevation model of seafloor mapping is one of the most active modern
underwater acoustics domains to produce near real visualization of the underwater
terrain, attracting the attention and knowledge exploration in many branches of
science and technology. This study takes interests on the three dimensional (3D)
geometrical description of the seafloor topography as well as to have idea on
dynamic behaviour of seabed morphology and its material properties. The aims of
this study are to generate 3D digital elevation model of the seafloor, visualize and
interpret the 3D model and analyse the effect of data duplication on depths where the
main source of the data is multibeam echo sounder. The multibeam bathymetry
technique has an unlimited range of application in the marine data acquisition and
underwater investigation. The recent technological advancement and development on
the multibeam bathymetry technique has led to the improvement of underwater
mapping and study of seafloor classification. This Project described step by step
approach and methodology adopted which focusing on the application of high
resolution multibeam, RESON SeaBat8124. When the 3D bathymetric model
produced is compared to Surfer and ArcMap software, the 3D model show the same
topographical shape and the 3D model look similar. The shape produced by QINSy
QLOUD is also the same.
vi
ABSTRAK
Model elevasi digital tiga dimensi (3D) bagi pemetaan dasar laut adalah salah
satu moden domain akustik bawah air yang paling aktif untuk menghasilkan
berhampiran gambaran sebenar rupa bumi di bawah air, menarik perhatian dan
penerokaan ilmu dalam pelbagai cabang sains dan teknologi. Kajian ini menarik
minat kepada penerangan geometri tiga dimensi (3D) topografi dasar laut dan juga
untuk memahami tingkah laku morfologi dasar laut yang dinamik dan sifat
bahannya. Tujuan kajian ini adalah untuk menjana model elevasi digital 3D dasar
laut, menggambarkan dan mentafsirkan model 3D tersebut dan menganalisis kesan
pertindihan data pada kedalaman di mana sumber utama data adalah pemerum gema
berbilang alur. Teknik pengukuran pemerum gema berbilang alur mempunyai
aplikasi yang tidak terhad dalam perolehan data marin dan penyiasatan dasar laut.
Kemajuan teknologi dan pembangunan terhadap teknik pengukuran pemerum gema
berbilang alur baru-baru ini yang telah membawa kemajuan terhadap pemetaan
bawah laut dan kajian pengelasan dasar laut. Projek ini menerangkan satu per satu
pendekatan dan metodologi yang digunakan yang mana tertumpu kepada
penggunaan pemerum gema berbilang alur beresolusi tinggi, RESON SeaBat8124
Apabila model batimetri 3D yang dihasilkan dibandingkan kepada perisian Surfer
dan ArcMap, model 3D menunjukkan bentuk topografi yang sama dan model 3D
kelihatan sama. Bentuk yang dihasilkan oleh QINSy QLOUD juga sama dan serupa.
vii
TABLE OF CONTENTS
CHAPTER TITLE PAGE
TITLE PAGE i
DECLARATION ii
DEDICATION iii
ACKNOWLEDGEMENT iv
ABSTRACT v
ABSTRAK vi
TABLE OF CONTENTS vii
LIST OF TABLES x
LIST OF FIGURES xii
LIST OF ABBREBVIATION xiii
LIST OF APPENDICES xiv
1 INTRODUCTION
1.1 Background of the Study 1
1.2 Problem Statement 2
1.3 Objectives of the study 3
1.4 Scope of the Study 3
1.5 Significant of the studey 4
1.6 Instrumentation 4
1.6.1 Teledyne RESON Seabed 5
1.6.2 Applanix POS Mv 5
1.6.3 RESON PDS2000 6
1.6.4 QINSy QLOUD 7
1.7 The Study Area 8
viii
1.8 Brief of the Project Area 8
2. ACOUSTIC SEABED MAPPING
2.0 Introduction 11
2.1 Historical Review 11
2.2 UnderWater Acoustic Signal 15
2.3 Formation of Acoustic Beam 14
2.4 The Concept of Acoustic Field Ensonification 16
2.5 Single Beam and MultiBeam EcohSounder 17
2.6 Single Beam EchoSounder 17
2.7 MultiBeam EchoSounder 17
2.8 Bathymetry Data 18
2.9 The Principle of Backscatter 19
2.10 Digital Elevation Model 21
3 METHODOLOGY
3.1 Over View of the Project Methodology 22
3.2 Frame work of the Study Project Area 23
3.3 Data Collection 24
3.4 Multibeam Field Procedure 25
3.4.1 Planning The Survey 25
3.4.2 System Installation and Callibration 26
3.4.3 Data Aquisation 26
3.4.4 Data Processing, Cleaning and Filtering 27
4 MULTI BEAM DATA PROCESSING AND ANALYSIS
4.1 Introduction 28
4.2 The Need for Calibration 30
ix
4.3 The Sailing Pattern 30
4.4 Procedure for QPS QINSy Software Processing 31
4.5 The Validator 44
4.6 QPS QLOUD Processing 54
4.7 The Procedure Involve in Cleaning Data in QINSy QLOUD 55
5 3D MAP GENERATION AND ANALYSIS
5.1 Bathymetric Digital Elevation Model 64
5.2 Generating BDEM in QINSy QLOUD 64
5.3 Generating BDEM in Surfer 65
5.4 Generating BDEM in ArcMap 64
5.5 Analysis of the 2D and 3D Seafloor 69
5.6 Statistical Analysis 71
5.7 Effect of Douplicated Data on Easting coordinate 72
5.8 Using MATLAB to Show the Effect 74
5.9 Using GRETL Sofware to Show the Effect 75
6.2 Chapter Summary 76
6 CONCLUTION AND RECOMMENDATION
6.1 Conclusion 77
6.2 Recommendation 78
REFERENCES 79
xi
LIST OF FIGURES
FIGURE NO. TITLE PAGE
1.1 RESON Seabet 8124 5
1.2 Applanix POS.MV System 6
1.3 The Study Area Gelang Patah 8
1.4 Project Methododlogy 9
2.1 The Sounding Device of Robert Hooke 1693 13
2.2 One of the First Acoustic Sounding Built by Marti in 1919 14
2.3 Experimental Performance of Underwater Acoustic 15
2.4 Multibeam Sensor pole 16
2.5 Multibeam Sonar (Sound Navigation and Ranging) 17
2.6 Ilustration of the -3dB limit 18
2.7 Leadline, Single Beam, and Multibeam EchoSounders 20
3.1 Survey Vessel Collecting Multibeam Data 23
3.2 Methodology of the Project 24
3.3 Theme of the Project dataset 24
3.4 Multibeam survey preparation 25
4.1 Bathymetric data processing 29
4.2 Roll, Flat area with opposite direction 30
4.3 Pitch,Slope area, opposite direction and on the same speed 31
4.4 Heading, Slope area on the same direction 31
4.5 QINSy MENU and SETUP 32
4.6 Multibeam Replay parameter 32
4.7 The data base setup Programme 33
4.8 Window Shows the Object Defination Defining the 34
GOG of the vessel
4.9 The Sound Velocity Profile 35
xii
4.10 Information on DGPS 36
4.11 The window Shows The Observation Gyronand system 37
Motion
4.12 System Seabat information and Side scan Sonar Information 38
4.13 The Tide Data Manager 39
4.14 The Tide profile 40
4.15 The Tide Data file 41
4.16 The Tide Processsor 42
4.17 The Files selected for Validation Process 43
4.18 Multibeam Application of sound velocity profile Data 44
(SVP Data)
4.19 The validator window 45
4.20 Manual Selection of water column noise 46
4.21 Wrong Area selected 47
4.22 Roll Validations 48
4.23 Pitch Validations 49
4.24 Heading Validation 50
4.25 Cleaned Data 51
4.26 Overlap of the three survey lines 52
4.27 The Green Data Selected for exporting into QINSy QLOUD 53
4.28 Front page of QINSy QLOUD 54
4.29 File saved as auwal3D in *.qdm format 55
4.30 Cell size of 0.5 Decided to be used 56
4.31 Selected folder and the lines to be imported into QLOUD 57
4.32 Loading *.qpd data into QPS QLOUD as this may take time 58
4.33 Imported *.qpd data showing outlier/noise/spike 59
4.34 Selected area with outlier/noise/spike 60
4.35 Outlier/noise/spike is cleaned up here. (Cleaned data) 61
4.36 Various file format that can be chosen for exporting 62
4.37 Exporting Grid data into QINSy for further analysis 63
5.1 Contour map 65
5.2 2D Vector Map 66
5 3 3D Bathymetric DEM 66
5.4 2D Vector map from ArcMap 67
xiii
5.5 3D Bathymetric DEM produce in ArcMap 68
5.6 Different 2D raster image and contours produce 69
5.7 Different 3D Bathymetric Digital Elevation Model (BDEM) 70
5.8 Duplicated data VS Filtered data on Easting Coordinates 74
(Matlab)
5.9 Duplicated data VS Filtered data on Northing Coodinate 74
5.10 Duplicated data VS Filtered data on Easting 75
using GRETL
5.11 Duplicated data VS Filtered data on Northings 76
xiv
LIST OF ABBREVIATIONS
3D Three Dimensional
BDEM Bathymetric Digital Elevation Model
DGPS Differential Global Positioning System
GNSS Global Navigation Satellite System
GRETL Gnu Regression,Econometric and Time – Series
Library
GPS Global Positioning System
HIS Hydrographic Information System
HRP Heave Roll and Pitch
IHO International Hydrographic Organization
IMU Inertial Measurement Unit
LAT Lowest Astronomical Tide
SBES Single Beam EchoSounder
SVB Sound Velocity Probe
MBES Multibeam EchoSounder
MGDI Marine Geospatial Data Infrastructure
MLS Mobile Laser Scanner
MRU Motion Reference Unit
PDS Post Dredge Survey
POS Position and Orientation System
TLS Terrestrial Laser Scanner
WGS 84 World Geodetic System 1984
xv
LIST OF APPENDICES
APPENDIX TITLE PAGE
A Gridding Report 82
B Study Area 98
C 2D Raster Image Produce from ArcMap 99
D 3D Image Produce Using QPS QLOUD 100
E 2D Image Produce Using QPS QLOUD 101
F 2D Image Produce from ArcMap 102
G 3D Image Produce from ArcMap 103
H 2D Raster Image Produce from Surfer 104
I Contour Produce from Surfer 105
J 3D image Produce from Surfer 106
K Tebing Runjuh Gelang Patah Map 107
L Effect of Dupplicated Data on Easting 108
M Effect of Dupplicated Data on Northings 109
N Filtered Data on Easting 110
O Filtered Data on Northings 111
CHAPTER 1
INTRODUCTION
1.1 Background of the Study
The surficial faces of the seafloor is characterise and determined by collecting
a good samples of seabed or sea surface data (Blondel, 2003). These data are
analysed, characterise for the determination of grain size, rock type, sand, muddy
sand, silt, etc (Blondel, 2003; Kostylev et al., 2001). This is very important in marine
Geological studies, and is very crucial when modelling sediment process, pollution,
transportation, deciphering tectonic and defining habitats (Gardner, 2004).
Digital elevation model bathymetry of the seafloor is one of the most active
domains of modern underwater acoustics, attracting the attention and exploration in
many branches of science and technology (O’Brien et al., 2013). The seafloor is a
platform for engineering structures, a source of row materials, a reposition for
unwanted materials, route of communication, a potential background, a laboratory of
great importance can be studied and many more thing besides (Chen et al., 2010;
Wilson, 2003)
The science related to the sea depth is bathymetry and the production of good
quality bathymetry map is paramount safety. There was a need for seafloor mapping
in coastal navigation since the olding days, in which good quality bathymetric maps
are very important to safety (Negahdaripour and Madjidi, 2003). Such maps have
greatly benefited from acoustic techniques with regard to accuracy and completeness
in shallow water, that is on the continental shelf (Walker et al., 2002). The required
2
accuracy is better than 1% of the water depth. The underwater maps produced are
expected to provide accurate bathymetry, the presence of the obstacle on the
seafloor and, if possible, the nature of the seafloor (Snellen, 2012).
1.2 Problem Statement
The interest on this study is on the 3D geometrical description of the seafloor
topography/morphology, and also to have idea on dynamic behaviour of seafloor or
seabed topography and seabed material properties.
The main source of the data is multibeam echo sounder. The multibeam
bathymetry technique or method has an unlimited range of application in the marine
data acquisition and investigation. Recently there is a technological advancement and
development on the multibeam bathymetry which has led to the improvement of
mapping and study of seafloor classification.
The data acquired during the survey are going to be process and analysed
using the software QINSy and QINSy QLOUD software is an offline tool that is
fully integrated with QINSY. Large data sets are extremely handling using QinSy
Qloud, using parameters such as Total Propagation Error (TPE) and THO S-44 guide
lines, based data cleaning are performs statistically both in the CUBE algorithms
(UNH), and in the least square statistical spline method.
The advantage of seabed mapping using QLOUD is that,Data cleaning are
done Automatically because of its cleaning tools using Clips, Area Spline cleaning
and CUBE algorithms, these are applied to the entire survey and the cleaning can be
done step by step to selected section, where centre and outer beams overlap.
The Total Propagation Error TPE values are weighted at each data point
correcly. The data is viewed as individual soundings, or as gridded data, which is
often dictated by the deliverable. For example, viewing every last individual
sounding is wasted effort if the deliverable is a single mean sounding per grid cell.
presentation of the SD attribute of a gridded dataset in one pane, and the 3D points
3
cloud in another pane. This give room for flexible viewing options, By pin pointing
bad SD values, the spotlight is quickly directed in the points cloud for more focused
analysis.
One of the most important parts of this project is survey planning and
implementation for data acquisitions to meet the necessary requirement. A proper
arrangement need to be done from the most suitable survey methodology based on
the various factors such as the equipments operating system, the survey area that is
the site, setting out, data collection, processing the data in order to smoothing the
survey and avoid problems that may arise.
1.3 Objective of the Study
The objectiv of this study are
(i) To Generate Digital Elevation Model of the seafloor surface using
QINSyQLOUD
(ii) To visualise the outliers/noise/spike that were imported into QINSy
QLOUDand make furthere cleaning of the bathymetric data.
(iii) To Transfer the clean data into other softwares in form of ascii file
format or griddata file format for digital elevation model generation and
analysis.
(iv) To detect the effect of duplicated data when other software are used
1.4 Scope of the Study
This project concerns the analysis of QLOUD software performance and its
capabilities in various operational requirements.
4
This project is concern with the production of 3D viewing and normal grid
presentation of the cleaned DTM points in QLOUD
The scope of this study is to look at the validated data if they can be exported
back to QINSy sounding grid file or any third party software
1.5 Significant of the Study
The sampling of water at different depths and by taking samples of the sea
bed gives data and the data gathered are used to understand water movement, the
spread of pollutants and fish behaviour in the ocean. This information facilitates
habitant mapping and an understanding of how our ocean operates. Therefore this
study will provide
(i) A good view of the subsea landscape.
(ii) It will also evaluate the scope and limitations of a range of suitable
techniques for assessing the effects of site specification and activities
and activities at the sea.
(iii) One of the significant of this study is to evaluate additional techniques
for use in broad scale mapping exercise.
(iv) One of the significant of this study is the determination of the seabed
characteristics that is subject to changes in time with various factors to
be looked into based on the interpretation of the QLOUD.
(v) The significant of this study is a chance to obtain knowledge on how
to used or conduct survey for data acquisition using QINSy8.0
QLOUD, on the other way round the result obtained can be used for
educational purpose, this study my served as a guidance to conducting
a survey on water and it can also be used as a references for further
studies.
5
1.6 Instrumentation
The instrumentation is divided into two categories for the scope of this
project is concern, That is data acquisition system and data processing software. For
the data acquisition, we will be using the new advance multibeam technology for
Teledyne RESON SeaBat series along with RESON PDS 2000 operating system for
data acquisition mode and the software to be used for data analysis and integration
will be QINSy QLOUD which is another new software for data cleaning and
filtering. For positioning and orientation for this project, Trimble Applanix POSMV
will be used.
1.6.1 Teledyne RESON SeaBat
RESON multibeam T20-P is the recent Product of advance multibeam by
Teledyne RESON Company. The T20-P is the first portable multibeam system that
consist of T20 sonar head as the acoustic sensor and portable sonar processor as
shown in the figure 3.1, the multibeam system is also come with the sound velocity
probe that used to give out the sound velocity correction.
Figure 1.1: RESON SeaBat 8124
6
1.6.2 Applanix POS MV
Applanix Position and Orientation System of marine vessel is a GNSS aided
inertial navigation system which has the ability in providing a complete set of
measurement including estimation of heave and ellipsoidal altitude. It consist of 2
GNSS antenna for positioning system, IMU to dealt with motion of the vessel and
POS computer system as a processing unit that give out revised vessel position and
correction for vessel motion.
Figure 1.2: Applanix POS MV System
1.6.3 RESON PDS2000
RESON is one of the world leaders in SBES and MBES dredge guidance
system and Hydrographic software. RESON PDS2000 is designed to efficiently
7
create high quality,fast result for multibeam survey,single beam survey,volume
calculation or Chart production.
1.6.4 QINSy QLOUD Software
QINSy QLOUD is fully integrated with QINSy, handling extremely large
data sets, it performs statistically based data cleaning using parameters such as Total
Propagation Error (TPE) and IHO S-44 guide lines, both in the CUBE algorithms
(UNH), and in the least square statistical spline method.
QINSy QLOUD Imports DTM points from QINSy QPD files, (include
multiple data attribute flags generated in QINSy). QLOUD also import DTM points
from any other software point file. With or without attributes and metadata. The
moment the data is loaded into QLOUD, the surveyed is viewed as a single cloud of
data point, presented in the full geographical contex, of ENCs, DXF and GEOTIFF
imagery.
8
1.7 The Study Area
The Figure 1.3 shows the approximate area of the study, which is located at
Tebing Runjuh, Gelang Patah Johor Darul Takzim.
Figure 1.3: GELANG PATAH
9
1.7.1 Brief of the Project Methodology
Method of this research must be planned so that the scope of the research and
primary objective of the research will be achieved.
This study contains five (5) stages through the research methodology which
are shown below.
Figure 1.4: Project Methodology
Stage 1 Literature Review:-
Literature Review will be mainly focused on the concept of seafloor mapping
Bathymetric data, sidescan sonar, multibeam, QLOUD software and QINSy 8.0
software. The sources for this literature review can be acquired from the reference
books and also acquired from the internet such as journals. Information can be
acquired also from JUPEM and other organisation that are dealing with seafloor
mapping.
Literature review; Defining the Objective and
scope of the study
Equipment (RESON T20-P multibeam)
Software (QINSy8.0 and QLOUD)
Field Project;-Survey planning, Multibeam
system installation and calibration
Multibeam data collection (bathymetry)
Data Processing and Analysis ;-
(QINSy8.0 and QLOUD)
Discussion of findings and
Conclusion
Stage1
Stage3
Stage2
Stage4
Stage5
HYDRO
_
GRAPHIC
SURVEY
PROJECT
10
Stage 2 Familiarisation;-
Initial Idea on the multibeam bathymetric method and the software need to be
used is of vital important, because it help in solving the statement problem and to
know your expected end product.
i) Multibeam Bathymetric system for data acquisition
ii) The software QINSy8.0 and QLOUD for data processing.
Stage 3 Survey planning and data collection
Every survey activities need planning prior to the commencement of the job.
For successful job to be done there are things that are need to be put in mine such as
area of the survey, how the survey need to be done type of equipment need to be
carried with, the personal on board. Interesting features and valuable information that
are needed at last even the safety of everyone on board is put into consideration.
The field Project is done after all the components of the multibeam system
are fully installed, that is every component is checked and its position is properly
istolled and is functioning. DGPS are fixed on the side of the vessel, all cables are
properly fixed in there appropriate position. Then calibration of the equipments is
done and the centre of gravity of the vessel is taking to enable proper installation of
the DGPS. Then the survey exercise can now proceed.
Stage 4 Analysis
The analysis is going to look into survey implementation. Making sure that
the standard of International Hydrographic Organisation (IHO) is achieved, and also
check on the capability of QLOUD software. The analysis is going to look at the
QINSy QLOUD performance to generate 3D.
11
Stage 5 Conclusions and Recommendation
At this stage, the aim and objective of the project will be looked into to see if
the objective of study is achieved or not.
79
REFERENCES
.
Anderson, J. T., Holliday, D., Kloser, R., Reid, D. and Simard, Y. (2007). Acoustic
seabed classification of marine physical and biological landscapes.
International Council for the Exploration of the Sea.
Blondel, P. (2003). Seabed classification at ocean margins Ocean margin systems
(pp. 125-141)Springer.
Borrough, P. A. a. r. A. M. (1998). Principles of Geographic Information Systems.
Oxford University Press: New York.
Cartwright, D. S., & Clarke, J. H. (2002). Multibeam surveys of the frazer river delta,
coping with an extreme refraction environment. Proceedings of the Canadian
Hydrographic Conference.
Chen, C.-W., Shen, C.-w., Chen, C.-Y. and Cheng, M.-J. (2010). Stability analysis of
an oceanic structure using the Lyapunov method. Engineering Computations.
27(2), 186-204.
Clarke, J. E. H., Mayer, L. A. and Wells, D. E. (1996). Shallow-water imaging
multibeam sonars: a new tool for investigating seafloor processes in the
coastal zone and on the continental shelf. Marine Geophysical Researches.
18(6), 607-629.
Connary, S. D. and Ewing, M. (1974). Penetration of Antarctic bottom water from
the Cape Basin into the Angola Basin. Journal of Geophysical Research.
79(3), 463-469.
Desbarats, A., Logan, C., Hinton, M. and Sharpe, D. (2002). On the kriging of water
table elevations using collateral information from a digital elevation model.
Journal of Hydrology. 255(1), 25-38.
Dierssen, H. M. and Theberge Jr, A. E. (2010). Bathymetry: History of Seafloor
Mapping.
80
Dinn, D. F., Bosko D. Loncarevic, and Gerard Costello. (1995.). The effect of sound
velocity errors on multi-beam sonar depth accuracy. OCEANS'95. MTS/IEEE.
Challenges of Our Changing Global Environment. Conference Proceedings..
. Vol. 2.
Dworski, J. G. and Jackson, D. R. (1994). Spatial and temporal variation of acoustic
backscatter in the STRESS experiment. Continental Shelf Research. 14(10),
1221-1237.
Foster-Smith, R. and Sotheran, I. (2003). Mapping marine benthic biotopes using
acoustic ground discrimination systems. International Journal of Remote
Sensing. 24(13), 2761-2784.
Gardner, P. D. a. J. v. (2004). Predicting Seafloor Facies from Multibeam
Bathymetry and Backscatter Data American Society for Photogrammetry and
Remote sensing. Volume.70, no 9,, 1081-1091.
Hughes Clarke, J. E., Danforth, B. W. and (1997a)., P. V. (1997). Areal seabed
classification using backscatter angular response at 95 kHz. In High
Frequency Acoustics in Shallow Water. Proceedings of SACLANT
Conference. 45, 5.
IHO (2011). MANUAL ON HYDROGRAPHY. (Vol. Publication C-13) M O N A C
O: INTERNATIONAL HYDROGRAPHIC BUREAU.
Jakobsson, M., Cherkis, N., Woodward, J., Macnab, R. and Coakley, B. (2000). New
grid of Arctic bathymetry aids scientists and mapmakers. EOS, Transactions
American Geophysical Union. 81(9), 89-96.
Jensen, F. B. (1994). Computational ocean acoustics. Springer.
Kilfoyle, D. B. and Baggeroer, A. B. (2000). The state of the art in underwater
acoustic telemetry. Oceanic Engineering, IEEE Journal of. 25(1), 4-27.
Kokossalakis, G. (2006). Acoustic data communication system for in-pipe wireless
sensor networks, Massachusetts Institute of Technology.
Kostylev, V. E., Todd, B. J., Fader, G. B., Courtney, R., Cameron, G. D. and Pickrill,
R. A. (2001). Benthic habitat mapping on the Scotian Shelf based on
multibeam bathymetry, surficial geology and sea floor photographs. Marine
Ecology Progress Series. 219, 121-137.
Lurton, X. (2010). An Introduction to Underwater Acoustics: Principles and
Applications. (2, illustrated ed. Vol. 4110)Springer, 2010.
81
Maguire, D. J., Goodchild, M. F. and WRHIND, D. (1991). Principles and
Applications. Longman.
Majumder, S., Scheding, S. and Durrant-Whyte, H. F. (2001). Multisensor data
fusion for underwater navigation. Robotics and Autonomous Systems. 35(2),
97-108.
Mark Lawrence GEOPHYSICAL TECHNIQUES FOR MARITIME
ARCHAEOLOGICAL SURVEYS. Wessex Archaeology. 12.
Mayer, L., Clarke, J. H. and Dijkstra, S. (1998). Multibeam sonar: potential
applications for fisheries research. Journal of Shellfish Research. 17, 1463-
1468.
Mayer , l., J.E. HughesClarke and S. Dijkstra (1997). Multibeam Sonar: Potential
application for fisheries research. Evironmental Data for Fisheries Research
and Management. SWFSC-239, 79-92.
Medwin, H. and Clay, C. S. (1997). Fundamentals of acoustical oceanography.
Access Online via Elsevier.
Nair, R. R. and Chakraborty, B. (1997). Study of multybeam techniques for
bathymetry and seabottom backscatter application. Nation Istitute of
Oceanography. vol.1(no1), 17-24.
Negahdaripour, S. and Madjidi, H. (2003). Stereovision imaging on submersible
platforms for 3-d mapping of benthic habitats and sea-floor structures.
Oceanic Engineering, IEEE Journal of. 28(4), 625-650.
O’Brien, S., Wiggert, J. D. and Dodd, D. (2013). Development of a Bathymetric
Dynamic Digital Elevation Model for the Northern Gulf of Mexico.
Pouliquen, E., Lyons, A. and Pace, N. (2000). Penetration of acoustic waves into
rippled sandy seafloors. The Journal of the Acoustical Society of America.
108(5), 2071-2081.
Preston, J., Christney, A., Bloomer, S. and Beaudet, I. (2001). Seabed classification
of multibeam sonar images. Proceedings of the 2001 Oceans, 2001.
MTS/IEEE Conference and Exhibition: IEEE, 2616-2623.
Russell, J. L., Stouffer, R. J. and Dixon, K. W. (2006). Intercomparison of the
Southern Ocean circulations in IPCC coupled model control simulations.
Journal of Climate. 19(18).
82
Satyanarayana, Y., Naithani, S. and Anu, R. (2007). Seafloor sediment classification
from single beam echo sounder data using LVQ network. Marine
Geophysical Researches. 28(2), 95-99.
Snellen, P. D. D. G. S. D. I. M. (2012). Seafloor Mapping Netherlands: Delft
University of Technology.
Walker, L. J., Wilkinson, B. H. and Ivany, L. C. (2002). Continental drift and
Phanerozoic carbonate accumulation in shallow‐shelf and deep‐marine
settings. The Journal of geology. 110(1), 75-87.
Wang, K. and Lo, C. P. (1999). An assessment of the accuracy of triangulated
irregular networks (TINs) and lattices in ARC/INFO. Transactions in GIS.
3(2), 161-174.
Wilson, J. F. (2003). Dynamics of offshore structures. John Wiley & Sons.
Yosup Park, S. L., Seomkyu Jung (2011). Characterization of Backscattering Signal
of 300kHz Multibeam Echo Sounder Proceedings of symposium om
ultrasonic Electronics. 32, 289-290.