HYDROFEST 2005 CAPABILITIES OF A MODERN BATHYMETRIC LIDAR SYSTEM - THE SHOALS 1000T SYSTEM. Bill Gilmour Fugro Pelagos Inc, San Diego, CA, USA

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1 HYDROFEST 2005 CAPABILITIES OF A MODERN BATHYMETRIC LIDAR SYSTEM - THE SHOALS 1000T SYSTEM Bill Gilmour Fugro Pelagos Inc, San Diego, CA, USA

2 ACKNOWLEDGEMENTS FUGRO PELAGOS INC. David Millar Carol Lockhart Dushan Arumugam OPTECH INTERNATIONAL INC. Grady Tuell JALBTCX Jeff Lillycrop NOAA

3 OUTLINE BACKGROUND INFORMATION SYSTEM SPECIFICATIONS DATA ACQUISITION DATA PROCESSING SYSTEM CALIBRATION SYSTEM ACCEPTANCE TESTING SAT s for Optech NOAA Seattle Tests IHO specifications Target Detection SYSTEM APPLICATIONS Hydrography River Surveys Coastal Zone Mapping LATEST DEVELOPMENTS LIDAR Pseudoreflectance Hyperspectral Data Fusion

4 BACKGROUND INFORMATION FUGRO PELAGOS INC. San Diego, California Anchorage, Alaska Kiln, Mississippi Honolulu, Hawaii

5 Providing Hydrographic Surveys in Alaska for NOAA Charting Since 1998

6 Collected Over Eight Billion Soundings in Five Years

7 Delivering Datasets In Support of Ecosystem-based Management

8 Current NOAA Charting Contract Awarded in 2005 at $50 Million over Five Years

9 Providing Airborne LIDAR Bathymetry Operational Support to USACE and NAVO Since 1994

10 Fugro ALB History Support of GFE USACE Contracts Fugro SHOALS-200 Operations Commercial Services FPI SHOALS-400 Operations SHOALS-400 Retired CHARTS Operations FCI Feb-2003 Jul-2003 Aug-2003 Jul-2004 Subcontract LADS in AK Subcontract SHOALS in AK Team with Optech SHOALS-1000T Services SHOALS-1000T Ordered ALB Activities Consolidated FPI Jan-2005 Apr-2005 ALB Activities Consolidated SHOALS-1000T Delivery

11 SYSTEM SPECIFICATIONS SHOALS 1000T

12 Airborne LIDAR Bathymetry Offers Greater Production Rates than Multibeam Echosounder

13 ALB Technology The Basics photoelectrons time (ns) D Laser light source projects 2 beams onto spinning mirror Mirror rotates at a very fast rate and directs two beams per pulse to water surface Creates a swath of points within field of view Green beam penetrates water and detects seabed Infrared beam penetrates little: detects land and sea surface Red energy from Raman backscatter can also detect surface

14 Scan Patterns for Hydrographic Mode Altitude (m) Swath (m) Lateral Spot Spacing (m) Forward Spot Spacing (m) Flight Speed (knots) Scanner Cycle Rate (Hz) Area Coverage (nm 2 /hr) IR Surface Raman APD Green PMT Green

15 Evolution of Airborne LIDAR Bathymeters Evolution of the SHOALS Product Line from Optec Comparison Criteria SHOALS-200 SHOALS-400 SHOALS-1000T Scanning Frequency 200Hz 400Hz 1000Hz + 10kHz topo Power Requirements 28VDC 28VDC 28VDC Weight 450kg 450kg 205kg Volume 1.5m³ 1.5m³ 0.5m³ Function Bathy Bathy Bathy / Topo / Imagery

16 SHOALS-1000T Has Multi-Sensor Capability 1kHz bathy mode and 10kHz topo mode Integrated digital camera

17 SHOALS-1000T Key Bathy Specifications Speed over ground Altitude above ground Sounding density Swath width knots m 2x2, 3x3, 4x4, 5x5 m m Minimum depth 0.2m Maximum depth 50 m Depth accuracy IHO Order 1 (0.25m, 1σ) Horizontal accuracy IHO Order 1 (2.5 m, 1σ) Laser classification Class IV laser product (FDA CFR 21) Eyesafe altitude Power requirements 150m 60 28VDC

18 DATA ACQUISITION

19 SHOALS-1000T is the Smallest, Lightest Sensor Available

20 Offering a Completely Portable Solution Capable of mobilization on fixed or rotary wing aircraft Bell 206L King Air A90 Anywhere in the world

21 Water Clarity / Other Environmental Constraints Data collection and data quality impacted by the following: Weather Low clouds Rain Fog Water clarity Turbidity Surf zone Red Tide Algae bloom Aquatic vegetation

22 Ground Control System Software Modules MAPS Management And Planning Software Generate flight lines for a project Establish data collection attributes for these lines Allocate flight lines to a mission Search for holidays Unload x,y,z + meta-data DAViS Downloading, Automated processing and 3D Visualization Software Download data from airborne removable hard drives Auto process airborne collected data View, clean, and edit data in 3D via Fledermaus

23 MAPS Flight Line Planning

24 Operator Interface Display

25 Operator Interface Display

26 GPS and Survey Support Complement Airborne Operations

27 Enhancing Data Collection and Processing with PPK GPS

28 DATA PROCESSING

29 DAViS Autoprocessing Display

30 Data Editing

31 Lake Ontario 07Jan m depth Visualizing Today s Data

32 SHOALS- 400 Attributes in CARIS

33 SHOALS Attributes in CARIS Link between HDCS Time Stamp and SHOALS Time Stamp Shows both Primary and Secondary Depth Shows Confidence value calculated in SHOALS system Soundings maintain their Kill, Keep or Swap attribute from the SHOALS system. These can be modified in CARIS. Wave form is viewable for every Sounding

34 Deliver Cleaned and Edited XYZ Point Data

35 Deliver Integrated Bathy and Topo DEMs

36 Deliver Contour and Cross Section Data

37 Deliver Color Coded and Sun-Illuminated Bathymetric Data

38 Deliver Digital Imagery

39 SHOALS-1000T Deliverables Orthophoto Mosaic Drape over DTM

40 Deliver Fly-Through Animations

41 SYSTEM CALIBRATION

42 Calibrations Laboratory Calibration System timing for bathy and topo systems Scanner scale and offset factors Downlook camera lens and radial distortion Hydro subsystem Angular calibration residual angular offsets resolved over several flightlines Residual vertical error - determine correct elevation by runway check Horizontal accuracy evaluated over a landmark feature Underwater vertical accuracy comparison against groundtruth data Topo subsystem Angular calibration - residual angular offsets resolved over several flightlines Vertical accuracy - comparison against groundtruth data Horizontal accuracy evaluated over a landmark feature Downlook Camera Boresight calibration points compared over reciprocal flightlines Data processing Calibration values saved in GCS parameter file

43 SYSTEM ACCEPTANCE TESTING SAT s for Optech NOAA Seattle Tests IHO specifications Target Detection ± ( b d) 2 2 a + IHO Order a b

44 How Did We Get Here? Teaming Agreement Signed 2 nd Group of Projects 1 st Group of Projects 3 rd System Tests Conducted 1 st System Tests Conducted 3 rd Group of Projects Corporate Approval 2 nd System Tests Conducted Letter of Intent Issued

45 System Acceptance Tests - Objectives Purpose: To confirm that the SHOALS-1000T (System 2) is functioning as designed and required to meet hydrographic charting requirements. Objectives: Verify proper functionality of hardware Verify proper functionality of software Verify proper functionality of data processing work flow Verify validity of topographic data collected Verify validity of bathymetric data collected Verify portability of the system Verify reliability of the system

46 1 st System Acceptance Tests Lake Ontario KGPS positioned LIDAR surface KGPS positione d MBES surface

47 1 st System Acceptance Test Results Day 1

48 1 st System Acceptance Test Results Day 1

49 1 st System Acceptance Test Results Day 2

50 1 st System Acceptance Test Results Day 2

51 Power Timing Test System Timing Error Discovered

52 Single Peaks Timing is Stable

53 Double Peaks Faulty Digitizer Board 1.9 ns Timing Error ~20 cm Depth Error

54 Timing Error was Intermittent Error distribution for a single cross check line

55 Distribution returns to normal Timing Error Corrected

56 2 nd System Acceptance Test Results Day 1

57 2 nd System Acceptance Test Results Day 1

58 2 nd System Acceptance Test Results Day 2

59 2 nd System Acceptance Test Results Day 2

60 3 rd System Acceptance Tests San Diego

61 3 rd System Acceptance Test Results - Ellipsoid

62 3 rd System Acceptance Test Results - Ellipsoid

63 3 rd System Acceptance Test Results - Tides

64 3 rd System Acceptance Test Results - Tides

65 NOAA Seattle Tests IHO Compliance SHILSHOLE TEST AREA NOAA surveyed with Reson SeaBat 8101 (2001) Surveyed previously by FPI using: LADS MkII (2001) SHOALS- 400 (2002)

66 DATA ACQUISITION Multiple Flights / Multiple Days Multiple Laser Spot Spacings Each Spot Spacing flown more than twice 200% Coverage Two Cross Lines at 2x2m and 4x4m Laser Spot Spacing (m) Altitude (m) Speed (knots) Swath 2 x x x x

67 SURVEY AREA

68 PROCESSING Processing followed 2 methods: 1. Real-time DGPS Position & NOS Preliminary Observed Tides from Seattle ( ) 2. Post Processed KGPS in NAD83. Geoid03 transform to NAVD88 elevations. Offset 0.715m to MLLW NAD83 Geoid03 Height NAVD88 MLLW 0.715m at NOS Gauge

69 IHO TESTS - OVERVIEW Three separate comparisons conducted: 1. LIDAR X-Line : DTM of LIDAR Survey Lines X Line over MBES Reference Surface X Line run up Channel 2. LIDAR X-Line : DTM of MBES Reference Surface 3. All LIDAR Soundings : DTM of MBES Reference Surface

70 LIDAR X Line : DTM of LIDAR Survey Lines X-Line Over MBES Surface Positioning Survey Spot Spacing (m) DTM Grid Size (m) Cross Line Spot Spacing (m) No. of Samples Mean Diff (m) QC Results St Dev of Diff % Pass IHO Order 1 KGPS 2x2 2 2x % KGPS 3x3 3 2x % KGPS 4x4 4 4x % KGPS 5x x % DGPS & Tides 2x2 2 2x % DGPS & Tides 3x3 3 2x % DGPS & Tides 4x4 4 4x % DGPS & Tides 5x x %

71 LIDAR X Line : DTM of LIDAR Survey Lines X-Line Over Channel QC Results Positioning Survey Spot Spacing (m) DTM Grid Size (m) Cross Line Spot Spacing (m) No. of Samples Mean Diff (m) St Dev of Diff % Pass IHO Order 1 KGPS 2x2 2 2x % KGPS 3x3 3 2x % KGPS 4x4 4 4x % KGPS 5x x % DGPS & Tides 2x2 2 2x % DGPS & Tides 3x3 3 2x % DGPS & Tides 4x4 4 4x % DGPS & Tides 5x x %

72 LIDAR X Line : DTM of LIDAR Survey Lines Grid of Differences between Survey Lines and Cross Lines over Channel Red = Fail at IHO 1 Blue = Pass IHO1

73 LIDAR X Line : DTM of LIDAR Survey Lines 1. LIDAR Data Internally Consistent for both KGPS and DGPS/Tide Methods 2. Need to be careful where comparison is done

74 LIDAR X-Line : DTM of MBES Surface MBES Reference Surface N 300 m B O C G F 12 to 30m WD 3.1 Slope J K D E H A L M N 3.1 o I 270 m DTM = 1m Weighting Diameter = 1

75 LIDAR X-Line : DTM of MBES Surface No significant variations between Spot Spacings No significant difference between KGPS & DGPS Overall Results No. of Samples Mean Difference (m) St Dev of Difference % Pass IHO Order 1 KGPS with Wreck % KGPS without Wreck % DGPS/Tides with Wreck % DGPS/Tides without Wreck %

76 All LIDAR Soundings : DTM of MBES Surface No significant variations between Spot Spacings No significant difference between KGPS & DGPS Overall Results No. of Samples Mean Difference (m) St Dev of Difference % Pass IHO Order 1 KGPS with Wreck % KGPS without Wreck % DGPS/Tides with Wreck % DGPS/Tides without Wreck %

77 All LIDAR Soundings : DTM of MBES Surface LIDAR Data Passes IHO Order 1 Depth Accuracy

78 Target Detection Only shallower targets seen due to water clarity 300 m B O Inspected using KGPS dataset C J K G D F E A M N 4x4 m 2x2m 3.1 o H I L 270 m Compared by measuring height above surrounding seafloor remove any bias in data from analysis

79 Target Detection Multibeam LIDAR - 4x4 ALL LIDAR - 2x2 ALL Size (m) Surrounding Water Depth (m) Height Above Seafloor (m) Height Above Seafloor (m) Height Above Seafloor (m) A 56 x D Too Deep Too Deep H I L M N

80 Conclusions Achieve IHO Order 1 depth accuracy above 95% confidence SHOALS-1000T capable of detecting targets within the abilities of LIDAR but not guaranteed with a 4x4m spot spacing LIDAR technology does not have the same accuracy as MBES when finding least depths on sharp targets, due to footprint size Fugro Pelagos & SHOALS-1000T is able to reach required standards for hydrographic surveys

81 SYSTEM APPLICATIONS Hydrography River Surveys Coastal Zone Mapping

82 Airborne LIDAR Bathymetry combined with Multibeam Bathymetry for Hydrographic Charting

83 Smooth Sheet

84 Sitka Air Photo Ortho Mosaic

85 Belknap

86 Drape Over DEM

87 Elimination of Shallow Water Boat Work Reduces Time, Cost and Safety Risk

88 Shoreline Correlator

89 ALB Markets Ports & Harbor Surveys

90 ALB Markets Shoreline Mapping

91 ALB Markets Rivers, Lakes, Canals and Inland Waterways

92 Grand Canyon

93 Trinity River

94 Yakima River Kittitas Reach

95 Yakima River Kittitas Reach

96 COASTAL ZONE MAPPING - SANDAG Project IMAGERY LIDAR Bathymetry Multibeam Echosounder Acoustics Digital Multispectral Photography Multibeam Backscatter Acoustics WATER DEPTH

97 Integrated LIDAR Bathymetry and Multibeam Echosounder Data Acoustic Multibeam LIDAR Bathymetry

98 Integrated Digital MultiSpectral Photography and Multibeam Echosounder Backscatter Images

99 ArcGIS example - Interpretation

100 GIS Data from the SANDAG Project Now Available Online

101 LATEST DEVELOPMENTS LIDAR Pseudoreflectance Hyperspectral Data Fusion

102 SHOALS-1000T Waveforms Permit Seabed Imaging bottom peak signal

103 LIDAR Pseudoreflectance Seabed Imagery

104 SHOALS-1000T Offers Sensor Fusion Developments Images courtesy of Optech International K 53 4 ρ W 534 ρ B 53 4 CASI ρ B 534

105 Seafloor reflectance for each channel of the passive hyperspectral data Images courtesy of Optech International