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.

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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.

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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.

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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

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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

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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

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LIST OF TABLES

TABLE NO. TITLE PAGE

Table 5.1 Duplicated Data 72

Table 5.2 Unduplicated Data 73

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

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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

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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

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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

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