Discrete volumetric sonar method and apparatus for sub-seabed surveying

1. A sub-bottom sonar imaging apparatus, comprising:

a carriage assembly having mounted thereon at least one acoustic transmitter, at least one acoustic receiver mounted proximate the transmitter;

a line array of acoustic receivers mounted on the carriage assembly in a direction transverse to a direction of motion of the carriage assembly;

a position determining transponder mounted on the carriage assembly;

a plurality of position determining transponders disposed at spaced apart positions and configured to communicate with the transponder mounted on the carriage assembly;

at least two line arrays of acoustic receivers disposable substantially orthogonally on the bottom of a body of water;

means for moving the carriage assembly to selected positions above the water bottom; and

a signal detection and processing unit configured to coherently stack and beam steer signals detected by the line array of acoustic receivers mounted on the carriage assembly, the signal detection and processing unit configured to record signals detected by the line arrays of acoustic sensors deployable on the water bottom and signals detected by the at least one acoustic receiver mounted on the carriage assembly.

2. The sub-bottom sonar imaging apparatus of claim 1 further comprising a frame deployable on the water bottom, the frame having a grid of support cables thereon, the carriage assembly configured to move along the grid of support cables.

3. The sub-bottom sonar imaging apparatus of claim 1 wherein the means for moving comprises at least one of a remotely operated underwater vehicle and an autonomously operated underwater vehicle.

4. The sub-bottom sonar imaging apparatus of claim 3 wherein the at least one of a remotely operated underwater vehicle and an autonomously operated underwater vehicle comprises a boom extending therefrom, wherein the at least one acoustic receiver mounted proximate the transmitter and the line array of acoustic receivers are movably mounted on the boom.

5. The sub-bottom sonar imaging apparatus of claim 4 further comprising a sensor for determining position of the at least one acoustic receiver mounted proximate the transmitter and the line array of acoustic receivers with reference to the boom.

6. The sub-bottom sonar imaging apparatus of claim 4 wherein the vehicle comprises means for rotating the boom to a selected rotary orientation.

7. The sub-bottom sonar imaging apparatus of claim 1 wherein the at least one acoustic transmitter comprises a chirp projector.

8. The sub-bottom sonar imaging apparatus of claim 7 further comprising three chirp projectors arranged on the carriage assembly to emit acoustic energy in a predetermined pattern along the water bottom.

9. The sub-bottom sonar imaging apparatus of claim 1 wherein the signal detection and processing unit further comprises means for determining a sub-bottom velocity model from signals detected by the at least two line arrays and signals detected by the at least one acoustic receiver proximate the at least one acoustic transmitter.

10. A method for imaging formations below the bottom of a body of water, comprising:

imparting acoustic energy into the formations along a predetermined length swath at a selected geodetic position using at least one acoustic transmitter mounted to a carriage assembly;

detecting acoustic energy reflected from the formations along a line parallel to the length of the swath at the selected geodetic position using a line array of acoustic receivers mounted to the carriage assembly;

detecting acoustic energy reflected from the formations using at least two substantially orthogonal line arrays of acoustic receivers deployed on the bottom of the body of water;

moving the selected geodetic position a selected distance transverse to the length of the swath;

repeating the imparting acoustic energy, detecting acoustic energy and moving the selected geodetic position until a selected distance transverse to the length of the swath is traversed;

coherently stacking the detected acoustic energy from all the selected geodetic positions; and

beam steering the detected acoustic energy to each of a plurality of depths and positions along the length of the swath to generate an image for each such depth and position.

11. The method of claim 10 further comprising (a) moving the position of imparting acoustic energy a selected distance along the length of the swath, and (b) repeating the imparting acoustic energy, detecting acoustic energy, moving the geodetic position transversely to the length of the swath, and repeating (a) and (b) until a selected area of the water bottom has been traversed.

12. The method of claim 11 further comprising:

(c) detecting acoustic energy reflected from the formations at a plurality of positions using the at least two substantially orthogonal line arrays of receivers disposed on the water bottom;

(d) beam steering the detected acoustic energy, as defined in (c), to each of a plurality of depths and positions to generate an image for each such depth and position, to enhance forward scatter of the sub-bottom;

(e) detecting acoustic energy reflected from the formations at a position proximate the position of imparting acoustic energy;

(f) beam steering the detected acoustic energy, as defined in (e), to each of a plurality of depths and positions to generate an image for each such depth and position, to enhance backscatter of the sub-bottom;

(g) detecting reflected acoustic energy at each time when the position of imparting acoustic energy is coincident with a position of each receiver in the orthogonal arrays;

(h) processing the data, as defined in (g), by enhancement of specular reflections to obtain a velocity model of the sub-bottom;

(i) generating a model of acoustic velocity distribution using the detected acoustic energy from each of (c) through (h); and

(j) using the acoustic velocity distribution model to correct the images generated from the beam steered, coherently stacked detected acoustic energy.

13. The method of claim 10 wherein the moving of the selected geodetic position comprises:

determining a geodetic position of the carriage assembly;

extending a frame along a boom extending laterally in a selected direction from the carriage assembly by a selected amount, the frame having mounted thereon a least one acoustic transmitter and a line array of acoustic receivers oriented transversely to a direction of the boom; and

repeating the imparting acoustic energy, detecting acoustic energy and extending the frame until a selected distance transverse to the length of the swath is traversed.

14. The method of claim 13 wherein the determining geodetic position of the carriage assembly comprises determining acoustic energy travel time between a transponder disposed on the carriage assembly and a plurality of spaced apart transponders disposed proximate the water bottom.

15. The method of claim 13 further comprising rotating the boom substantially transversely to a first side of the selected direction and repeating the extending, the imparting acoustic energy, detecting acoustic energy and extending the frame until a selected distance transverse to the length of the swath is traversed.

16. The method of claim 14 further comprising rotating the boom substantially to a second side of the selected direction and repeating the extending, the imparting acoustic energy, detecting acoustic energy and extending the frame until a selected distance transverse to the length of the swath is traversed.

17. The method of claim 16 further comprising moving the carriage assembly in a selected direction, returning the boom to the selected direction and repeating the extending, the imparting acoustic energy, detecting acoustic energy and extending the frame until a selected distance transverse to the length of the swath is traversed.

18. The method of claim 17 further comprising rotating the boom substantially transversely to a first side of the selected direction and repeating the extending, the imparting acoustic energy, detecting acoustic energy and extending the frame until a selected distance transverse to the length of the swath is traversed.

19. The method of claim 18 further comprising rotating the boom substantially to a second side of the selected direction and repeating the extending, the imparting acoustic energy, detecting acoustic energy and extending the frame until a selected distance transverse to the length of the swath is traversed.