Search Results (35)

Satellite-derived bathymetry holds significant value for acquiring nearshore bathymetric data. However, in coastal waters, bathymetry is affected by in-water particle scattering and seafloor substrate variability, leading to spatial inconsistency between the logarithmic green band profile derived from multispectral satellite imagery and the actual water depth profile. According to the position information of interpolated points and the inverse distance square relationship with the surrounding 16 points from low-reference bathymetric data (such as the bathymetric map from GEBCO, NOAA Electronic Navigational Charts), this model adopts a third-order inverse distance square bicubic convolution interpolation method to resample a high-resolution bathymetric map with the size of the satellite image. Normalized underwater topography trend data (derived from the low-resolution reference bathymetric map) were combined with normalized green band data to compute an averaged dataset. In this way, a linear bathymetric model was constructed. We invert this model’s parameters and calculate the water depth by using the average data and reference points from reference bathymetric data. Validation tests were conducted across three test areas using independent validation bathymetric data: Weizhou Island, China (Case II waters); Saipan, Northern Mariana Islands, USA (Case I waters); and Molokai Island, Hawaii, USA (Case I waters). Each test area was studied using five error analysis methods (i.e., scatterplot, error histogram, regional bathymetric error, three check lines, and seven check points). Compared to four classic bathymetric models (i.e., single-band model, log-ratio model, ratio-log model, and multi-band model), the proposed model achieved lower root mean square errors (RMSE) of 2.08 m, 1.40 m, and 2.01 m in the three test areas, representing reductions of 35%, 43%, 45%, and 20% and overall averages of 48%, 62%, 64%, and 43%, respectively. Its goodness of fit (R²) reached 0.87, 0.97, and 0.97, showing improvements of at least 5%, 5%, 9%, and 9% and overall averages of 17%, 77%, 84%, and 12%, respectively. The results demonstrate that the proposed model significantly improves bathymetry accuracy while maintaining algorithmic simplicity, providing a new model for acquiring nearshore foundational bathymetric maps. Full article

The combined application of machine or deep learning algorithms and hyperspectral imagery for bathymetry estimation is currently an emerging field with widespread uses and applications. This research topic still requires further investigation to achieve methodological robustness and accuracy. In this study, we introduce a novel methodology for shallow bathymetric mapping using a one-dimensional convolutional neural network (1D-CNN) applied to PRISMA hyperspectral images, including refinements to enhance mapping accuracy, together with the optimization of computational efficiency. Four different 1D-CNN models were developed, incorporating pansharpening and spectral band optimization. Model performance was rigorously evaluated against reference bathymetric data obtained from official nautical charts provided by the Servicio de Hidrografía Naval (Argentina). The BoPsCNN model achieved the best testing accuracy with a coefficient of determination of 0.96 and a root mean square error of 0.65 m for a depth range of 0–15 m. The implementation of band optimization significantly reduced computational overhead, yielding a time-saving efficiency of 31–38%. The resulting bathymetric maps exhibited a coherent depth gradient from nearshore to offshore zones, with enhanced seabed morphology representation, particularly in models using pansharpened data. Full article

The oceans remain one of Earth’s last great unknowns, with about 74% still unmapped to modern standards. Consequently, interpolation is employed to create seamless digital bathymetric models (DBMs) from incomplete hydrographic datasets, but this introduces unquantified depth uncertainties. This study aims to estimate and characterize uncertainties arising from set-line spacing hydrographic surveys, which are important for nautical charting, navigational safety, and many other applications. By sampling four distinct complete-coverage testbeds in United States waters that vary in slope and roughness at different line spacings, this study interpolates across entire testbed areas using Spline, Inverse Distance Weighting, and Linear interpolation. Uncertainty is calculated by comparing interpolated depths against the source depths for independent points. The resulting interpolation uncertainties are evaluated from both scientific and operational perspectives. Linear regression and machine learning techniques, specifically artificial neural networks and random forest, are used to model the relationship between these uncertainties and three ancillary predictors (distance to the nearest known measurement, slope, and roughness) for interpolation uncertainty quantification. The results show operational equivalence among the three interpolators, how line spacing and morphology impact uncertainty, and the statistical significance of the examined uncertainty predictors. However, the relationships between the combined ancillary predictors and interpolation uncertainty are weak. These findings suggest the potential presence of unaccounted-for factors influencing uncertainty yet provide a foundational understanding for improving uncertainty estimates in DBMs within operational settings. Full article

The precise acquisition of water depth data in nearshore shallow waters bears considerable strategic significance for marine environmental monitoring, resource stewardship, navigational infrastructure development, and military security. Conventional bathymetric survey methodologies are constrained by their spatial and temporal limitations, thus failing to satisfy the requirements of large-scale, real-time surveillance. While satellite remote sensing technologies present a novel approach to water depth inversion in shallow waters, attaining high-precision inversion in nearshore areas characterized by elevated levels of suspended sediments and diminished transparency remains a formidable challenge. To tackle this issue, this study introduces an enhanced XGBoost model grounded in the Newton–Raphson optimizer (NRBO–XGBoost) and successfully applies it to water depth inversion investigations in the nearshore shallow waters of the Beibu Gulf. The research amalgamates Sentinel-2B multispectral imagery, nautical chart data, and in situ water depth measurements. By ingeniously integrating the Newton–Raphson optimizer with the XGBoost framework, the study realizes the automatic configuration of model training parameters, markedly elevating inversion accuracy. The findings reveal that the NRBO–XGBoost model attains a coefficient of determination (R²) of 0.85 when compared to nautical chart water depth data, alongside a scatter index (SI) of 21%, substantially surpassing conventional models. Additional validation analyses indicate that the model achieves a coefficient of determination (R²) of 0.86 with field-measured data, a mean absolute error (MAE) of 1.60 m, a root mean square error (RMSE) of 2.13 m, and a scatter index (SI) of 13%. Moreover, the model exhibits exceptional performance in extended applications within the waters of Zhanjiang Port (R² = 0.90), unequivocally affirming its dependability and practicality in intricate nearshore water environments. This study not only provides a fresh solution for remotely sensing water depth in complex nearshore water settings but also imparts valuable technical insights into the associated underwater surveys and marine resource exploitation. Full article

This technical note aims to present a method for developing a Digital Terrain Model (DTM) of the coastal zone based on topobathymetric data from remote sensors. This research was conducted in the waterbody adjacent to the Vistula Śmiała River mouth in Gdańsk, which is characterised by dynamic changes in its seabed topography. Bathymetric and topographic measurements were conducted using an Unmanned Aerial Vehicle (UAV) and two hydrographic methods (a Single-Beam Echo Sounder (SBES) and a manual survey using a Global Navigation Satellite System (GNSS) Real-Time Kinematic (RTK) receiver). The result of this research was the development of a topobathymetric chart based on data recorded by the above-mentioned sensors. It should be emphasised that bathymetric data for the shallow waterbody (less than 1 m deep) were obtained based on high-resolution photos taken by a UAV. They were processed using the “Depth Prediction” plug-in based on the Support Vector Regression (SVR) algorithm, which was implemented in the QGIS software as part of the INNOBAT project. This plug-in allowed us to generate a dense cloud of depth points for a shallow waterbody. Research has shown that the developed DTM of the coastal zone based on topobathymetric data from remote sensors is characterised by high accuracy of 0.248 m (p = 0.95) and high coverage of the seabed with measurements. Based on the research conducted, it should be concluded that the proposed method for developing a DTM of the coastal zone based on topobathymetric data from remote sensors allows the accuracy requirements provided in the International Hydrographic Organization (IHO) Special Order (depth error ≤ 0.25 m (p = 0.95)) to be met in shallow waterbodies. Full article

Maritime navigation safety relies on preventing accidents, such as collisions and groundings. However, several factors can exacerbate these risks, including inexistent or inadequate buoyage systems and nautical charts with outdated bathymetry. The International Hydrographic Organization (IHO) highlights high costs and traditional methods as obstacles to updating bathymetric information, impacting both safety and socio-economic factors. Navigation in inland and coastal waters is particularly complex due to the presence of shallow intertidal zones that are not signaled, where navigation depends on tidal height, vessel draw, and local knowledge. To address this, recreational vessels can use electronic maritime sensors to share critical data with nearby vessels. This article introduces a low-cost maritime data sharing system using IoT technologies for both inland (e.g., Ria de Aveiro) and coastal waters. The system enables the collection and sharing of meteorological and oceanographic data, including depth, tide height, wind direction, and speed. Using a case study in the Ria de Aveiro lagoon, known for its navigational difficulties, the system was developed with a Contextual Design approach focusing on sailors’ needs. It allows for the real-time sharing of data, helping vessels to anticipate maneuvers for safer navigation. The results demonstrate the system’s potential to improve maritime safety in both inland and coastal areas. Full article

Coastal environments, which are crucial for economic and strategic reasons, heavily rely on accurate bathymetry for safe navigation and resource monitoring. Recent advancements in through-water photogrammetry have shown promise in mapping shallow waters efficiently. However, robust uncertainty modeling methods for these techniques, especially in challenging coastal environments, are lacking. This study introduces a novel likelihood-based approach for through-water photogrammetry, focusing on uncertainties associated with camera pose—a key factor affecting depth mapping accuracy. Our methodology incorporates probabilistic modeling and stereo-photogrammetric triangulation to provide realistic estimates of uncertainty in Water Column Depth (WCD) and Water–Air Interface (WAI) height. Using simulated scenarios for both drone and airborne surveys, we demonstrate that viewing geometry and camera pose quality significantly influence resulting uncertainties, often overshadowing the impact of depth itself. Our results reveal the superior performance of the likelihood ratio statistic in scenarios involving high attitude noise, high flight altitude, and complex viewing geometries. Notably, drone-based applications show particular promise, achieving decimeter-level WCD precision and WAI height estimations comparable to high-quality GNSS measurements when using large samples. These findings highlight the potential of drone-based surveys in producing more accurate bathymetric charts for shallow coastal waters. This research contributes to the refinement of uncertainty quantification in bathymetric charting and sets a foundation for future advancements in through-water surveying methodologies. Full article

The gravity–geologic method (GGM) is widely used for bathymetric predictions. However, the conventional GGM cannot be applied in regions without actual bathymetric data. The modified gravity–geologic method (MGGM) enhances the accuracy of bathymetric models by supplementing short-wavelength gravity anomalies with an a priori bathymetric model, but it overlooks the significance of actual bathymetric data in the prediction process. In this study, we used the BP neural network (BPNN), incorporating shipborne depth soundings and coastline data as zero-depth estimates combined with the MGGM to produce a bathymetric model (BPGGM_BAT) for the South China Sea (105°E–122°E, 0°N–26°N). The results indicate that the BPGGM_BAT model decreases the root-mean-square (RMS) of bathymetry differences from 154.33 m to approximately 140.43 m relative to multibeam depth data. Additionally, the RMS differences between the BPGGM_BAT model and multibeam depth data show further improvements of 19.63%, 20.10%, and 19.54% when compared with the recently released SRTM15_V2.6, GEBCO_2022, and topo_V27.1 models, respectively. The precision of the BPGGM_BAT model is comparable to that of the SDUST2023BCO model, as verified using multibeam depth data in open sea regions. The BPGGM_BAT model outperforms existing models with RMS differences of 8.54% to 32.66%, as verified using Electronic Navigational Chart (ENC) bathymetric data in the regions around the Zhongsha and Nansha Islands. A power density analysis suggests that the BPGGM_BAT model is superior to the MGGM_BAT model for predicting seafloor topography within wavelengths shorter than 15 km, and its performance is closely consistent with that of the topo_V27.1 and SDUST2023BCO models. Overall, this integrated method demonstrates significant potential for improving the accuracy of bathymetric predictions. Full article

This publication is aimed at developing a concept of an innovative system for dimensioning and predicting changes in the coastal zone topography using Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs). The 4DBatMap system will consist of four components: 1. Measurement data acquisition module. Bathymetric and photogrammetric measurements will be carried out with a specific frequency in the coastal zone using a UAV equipped with a Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS), Light Detection And Ranging (LiDAR) and a photogrammetric camera, as well as a USV equipped with a GNSS Real Time Kinematic (RTK) receiver and a MultiBeam EchoSounder (MBES). 2. Multi-sensor geospatial data fusion module. Low-altitude aerial imagery, hydrographic and LiDAR data acquired using UAVs and USVs will be integrated into one. The result will be an accurate and fully covered with measurements terrain of the coastal zone. 3. Module for predicting changes in the coastal zone topography. As part of this module, a computer application will be created, which, based on the analysis of a time series, will determine the optimal method for describing the spatial and temporal variability (long-term trend and seasonal fluctuations) of the coastal zone terrain. 4. Module for imaging changes in the coastal zone topography. The final result of the 4DBatMap system will be a 4D bathymetric chart to illustrate how the coastal zone topography changes over time. Full article

The aim of the research is to identify the optimal method for smoothing the surface of a hybrid digital bathymetric model (HDBM). The initiation of this research is justified by the fact that a model created from diverse types of data may have different surface textures and outliers. This diversity may cause problems in subsequent data processing stages, such as generating depth contours. As part of the adopted research methodology, fifteen filters were analysed. Filtering techniques were examined for filter type, the number of iterations, weights, and window size. The result is the adopted research methodology, which enabled the selection of the optimal filtering method. The research undertaken in this work is an extension of the methodology for developing an HDBM. An important aspect of the research is the approach to elaborating on such kinds of models in shallow and ultra-shallow waters adjacent to the land, as well as the use of data obtained by modern measurement platforms, such as unmanned surface vehicles (USV) and unmanned aerial vehicles (UAV). The studies fit into the general context of works related to the development of this type of model and undoubtedly provide a solid reference for further development or improvement of similar methods. Full article

Spectrally derived bathymetry (SDB) algorithms are rapidly gaining in acceptance and widespread use for nearshore bathymetric mapping. In the past, refraction correction could generally be ignored in SDB, due to the relatively small fields of view (FOVs) of satellite sensors, and the fact that such corrections were typically small in relation to the uncertainties in the output bathymetry. However, the validity of ignoring refraction correction in SDB is now called into question, due to the ever-improving accuracies of SDB, the desire to use the data in nautical charting workflows, and the application of SDB algorithms to airborne cameras with wide FOVs. This study tests the hypothesis that refraction correction leads to a statistically significant improvement in the accuracy of SDB using uncrewed aircraft system (UAS) imagery. A straightforward procedure for SDB refraction correction, implemented as a modification to the well-known Stumpf algorithm, is presented and applied to imagery collected from a commercially available UAS in two study sites in the Florida Keys, U.S.A. The results show that the refraction correction produces a statistically significant improvement in accuracy, with a reduction in bias of 46–75%, a reduction in RMSE of 3–11 cm, and error distributions closer to Gaussian. Full article

The bathymetric surveys executed with a use of small survey vessels in limited water areas, including offshore areas, require precise determination of the geospatial coordinates of the seabed which is a synthesis of, among others, determining the position coordinates and measuring the depth. Inclination of the seabed and the declining depth make manoeuvring of the sounding vessel, e.g., a hydrographic motorboat or Unmanned Survey Vehicle (USV), in shallow water impossible. Therefore, it is important to determine the minimal depth for the survey resulting from the draught of the sounding vessel and the limits of the sounding area. The boundaries also result from the dimensions of the sounding vessel, its manoeuvring parameters and local water level. Type of the echosounder used in the bathymetric survey is a decisive factor for the sounding profile planning and the distances between them and the survey vessel for the possibility performing the measurements in shallow water. Electronic Navigational Chart (ENC) was used to determine the water area’s boundaries, and the safety contours were determined on the basis of the built Digital Sea Bottom Model (DSBM). The safety contour, together with the vessel’s dimensions, its manoeuvring parameters and the hydrometeorological conditions, limit the offshore area in which the measurement can be performed. A method of determining boundaries of the survey performed by a USV equipped with SingleBeam EchoSounder (SBES) on survey lines perpendicular to the coastal line are presented in the paper in order to cover the water area with the highest amount of measurement data, with the USV’s navigational safety taken into consideration. The measurements executed on the municipal beach served verification of the DSBM. Full article

Seafloor topography over seamount areas is crucial for studying plate motions, seafloor seismicity, and seamount ecosystems. However, seamount bathymetry modeling is difficult due to the complex hydrodynamic environment, biodiversity, and scarcity of shipborne echo sounding data. The use of satellite altimeter-derived gravity data is a complementary way of bathymetry computation; in particular, the incorporation of synthetic aperture radar (SAR) altimeter data may be useful for seamount bathymetry modeling. Moreover, the widely used filtering method may have difficulty in combing different bathymetry data sets and may affect the quality of the computed bathymetry. To mitigate this issue, we introduce a Kalman fusion method for weighting and combining gravity-derived bathymetry data and the reference bathymetry model. Numerical experiments in the seamount regions over the Molloy Ridge show that the use of SAR-based altimetric gravity data improves the local bathymetry model, by a magnitude of 14.27 m, compared to the result without SAR data. In addition, the developed Kalman fusion method outperforms the traditionally used filtering method, and the bathymetry computed from the Kalman fusion method is improved by a magnitude of 9.34 m. Further comparison shows that our solution has improved quality compared to a recently released global bathymetry model, namely, GEBCO 2022 (GEBCO: General Bathymetric Chart of the Oceans), by a magnitude of 34.34 m. The bathymetry model in this study may be substituted for existing global bathymetry models for geophysical investigations over the target area. Full article

This paper examines how tactical-grade Inertial Navigation Systems (INS), aided by Global Navigation Satellite System (GNSS) modules, vary from a survey-grade system in the bathymetric mapping in depths less than 20 m. The motivation stems from the advancements in sensor developments, measurement processing algorithms, and the proliferation of autonomous and uncrewed surface vehicles often seeking to use tactical-grade systems for high-quality bathymetric products. While the performance of survey-grade GNSS + INS is well-known to the hydrographic and marine science community, the performance and limitations of the tactical-grade micro-electro-mechanical system (MEMS) and tactical-grade fiber-optic-gyro (FOG) INS aided with GNSS require some study to answer the following questions: (1) How close or far is the tactical-grade GNSS + INS performance from the survey-grade systems? (2) For what survey order (IHO S-44 6th ed.) can a user deploy them? (3) Can we use them for navigation chart production? We attempt to answer these questions by deploying two tactical-grade GNSS + INS units (MEMS and FOG) and a survey-grade GNSS + INS on a survey boat. All systems collected data while operating a multibeam system with the lever-arm offsets accurately determined using a total station. The tactical-grade GNSS + INSs shared one pair of antennas for heading, while the survey-grade system used an independent antenna pair. We analyze the GNSS + INS results in sequence, examine the patch-test results, and the sensor-specific SBET-integrated bathymetric surfaces as metrics for determining the tactical-grade GNSS + INSs’ reliability. In addition, we evaluate the multibeam’s sounding uncertainties at different beam angles. The bathymetric surfaces using the tactical-grade navigation solutions are within 15 cm of the surface generated with the survey-grade solutions. Full article

To address the limitations in global seafloor topography model construction, a scheme is proposed that takes into account the efficiency of seafloor topography prediction, the applicability of inversion methods, the heterogeneity of seafloor environments, and the inversion advantages of sea surface gravity field element. Using the South China Sea as a study area, we analyzed and developed the methodology in modeling the seafloor topography, and then evaluated the feasibility and effectiveness of the modeling strategy. Based on the proposed modeling approach, the STO_IEU2020 global bathymetry model was constructed using various input data, including the SIO V29.1 gravity anomaly (GA) and vertical gravity gradient anomaly (VGG), as well as bathymetric data from multiple sources (single beam, multi-beam, seismic, Electronic Navigation Chart, and radar sensor). Five evaluation areas located in the Atlantic and Indian Oceans were used to assess the performance of the generated model. The results showed that 79%, 89%, 72%, 92% and 93% of the checkpoints were within the ±100 m range for the five evaluation areas, and with average relative accuracy better than 6%. The generated STO_IEU2020 model correlates well with the SIO V20.1 model, indicating that the proposed construction strategy for global seafloor topography is feasible. Full article