cbathy on open beaches rob holman secnav/cno chair in oceanography update since 2011 shoreline...
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cBathy on Open Beaches
Rob HolmanSECNAV/CNO Chair in Oceanography
• Update since 2011
• Shoreline problems
• Storm performance
• Camera seam problem
• Phase-locked harmonics
• Outliers
• Doppler
• Process error?
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Updates Since 2011
Has been a game changer for nearshore remote sensing
• Published in JGR, 2013
• Toolbox implemented with docs and debug tools
• Disseminated to Netherlands, England, Australia
• Applied to radar by Honegger and Haller at OSU
• Being exercised in wide range of locations and
conditions
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Oregon State UniversityOregon State University
Phase 1 - Wavenumber Analysis Steps
1. Compute normalized Fourier Transform, G = FT(I)/|FT(I)|
2. Compute the cross-spectral matrix,for a number of f-bands
3. Compute the first complex EOF, expressed as phase and amplitude maps
4. Model the EOF phase of C as
4. Compute weighted cost function,
where weighting wij is product of EOF magnitude and spatial Hanning filter
5. Use nonlinear least-squares to find kx, ky (or k-alpha) that minimize J.
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Oregon State UniversityOregon State University
Phase I - Wavenumber Analysis Steps:(Tile-based phase and magnitude example)
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Oregon State UniversityOregon State University
Analysis Steps – Add Phase 2
1. Compute normalized Fourier Transform, G = FT(I)/|FT(I)|
2. Compute the cross-spectral matrix,for a number of f-bands
3. Model the phase of C as
4. Compute weighted cost function,
where wij is the coherence
5. Use nonlinear least-squares to find kx, ky that minimize J.
6. From resulting [f, kx, ky], estimate depth using linear dispersion (or better alternate) using N most coherent f-bands
wave
nu
mb
er
bath
ymetr
y
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Oregon State UniversityOregon State University
Bad Example Raw Bathy EstimateEstimated depth Estimated error
January 13, 2010, early morning with sun glare
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Oregon State UniversityOregon State University
Kalman Filtering
P - estimate errorQ - process errorR - measurement errorK - time step ĥ - estimated depth - - prior value
h, cBathy est. , filtered
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Oregon State UniversityOregon State University
Process Error, Q
• Variance of prior estimates degrades with time and wave energy.
• Based Q on SandyDuck daily survey variance (mean square abs dev.)
• Dependent on H and cross-shore location
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Oregon State UniversityOregon State University
cBathy - Comparison With Ground Truth
• 2-year test
• 16 surveys
• 1000 x 500 m
• Turn-key (no tuning)
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Oregon State UniversityOregon State University
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Oregon State UniversityOregon State University
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Oregon State UniversityOregon State University
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Oregon State UniversityOregon State University
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Oregon State UniversityOregon State University
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Oregon State UniversityOregon State University
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Oregon State UniversityOregon State University
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Oregon State UniversityOregon State University
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Oregon State UniversityOregon State University
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Oregon State UniversityOregon State University
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Oregon State UniversityOregon State University
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Oregon State UniversityOregon State University
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Oregon State UniversityOregon State University
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Oregon State UniversityOregon State University
• Global bias 0.19 m
• Global rmse 0.51 m
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Oregon State University
Ground Truth Tests, Egmond, The Netherlands
Leo Sembiring TU Delft - Shore
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Oregon State University
Ground Truth Tests, RIVET
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Oregon State University
Shoreline Issues!
• Large errors common at shoreline
• Thought it was issue of merging phase content from waves and sand in single tile
• Appears to be more problem of runup appearing progressive
• Unclear fix
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cBathy Performance During High Wave Conditions(10/17/11 – 11/08/11;
Becca Aiken, CIL)
~ y=925 transect
Survey 110/17/11
Survey 211/16/11
Mini-survey11/07/11
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cBathy Performance During High Wave Conditions
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Oregon State UniversityOregon State University
Time Variations of Hourly Returns
Hs = 1.4 m
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Oregon State UniversityOregon State University
Wave Height Dependency
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Oregon State UniversityOregon State University
Wave Height Dependency
• Good performance limited to low wave conditions.
• Scientific interest focused on storms
• Fix unclear (to me).
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Oregon State UniversityOregon State University
Camera Seam Problems!
• Depth anomalies along camera seams (at times)
• Originally assumed geometry problem
• Recently discovered camera timing problems (one cam off by ½ s, etc)
• Requires cam timing pre-processing (easy!)
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Oregon State UniversityOregon State University
Phase-locked Harmonics
•Narrow-banded nonlinear swell (like cnoidal waves) have fundamental and phase-locked harmonics
•Harmonics travel as same speed as fundamental, NOT like independent linear components
•Best estimate depth pulled too deep by these fast harmonics
• Issue with radar (nonlinear imaging physics)
•Unclear fix.
Massaguacu, Brazil
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Oregon State UniversityOregon State University
Shallow Anomalies
• Occasion estimates that are clearly wrong but appear good (Max examples)
• Usually low signal areas, can be boat passage
• Dominate Kalman result until next good signal
• Unclear fix (Max?)
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cBathy At Tidal Inlet Environments – Doppler!!!RIVET 2013 – Columbia River, OR
SELFEModel, Baptista
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cBathy Variations With Tidal Currents
Tide-level corrected
flood
ebb
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Histogram of Non-Doppler cBathy Depths, MCR
surveycBathymean
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Ground Truth Tests, RIVET
floodebb
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RMSE: 56 cmBias: 14 cm
G.V. ESTIMATES: Depth
Channel structure recovered
Estimate accuracy & precision deteriorates to the south
Honegger and Haller, X-band radar.
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Oregon State UniversityOregon State University
Process Error, Q
• Process error represents expected decay of faith in estimate with time
• Standard cBathy formulation based on one set of daily CRAB surveys at Duck.
• Should vary with location, wave regime, bar configuration, etc.
• May have to bootstrap better estimates (assume form, do cBathy, use estimates to constrain bathy change, repeat until converged).
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Oregon State UniversityOregon State University
Summary
• cBathy seems to be a game-changer
• Fabulous under small waves, unusable for storms.
• For VERY small signals sensitive to non-waves (boats??)
• Some technical issues with seams and shorelines
• More to be done on nonlinear waves (esp harmonics) and process error.
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Oregon State UniversityOregon State University
Questions?