Bathy Surveying & Mapping
Charles E. Wiggins
Director, Joint Airborne Lidar Bathymetry
Technical Center of Expertise
7225 Stennis Airport Drive, Suite 100
Kiln, MS 39556
228.252.1103 tel
228.324.9477 cell
charles.e.wiggins@us.army.mil
1
Bathy Surveying & Mapping
Technology
Airborne Ops
Intro
Outline
USACE Lidar
Examples
Bathy Lidar Technology
Goal: Introduce topo & bathy lidar,
the physics, and the technology
Joint Airborne Lidar Bathymetry
Technical Center of Expertise
JALBTCX
Operations
USACE
Technology Evolution
Navy
Coastal Measurements
& Data Usage
Sensors & Systems
NOAA
What is LIDAR?
• LIght Detection And Ranging
• 2 general types:
– Topographic
– Bathymetric
New Pass, FL
Toronto, ON,CA
What is LIDAR?
•
The first question might be “What is LIDAR?” Very
similar to radar, lidar is a tool to measure a range.
However, lidar uses light instead of radio waves to
measure the range. Knowing this, the acronym lidar, LIght
Detection And Ranging, is easier to understand.
•
Lidar units designed for accurate ranging fall generally
into one of two categories - topographic and bathymetric.
Usually the topographic units use only an infrared
wavelength and operate at 10 - 50 kHz. In contrast, the
bathymetric units use green and infrared wavelengths and
operate between 200 and 1000Hz. Also note that the
energy output from the topographic systems is significantly
lower than that from the bathymetric.
Airborne Enabling Technologies
‹
‹
‹
‹
‹
Diode-pumped solid state lasers
Accurate optical scanners
KGPS
Inertial measurement units
Accurate single-shot timing
electronics
Bathymetric Lidar - 1
• Produces water elevations
– Rapid, high density coverage
– Yields elevation and
reflectance for each
measurement
• Survey Products
–
–
–
–
Bathymetry / water depths
Navigation hazards
Navigation structures
Regions
• Requires
– DGPS or KGPS
– Large area
Puerto Rico
Bathymetric Lidar - 2
•
The bathymetric lidar is capable of covering a large area
with dense measurements in a short time. The depths
obtained from the system meet the IHO Order I survey
accuracy requirements.
•
Because of the advancements made while operating
SHOALS, elevations can be measured for the emergent
structures and beach. This capability allows the collection of
one data set that contiguously covers the beach and nearshore depths.
•
More details will be discussed later regarding these
capabilities and specific applications.
•
In this image, the brown represents elevations above 0
and the red through purple colors represent shallower to
deeper depths, respectively.
Puerto Rico
Coastal Mapping & Charting
On shore
Near
shore
Deep
water
Topo / Bathy Lidar
Topo Lidar
10k – 20k pps
scanning laser
very low energy IR
1-5m postings
10-15 cm footprint
100m – 1,000m alt
Bathy Lidar
1k – 3k pps
scanning laser
higher energy green
1 -5 m postings
2 m footprint
300m – 500m alt
NASA EAARL
Elevation Measurements
Spot Spacing Calculation
(Bathymetry Laser Systems)
G= ([2AVf tan (ϕ/2)]/ Rp )1/2
Where: G = Spot Spacing (m)
A = Altitude (m)
Vf = Velocity (ms-1)
ϕ = Scan Angle (°)
Rp = Repetition Rate
EXAMPLE:
Given:
Vf = 66 m/s (127 kts)
A = 400 m
ϕ = 9.23° (swath width = 130 m)
Rp = 1000 Hz
Resulting Spot Spacing (m) = 2.9m
(Note: 1 ms-1 = 1.924 kts)
Hydrographic Survey Parameters
Scanner
Speed
Frequency(
(kn)
Hz)
Nominal Spacing
(m)(Nadir)
Altitude
(m)
Swath
(m)
Spacing
(m,lateral)
Spacing
(m,forward)
Coverage
(km2/hr)
2x2
(20°)
400
300
161
149
2
2
2
2
125
130
16.2
16.8
37
36
3x3
(22°)
400
300
303
226
3
3
3
3
125
164
10.7
14.1
70
69
4x4
(22°)
400
300
301
225
4
3.5
4
4
219
254
14.1
16.4
122
106
5x5
(22°)
400
297
4.5
4.2
262
16.1
144
Lidar Bathymetry Principles
Nadir Angle
20º
Beam Divergence
(3 - 12 mrad)
Surface Spot
Diameter
(2.0m approx)
Typically Measures
2 to 3 × Secchi Depth
RECEIVER FIELD OF VIEW
SURFACE REGION
IN RECEIVER FOV
UNSCA
TTERE
D REF
VERTICAL DEPTH
PATH
INCIDENT
LASER PULSE
SCATTERING AND
ABSORPTION
50% Energy Footprint (0.5 x Depth)
DIFFUSE BOTTOM
REFLECTION
ILLUMINATED
SURFACE AREA
SEA SURFACE
MEAN WATER
RETURNING
NADIR ANGLE
BOTTOM
REFLECTED
VOLUME
SIGNAL
BACKSCATTER
ILLUMINATED
BOTTOM REGION
Lidar Bathymetry Principles
Nadir Angle
20º
Beam Divergence
(3 - 12 mrad)
Surface Spot
Diameter
(2.0m approx)
Typically Measures
2 to 3 × Secchi Depth
RECEIVER FIELD OF VIEW
SURFACE REGION
IN RECEIVER FOV
UNSCA
TTERE
D REF
VERTICAL DEPTH
PATH
INCIDENT
LASER PULSE
SCATTERING AND
ABSORPTION
50% Energy Footprint (0.5 x Depth)
DIFFUSE BOTTOM
REFLECTION
ILLUMINATED
SURFACE AREA
SEA SURFACE
MEAN WATER
RETURNING
NADIR ANGLE
BOTTOM
REFLECTED
VOLUME
SIGNAL
BACKSCATTER
ILLUMINATED
BOTTOM REGION
SHOALS 4 Waveforms per Pulse
IR Surface
200
Raman
70
60
50
40
30
20
10
0
150
100
50
0
151
101
51
1
1
26
51
76
160
140
140
120
100
80
60
40
20
0
APD Green
PMT Green
120
100
80
60
40
20
0
451
401
351
301
251
201
151
101
51
1
151
101
51
1
LIDAR Equation – Water Clarity
(m) PTηρ FP Ar cos θ −2 n ( s ,ω0 ,θ ) kD sec φ
Pr =
e
2
π (nw H + D)
2
K - diffuse attenuation at 532nm
D - depth
Bathy lidar is limited by water clarity and
the laws of physics
Depth & Target Detection
Shallow Depths /
Mid-water targets
Deep Depths /
Bottom targets
Airborne Operations Considerations
Goal: Highlight the differences in airborne vs
shipborne survey operations
Coastal Mapping & Charting
Airborne vs Boats
On shore
Near
shore
Deep
water
Survey Considerations
• Climatology
–
–
–
–
Wind
Rainfall
Temperature (ice)
Sea heights (wind waves
and swell)
• Usually an Internet source
with this information
Survey Considerations
• Obstructions
– Cliffs / Mountains
– Man-made structures
– Airspace restrictions
z
z
z
Airports
Military exercises
Wildlife protection
Survey Considerations
Vertical Control is Critical - 1
• Tide zones defined
• Determine if existing gage
data are available
• Estimate number of
additional gages needed
Survey Considerations - 2
Vertical Control is Critical - 2
•
For DGPS mode of data collection, lidar bathymetry
relies on tide observations to control the vertical data. If
tide zones do not exist, gages must be set and data
recorded for 30 days (minimum) to establish tide zones for
the survey area. If the survey area is large, multiple zones
may need to be established. If gages are already in place
in the area, determination should be made of the operability
of the gage and the availability of its data. Time should be
allowed for any survey work and collection times necessary
for establishment of the vertical control.
Survey Considerations
Logistics - 1
• Acceptable airport facilities
near project area
• Airport must have:
–
–
–
–
–
–
Jet fuel available
Ground power supply
Storage area for spares
Ease of shipping
Occasional hangar space
Hours of operation to match
production needs
– Fast takeoff and landing
clearance
Survey Considerations
Logistics - 2
•
An airport with sufficient
service capability should be selected
near the survey area. The airport
should have proper fuel, ground
power supply for the aircraft, hours of
operation that will not impact the
collection schedule and rapid
clearance for take-off and landing.
Additional features that benefit the
operation include secure storage
space for spares, hanger space
available for occasional use, and
shipping facilities (FedEx or similar)
on-site or nearby. For large survey
requirement locations, the airport
selection is critical in determining the
length of survey because the transit
time to and from the airport occur on
every flight.
USACE Lidar History & Programs
Goal: Provide background information and
highlight USACE expertise
Lidar Program History
SHOALS 200
Bell 212
Jan 94 – Nov 98
SHOALS 400
DHC6 Twin Otter
Nov 98 – Sep 2003
CHARTS 1,000T10
King Air 200
Sep 2003 – Mar 2005
The CHARTS System
Merged Hydo & Topo Data
Integrated Laser
System
Digital Camera
CASI-1500
Hyperspectral
Imager
‰
‰
‰
‰
System Specifications
3,000 Hz Pulse Rate (hydro)
20,000 Hz Pulse Rate (topo)
1 Hz Digital camera (~20 cm pixel)
CASI-1500 Hyperspectral Imager
•
•
•
‰
‰
‰
‰
Bottom Aircraft Port
1500 pixels
380 – 1500 nm wavelength
288 possible bands
IHO Order 1 Surveys capable
2x2 – 4x4 meter spot density
125 - 240 kts aircraft speed
Portable ground processing system
Digital Image
2004 – 2007 NCMP Efforts
• > 5,500 km surveyed to date
• Topo/Bathy/Ortho/Spectral
• 2005
• > 6.5 Billion LIDAR Shots
• > 3 Terabytes of products
Legend
2004
2005
2006
2007
Background from:
MS Streets & Trips 2006
USACE Coastal Mapping
(1,000 m)……………………..Hydro & Topo………(500 m)
Hydro – waterline to 1,000 m @ 4 m spacing
Topo – waterline to 500 m @ 1 m spacing
Imagery @ 20 cm resolution
Hyperspectral - TBD
Post-Hurricane Reconstruction
NASSAU
DUVAL
ST. JOHNS
BAY
FLAGLER
VOLUSIA
BREVARD
PINELLAS
MANATEE
SARASOTA
LEE
16 federal projects
$200,000,000 reconstruction
ST. LUCIE
MARTIN
PALM
BEACH
BROWARD
DADE
Product Specifications
1.
Topo-bathy elevations
2.
LAS format elevations
3.
Ortho RGB imagery
4.
1-m grid for GIS
5.
Shoreline vector
6.
Building footprint
7.
Bare earth DEM
8.
Bottom reflectance
9.
Hyperspectral cube
10.
Environmental TBD
Data & Products
•
Elevations, XYZ ascii files
•
•
•
•
•
•
•
•
•
•
•
•
Land @ 1m x 1m 200%
Hydro @ 4m x 4m
~250 Meg / mile
geodetic (NAVD88 & NAD83)
Ortho RGB Imagery (Mr. Sid)
1-m Grid for GIS (Raster GIS)
Shoreline vector (“0” NAVD88)
Building footprint
Bare Earth
Bottom Reflectance
Hyperspectral Cube
Vulnerability Index
Bathy Examples
Goal: show examples of bathy
lidar surveying & mapping
Corps of Engineers
Survey
Corps of Engineers
Survey
Navigation Projects
Ponce de Leon Inlet, FL
41
42
43
Topo & Hydro Elevations
EAARL
Experimental Advanced Airborne Research Lidar
Joint Airborne Lidar Bathymetry
Technical Center of Expertise ++
Bathy Data
• Panama City Beach
• Pre / Post Ivan
NAVO Smooth Sheet vs.
Shaded Relief of High Density Data
-157°39'30"
639000m
UNCLASSIFIED
2365000m
-157°40'00"
638000m
637000m
636000m
635000m
634000m
-157°40'30"
-157°41'00"
-157°41'30"
-157°42'00"
-157°42'30"
-157°43'00"
21°23'00"
00US16
2364000m
21°22'00"
2363000m
21°21'30"
2362000m
21°21'00"
2361000m
21°20'30"
2360000m
21°20'00"
2359000m
21°19'30"
2358000m
-158°30'
21°50'
-158°20'
-158°10'
-158°00'
-157°50'
1
37
0
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2364000m
23
10
21
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20
19 18
21°10'
-158°30'
21°22'00"
-158°20'
-158°10'
-158°00'
15
-157°41'30"
-157°41'00"
639000m
638000m
637000m
636000m
635000m
-157°42'00"
-157°40'30"
-157°40'00"
-157°39'30"
13
12
-157°40'
21°10'
-157°30'
UNITED STATES OF AMERICA
BELLOWS
2363000m
OAHU
HAWAII
2000
21°21'30"
SHOALS
(SCANNING HYDROGRAPHIC OPERATIONAL AIRBORNE LIDAR SURVEY)
2362000m
SOUNDINGS IN METERS
reduced to the approximate level of Mean Lower Low Water.
HEIGHTS IN METERS ABOVE MEAN SEA LEVEL
2, 5, 10, 20 and 30 meter depth contours delineated
UNIVERSAL TRANSVERSE MERCATOR PROJECTION
WORLD GEODETIC SYSTEM 1984 (WGS-84)
SCALE 1:10,000
21°21'00"
DATUM NOTE
Positions obtained from satellite navigation systems
referred to the World Geodetic System 1984 (WGS-84)
can be plotted directly on this chart.
2361000m
UNIVERSAL TRANSVERSE MERCATOR (UTM) GRID
ZONE 4, WORLD GEODETIC SYSTEM 1984 (WGS-84) DATUM AND ELLIPSOID
APPROVED FOR PUBLIC RELEASE;
DISTRIBUTION IS UNLIMITED,
21°20'30"
REQUESTS SHOULD BE REFERRED TO
THE COMMANDING OFFICER, NAVAL
OCEANOGRAPHIC OFFICE.
2360000m
21°20'00"
PRELIMINARY SHEET
2359000m
NOT FOR NAVIGATION
21°19'30"
2358000m
21°19'00"
00609
00US16
634000m
14
-157°50'
UNCLASSIFIED
-157°42'30"
21°20'
11
17
16
21°19'00"
21°18'45"
-157°43'00"
-157°30'
21°50'
2
36
5
5
-157°40'
2365000m
7
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0
2 6
5
6 2
5
6
7
2
2
5
2
2
9
3
5
2 8 3
7
4
6
2 8 3
0
3
7
0
2
7
6
0
0
3
7
6
2
2
2
2
6
2
7
3
1 1
5
4
2
1
4
0
4 5
8
7
1
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0
8
2
2
2
4
6
3
5
7
7 6
5
2
9
8
5
6
6
4
9
0
9
5
2
0
3
5
5
1 3
6
2
7
2
1
3
7
5
5
6
7
7
1
2
5 66 8
1
5
2
7
3
4
5
1
4
0
9
7 1
0
8
3
6
3
4
8
0
3
7
2
6 8
2
3
1
5 2
0 1
1
7
6
8
5
1
8
5
0 6 1
2
6
7
5
3
2 3
1
2
6
1
9
2
5
0 4
4
8 6 7
0 40
7
5
8
9
1
5
7
2
6
2
6
6
1
1
8
4
1
0
0
0
5
1
4
1
9
1
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3
0
7
8
4
0
6
7
5
4
5
6
5
6
8
9
7
7
6 1
0
1 9
0
3
5
0
8
0
5
8
0
0
4
2
11 1
0
00609
21°22'30"
-157°39'00"
21°23'00"
21°18'45"
640000m
-157°39'00"
NAVO Smooth Sheet vs.
Shaded Relief of High Density Data
-157°39'30"
639000m
UNCLASSIFIED
2365000m
-157°40'00"
638000m
637000m
636000m
635000m
634000m
-157°40'30"
-157°41'00"
-157°41'30"
-157°42'00"
-157°42'30"
-157°43'00"
21°23'00"
00US16
2364000m
21°22'00"
2363000m
21°21'30"
2362000m
21°21'00"
2361000m
21°20'30"
2360000m
21°20'00"
2359000m
21°19'30"
2358000m
-158°30'
21°50'
-158°20'
-158°10'
-158°00'
-157°50'
1
37
0
2
2
2
2
1
8
8
1
4
2
3
9
5
2
9
1
8
2
9
7
1
1
0
8
0
8
0
5
2
3
7
1
3
8
1
8
3
6
8
1
2
2
6
5
1
3
8
5
2
3
6
4
8
6
6
4
1
7
8
1
9
2
5
8
6
9
0
1
1
5
1
6
3
2 14
1 13
81
2
1
5
7
5
8
1
2
3
21°40'
4
21°40'
34
32
4
35
9
4
33
31
29
30
5
28
6
21°30'
21°30'
27
7
8
26
21°22'30"
25
9
24
21°20'
2364000m
23
10
21
22
20
19 18
21°10'
-158°30'
21°22'00"
-158°20'
-158°10'
-158°00'
15
-157°41'30"
-157°41'00"
639000m
638000m
637000m
636000m
635000m
-157°42'00"
-157°40'30"
-157°40'00"
-157°39'30"
13
12
-157°40'
21°10'
-157°30'
UNITED STATES OF AMERICA
BELLOWS
2363000m
OAHU
HAWAII
2000
21°21'30"
SHOALS
(SCANNING HYDROGRAPHIC OPERATIONAL AIRBORNE LIDAR SURVEY)
2362000m
SOUNDINGS IN METERS
reduced to the approximate level of Mean Lower Low Water.
HEIGHTS IN METERS ABOVE MEAN SEA LEVEL
2, 5, 10, 20 and 30 meter depth contours delineated
UNIVERSAL TRANSVERSE MERCATOR PROJECTION
WORLD GEODETIC SYSTEM 1984 (WGS-84)
SCALE 1:10,000
21°21'00"
DATUM NOTE
Positions obtained from satellite navigation systems
referred to the World Geodetic System 1984 (WGS-84)
can be plotted directly on this chart.
2361000m
UNIVERSAL TRANSVERSE MERCATOR (UTM) GRID
ZONE 4, WORLD GEODETIC SYSTEM 1984 (WGS-84) DATUM AND ELLIPSOID
APPROVED FOR PUBLIC RELEASE;
DISTRIBUTION IS UNLIMITED,
21°20'30"
REQUESTS SHOULD BE REFERRED TO
THE COMMANDING OFFICER, NAVAL
OCEANOGRAPHIC OFFICE.
2360000m
21°20'00"
PRELIMINARY SHEET
2359000m
NOT FOR NAVIGATION
21°19'30"
2358000m
21°19'00"
00609
00US16
634000m
14
-157°50'
UNCLASSIFIED
-157°42'30"
21°20'
11
17
16
21°19'00"
21°18'45"
-157°43'00"
-157°30'
21°50'
2
36
5
5
-157°40'
2365000m
7
1
4
6
6
4
3
1
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17 3 18
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11 1
0
00609
21°22'30"
-157°39'00"
21°23'00"
21°18'45"
640000m
-157°39'00"
Reflectance
140
120
100
80
60
40
20
0
“bottom peak signal”
151
101
51
1
CHARTS Hyperspectral/Reflectance
(Portsmouth, NH)
Sandy Bottom Spectra
Rocky Bottom Spectra
Joint
Joint Airborne
Airborne Lidar
Lidar Bathymetry
Bathymetry
Technical
Technical Center
Center of
of Expertise
Expertise
CHARTS Hyperspectral/Reflectance
(Portsmouth, NH)
Sandy Bottom Spectra
Rocky Bottom Spectra
Joint
Joint Airborne
Airborne Lidar
Lidar Bathymetry
Bathymetry
Technical
Technical Center
Center of
of Expertise
Expertise
Delineation of Invasive Plant Species
Hyperspectral Camera
Invasive Flora Species ID’d:
• Australian Pine (Green)
• Brazilian Pepper Tree (Yellow)
Automated Classification Map
• Classified Dry Beach (Brown)
• White Caps (Orange)
Classification Zoom
Joint Airborne Lidar Bathymetry
Technical Center of Expertise
Thank You!
W. Jeff Lillycrop
US Army Corps of Engineers
7225 Stennis Airport Drive
Kiln, MS 39556
jeff.lillycrop@usace.army.mil
228.252.1101