Fine Processing and Analysis of Multibeam Bathymetric Data Outlier from Surveying and Mapping in the South China Sea
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摘要: 高分辨率的海底多波束地形数据广泛应用于海洋测绘、深海调查、海底勘探等海洋研究和资源开发领域.多波束系统海上测量时受海况的复杂性以及海洋噪声等因素的干扰，严重影响了数据的质量，消除数据中的各种异常能够还原真实的海底地形，对研究海底精细地貌及解释具有重要意义.依托“东方红3”号科考船搭载的EM122多波束系统，近年来在南海北部采集了大范围的深水多波束数据，通过对数据的精细处理和分析，在水深数据中发现并识别了5种典型的异常.根据异常在地形图中的几何形态和异常点在二维测深点云数据中的离散特征，本研究解释和命名为地形褶皱弯曲异常、点状异常、线状异常、放射状异常、空白区异常5类.对5类异常使用不同的滤波方式能够很好的消除异常数据，使用条带滤波或子区滤波处理线状异常、使用子区滤波处理点状异常和放射状异常、通过折射编辑器校正处理地形褶皱弯曲异常、使用插值法处理空白区异常.对采集的多波束数据经过交互式滤波处理，很好地消除了多波束测量中存在的异常数据，为进一步对海底地形地貌的解释和分析提供了强有力的支撑.Abstract: High⁃resolution seabed multibeam bathymetric data is widely used in marine research and resource exploration, as marine surveying and seafloor mapping and exploration. The multibeam echo⁃sounder system is disturbed by the complexity of sea condition, ocean noise and other factors, which seriously affect the data quality. Removing various anomalies in the multibeam bathymetric data can recover the real seabed topography and it will be greatly useful for study and interpretation of the fine submarine geomorphological features. Based on the EM122 multibeam echo⁃sounder system who hull⁃mounded at the vessel "Dongfanghong 3", the high⁃resolution bathymetric data have been acquired in the northern continental margin of the South China Sea in recent years. We identify and find five types of bathymetric outlier data by fine process and analysis of the bathymetric data in this study. Based on the geometric forms of the anomaly in the topographic map and the discrete characteristics of the anomaly points in the two⁃dimensional bathymetric point cloud data, we interpret and name the topography fold anomaly, the point anomaly, the linear anomaly, the radial anomaly and the blank anomaly, respectively. Using different filtering methods, the five types of bathymetric outlier data in the multibeam bathymetric data are well removed and processed. The linear anomaly is processed well by swath filtering or subset filtering, the point anomaly and the radial anomaly are removed by the common subset filtering. The topography fold anomaly is corrected by the refraction editor and the blank area anomaly is resolved by interpolation method. By the manually filtering to the acquired bathymetric data, the outlier data are well removed and corrected. These post⁃processed bathymetric data are able to greatly support the further interpretation and analysis of seafloor geomorphological features.
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图 3 多波束中异常数据对神狐海底峡谷真实地形的影响
a. 处理前神狐峡谷地形图，红色方框内为异常噪点形成的“麻坑状底形”；b. 异常区域放大的地形图，红色圆点为异常噪点形成的“麻坑”；c. 处理后的神狐峡谷真实海底地形图，水深等深线间距为10 m
Fig. 3. The impact of outlier data in the multibeam bathymetry on the real topography of the Shenhu submarine canyon
图 4 地形褶皱弯曲异常及消除
a. 波束条带呈现“哭脸状”异常；b. 波束条带呈现“笑脸状”异常；c. 经声速剖面校正后的真实波束地形
Fig. 4. Topography folds anomaly caused by beam bending and processing
图 5 点状异常特征和处理
a. 处理前的地形图，数据中存在较多的点状异常；b. 二维测深点云数据中点状异常离散分布在正常点云数据两侧；c. 通过子区滤波处理后的真实海底地形图；d. 滤波处理后的真实地形点云数据，地形变化趋势清晰
Fig. 5. Characteristics of point anomaly and processing
图 6 不同滤波方向的噪点分离效果
a. 垂直于异常方向进行滤波处理；b. 垂直于异常方向的点云数据图，异常点清晰易消除；c. 平行于异常方向进行滤波处理；d. 平行于异常方向的点云数据图，异常点不清晰难以处理
Fig. 6. Separated effects of outlier data used by different filtering directions
图 7 线状异常的特征和消除
a. 线状异常明显区别于周围地形；b.对所有异常进行多种滤波后的真实海底地形；c.条带滤波前异常波束呈“尖刺状“凸起；d. 条带滤波后消除“尖刺状”异常
Fig. 7. Characteristics of striped anomalies and processing
图 8 澎湖峡谷下段多波束数据中的条带状与放射状异常
修改自Ou et al.（2012）；a. 条带状异常和放射状异常的多波束测原始数据；b. 条带滤波处理后的海底地形，条带状异常被完全去除；c. 子区滤波后放射状异常被去除.
Fig. 8. Striped and radial anomalies in the multibeam bathymetric data from the lower section of Penghu Canyon
图 9 放射状异常的特征和处理
a.子区滤波前测深点云数据存在强放射状异常；b. 子区滤波后放射状异常完全消除
Fig. 9. Characteristics of radial anomalies and processing
图 10 多波束数据中空白区异常的特征和处理
a. 处理前数据中存在部分数据缺失；b. 插值处理后填补了峡谷周围缺失的数据
Fig. 10. Characteristics of blank area anomaly in the multibeam bathymetric data and processing
图 11 不同声速剖面数据对测深结果的影响
a. 南海不同位置声速剖面图；b. 3种不同的声速结构，其中a声速剖面设定为恒定的1 450 m/s，b声速剖面为该区域的实测数据，c声速剖面设定为恒定的1 550 m/s；c. 在处理中加载3种声速剖面的对比（声速剖面变化见图 11b）
Fig. 11. The impact of different sound velocity profile data on bathymetricdata
表 1 多波束数据滤波中不同投影面的选取
Table 1. Options of different projection surfaces for bathymetric data filtering
地形趋势 投影面选取和编辑 处理优势 平坦海底地形 沿测线前进方向正投影 容易确定水深变化区间 复杂海底地形 沿正交测线方向侧投影 便于分析地形变化趋势 极复杂海底地形 垂直正投影 便于分层去除异常数据 注：修改自李家彪（1999） 
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表 2 南海多波束数据中的异常类型特征与处理方法
Table 2. Characteristics of outlier data in the multibeam bathymetry in the South China Sea and processing methods
异常类别 异常可能成因 空几何形态特征 异常处理方法 参考文献 本文示例 地形褶皱弯曲异常 声速剖面的测量站位少；声速剖面的精度低；表层声速测量不准确 地形图中显示为地形重叠区域隆起或凹陷状，地形整体呈褶皱状；波束条带显示为边缘波束弯曲，呈现“笑脸”或“哭脸”状异常 通过折射编辑器对声速剖面进行二次校正 本次研究；李家彪(1999); 孙文川等(2016); 史青法(2018); 王启等(2021) 图 4 点状异常 海洋噪声干扰；海面反射；海中生物折射；设备噪声；虚假信号 地形图中显示为地形突变点或点状麻坑样式；二维测深数据中呈现为离散孤立点 子区滤波中选取正投影或侧投影面，滤波消除粗差点 本次研究 图 3；图 5；图 7 线状异常 海洋噪声干扰；海面反射；海中生物折射；设备噪声；虚假信号 地形图中显示为线条状或条带状；异常波束条带呈尖刺状或异常噪点在二维测深数据中呈连续状 子区滤波中选择垂直于异常方向进行滤波消除异常噪点；条带滤波 本次研究；Ou et al.(2012) 图 6；图 7 放射状异常 船转弯速度过快；海况较差、船姿态不稳定；外部噪声干扰 地形图中显示为散射状，多出现在测线转弯处；三维测深数据中可见放射状异常 利用子区滤波和条带滤波手动剔除异常 本次研究；Ou et al.(2012); 王启等(2021)； 张永厚等(2022) 图 7；图 8；图 9 空白区异常 中央波束区回波强易造成空白带；有效测深点被错误滤波 地形图中存在部分数据缺失 应用曲面插值法；通过子区滤波对错误过滤的测深数据还原 本次研究; 孙文川等(2012); 赵荻能等(2019); 刘亮等(2021) 图 10
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