Sequential filtering applied to multi-beam echo-sounding

Abstract

A precise ocean bottom map is often desired for ocean surveying. To meet the demand, the multi-beam echo sounder (MBES) has been developed and commonly used. An MBES usually forms multiple receiving beams across-track first, then determines the bottom echo time for each beam, and Anally calculates depth from echo time and direction. In this paper, a sequential Altering approach, exploiting ping to ping data correlation, is proposed, which is capable of realizing fast and accurate estimation and tracking of the seaAoor depth. By the employment of this method, when the measurement Signal-Noise-Ratio (SNR) is below 35dB, the root mean square error (RMSE) of depth estimation is much lower than the conventional approach, and nearly reaches the posterior Cramer-Rao lower bound. The results demonstrate that the sequential Altering approach, applied to MBES measurements, could be a promising technique for seaAoor topography estimation and tracking.