CTI Technical Note 2014-02

Edgetech 6205 Bathymetric

Processing Notes
Revision 1.0,12/16/2014

Chesapeake Technology, Inc.

eMail: [email protected]
Main Web site: http://www.chesapeaketech.com
Support Web site: http://www.chestech-support.com

1605 W. El Camino Real, Suite 100

Mountain View, CA 94040

Tel: 650-967-2045
Fax: 650-450-9300
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Table of Contents

1 Scope ........................................................................................................................... 3
2 Vessel Configuration .................................................................................................... 3
3 Data Import................................................................................................................... 5
4 Merging Data ................................................................................................................ 6
5 Filtering ......................................................................................................................... 9
6 Calibration and Processing ........................................................................................ 11

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1 Scope
This document details the processing of the EdgeTech 6205 combined bathymetry and
side scan sonar in SonarWiz. The document assumes that the sonar is mounted
conventionally on a vertical pole mount with the forward axis directed towards the bow.

2 Vessel Configuration
The EdgeTech 6205 is a two-transducer hybrid interferometer/multibeam with both port-
and starboard-facing transducers mounted on the same head assembly. The EdgeTech
Discover software used for 6205 data acquisition accounts for the real orientation of the
sonar transducers within the head assembly and stores bathymetry records in a rotated
frame of reference that resembles a multibeam when both the port and starboard
transducers are added together. For this reason, SonarWiz treats the 6205 as if each
channel of the system were a downward-looking multibeam; the only difference being
the port-facing transducer (channel 0) is rotated 180° from the starboard.

Figure 1 - Configuration of EdgeTech 6205 “Binned” and “Processed” Data (Pseudo-multibeam)

To configure the EdgeTech 6205 in the Chesapeake Vessel Editor (VE):

1. Add a Swath Bathy sensor with a sensor model set to EdgeTech 6205.
2. For each channel, configure the X, Y and Z lever arms relative to the Vessel
Reference Point (VRP) as appropriate. Note that there is a small across-track
(approximately 8 cm) offset between the port and starboard transducers.

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3. To configure the orientation of the individual 6205 channels to the manufacturer

defaults:
a. Set channel 0 (port-facing transducer) with heading of +180 degrees.
b. Set channel 1 (starboard facing transducer) with heading of 0 degrees.
c. No Roll or Pitch values are required.

Figure 2- Example vessel configured for use with the EdgeTech 6205 using the manufacturer's default
configuration

When properly configured, the vessel editor will display the port and starboard sonar fans
overlapping as shown in Figure 3:

Figure 3- Example vessel properly configured for use with the EdgeTech 6205.

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3 Data Import
EdgeTech 6205 bathymetric data is stored in *JSF files. There are two flavors of these
files created by Discover. The first format is the “Processed” file. These files have had
the interferometric angles calculated but no filtering or down sampling has occurred.
The second format are “binned” files, these files have been extensively filtered using the
proprietary tools available in Discover. In general, the binned files are easier to work
with in SonarWiz and produce the cleanest bathymetry (compare Figure 4 and Figure
5).

Figure 4- Example of "Processed" 6205 data

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Figure 5 - Example of "Binned" 6205 data (not the same line as Figure 4)

SonarWiz can import JSF files directly using the Post Processing Tab > Import >
Bathymetry Files… > Open dialog. There are no special settings for JSF bathymetry
files at this time.

Auxiliary data such as observed tide data, sound velocity casts and post-processed
navigation files should be loaded into SonarWiz using the standard procedures at this
time.

4 Merging Data
The recommended merge settings for processing EdgeTech 6205 data are shown in
Figure 6.

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Figure 6 - Recommended initial merge settings

Merge settings can be left at their default values. However, it is recommended that the
user review Height computation and Sound Velocity settings and use the most accurate
data available.

It is HIGHLY recommended to use the Down sampling filter with EdgeTech 6205
Processed data however, it is unnecessary to down sample the Binned data (it has
already been down sampled by Discover). Setting the bin size to about 1/4 th the ultimate
spatial resolution of the deliverable product is recommended (for example, use 0.25 m
bins if the deliverable is 1 m resolution). The difference between the mean and median
options on the down sample filter are as follows:

1. The median filter sorts all the samples in each horizontal bin and returns the
sample with the median depth.

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2. The mean filter averages together all of the samples in each bin and returns an
aggregate “average” sample.

Before Median Downsampling Filter

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After Median Downsampling Filter

5 Filtering
Automatic filtering of the track lines can improve the bathymetry product without much
effort, particularly for the “Processed” 6205 format (the “Binned” format often does not
need automatic filtering). For 6205 Processed data, the best strategy is to try and
separate the seafloor returns from the near and far-field noise. In the following example
a range filter was used to eliminate noise near the transducers, a box filter was used to
trim the edges of the swath, and an along track filter helped to eliminate spikes proud of
the seafloor:

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Figure 7 - Filter dialog settings

The result of running just the box filter and the along-track filter are shown in the
following cross profile:

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Figure 8 - Filtered swath profile (gray points have been rejected, Blue points are valid)

The data should now be minimally cleaned and ready for patch test calibration.

6 Calibration and Processing

The EdgeTech 6205 should be calibrated using standard procedures for a two-
transducer system. From this point forward, the data can be processed using standard
procedures.

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