Interferometric Synthetic Aperture Sonar Signal Processing for Autonomous Underwater Vehicles Operating Shallow Water

The goal of the research was to develop best practices for image signal processing method for InSAS systems for bathymetric height determination. Improvements over existing techniques comes from the fusion of Chirp-Scaling a phase preserving beamforming techniques to form a SAS image, an interferometric Vernier method to unwrap the phase; and confirming the direction of arrival with the MUltiple SIgnal Channel (MUSIC) estimation technique. The fusion of Chirp-Scaling, Vernier, and MUSIC lead to the stability in the bathymetric height measurement, and improvements in resolution. This method is computationally faster, and used less memory then existing techniques

Geodetic monitoring of complex shaped infrastructures using Ground-Based InSAR

In the context of climate change, alternatives to fossil energies need to be used as much as possible to produce electricity. Hydroelectric power generation through the utilisation of dams stands out as an exemplar of highly effective methodologies in this endeavour. Various monitoring sensors can be installed with different characteristics w.r.t. spatial resolution, temporal resolution and accuracy to assess their safe usage. Among the array of techniques available, it is noteworthy that ground-based synthetic aperture radar (GB-SAR) has not yet been widely adopted for this purpose. Despite its remarkable equilibrium between the aforementioned attributes, its sensitivity to atmospheric disruptions, specific acquisition geometry, and the requisite for phase unwrapping collectively contribute to constraining its usage. Several processing strategies are developed in this thesis to capitalise on all the opportunities of GB-SAR systems, such as continuous, flexible and autonomous observation combined with high resolutions and accuracy. The first challenge that needs to be solved is to accurately localise and estimate the azimuth of the GB-SAR to improve the geocoding of the image in the subsequent step. A ray tracing algorithm and tomographic techniques are used to recover these external parameters of the sensors. The introduction of corner reflectors for validation purposes confirms a significant error reduction. However, for the subsequent geocoding, challenges persist in scenarios involving vertical structures due to foreshortening and layover, which notably compromise the geocoding quality of the observed points. These issues arise when multiple points at varying elevations are encapsulated within a singular resolution cell, posing difficulties in pinpointing the precise location of the scattering point responsible for signal return. To surmount these hurdles, a Bayesian approach grounded in intensity models is formulated, offering a tool to enhance the accuracy of the geocoding process. The validation is assessed on a dam in the black forest in Germany, characterised by a very specific structure. The second part of this thesis is focused on the feasibility of using GB-SAR systems for long-term geodetic monitoring of large structures. A first assessment is made by testing large temporal baselines between acquisitions for epoch-wise monitoring. Due to large displacements, the phase unwrapping can not recover all the information. An improvement is made by adapting the geometry of the signal processing with the principal component analysis. The main case study consists of several campaigns from different stations at Enguri Dam in Georgia. The consistency of the estimated displacement map is assessed by comparing it to a numerical model calibrated on the plumblines data. It exhibits a strong agreement between the two results and comforts the usage of GB-SAR for epoch-wise monitoring, as it can measure several thousand points on the dam. It also exhibits the possibility of detecting local anomalies in the numerical model. Finally, the instrument has been installed for continuous monitoring for over two years at Enguri Dam. An adequate flowchart is developed to eliminate the drift happening with classical interferometric algorithms to achieve the accuracy required for geodetic monitoring. The analysis of the obtained time series confirms a very plausible result with classical parametric models of dam deformations. Moreover, the results of this processing strategy are also confronted with the numerical model and demonstrate a high consistency. The final comforting result is the comparison of the GB-SAR time series with the output from four GNSS stations installed on the dam crest. The developed algorithms and methods increase the capabilities of the GB-SAR for dam monitoring in different configurations. It can be a valuable and precious supplement to other classical sensors for long-term geodetic observation purposes as well as short-term monitoring in cases of particular dam operations

Unwrapped phase estimation via normalized probability density function for multibaseline InSAR

Interferometric synthetic aperture radar (InSAR) is a powerful technique for obtaining terrain information based on the interferometric phase. Multibaseline (MB) InSAR is an extension of the conventional InSAR and is used to improve the estimation accuracy and reliability of the unwrapped phase. Based on a newly defined normalized phase probability density function (pdf), a novel wrapped-to-unwrapped phase (W2UP) estimation method is proposed for MB-InSAR. First, the concept of the normalized pdf is introduced to overcome the limitation of the fixed 2π period for different baseline cases. Then, a new maximum likelihood estimation is established using the MB normalized pdfs, which has a much steeper peak around the true phase value than the single baseline case and leads to higher estimation accuracy. The proposed W2UP method estimates the unwrapped phase from multiple filtered interferograms, so it is less influenced by the phase noise. Both the theoretical analysis and results using the simulated and real MB data are provided to verify the effectiveness of the proposed method

Zernike Integrated Partial Phase Error Reduction Algorithm

A modification to the error reduction algorithm is reported in this paper for determining the prescription of an imaging system in terms of Zernike polynomials. The technique estimates the Zernike coefficients of the optical prescription as part of a modified Gerchberg-Saxton iteration combined with a new gradient-based phase unwrapping algorithm. Zernike coefficients are updated gradually as the error reduction algorithm converges by recovering the partial pupil phase that differed from the last known pupil phase estimate. In this way the wrapped phase emerging during each iteration of the error reduction algorithm does not represent the entire wrapped phase of the pupil electric field and can be unwrapped with greater ease. The algorithm is tested in conjunction with a blind deconvolution algorithm using measured laboratory data with a known optical prescription and is compared to a baseline approach utilizing a combination of the error reduction algorithm and a least-squares phase unwrapper previously reported in the literature. The combination of the modified error reduction algorithm and the new least-squares Zernike phase unwrapper is shown to produce superior performance for an application where it is desirable that Zernike coefficients be estimated during each iteration of the blind deconvolution procedure

Topological Characterization and Advanced Noise-Filtering Techniques for Phase Unwrapping of Interferometric Data Stacks

This chapter addresses the problem of phase unwrapping interferometric data stacks, obtained by multiple SAR acquisitions over the same area on the ground, with a twofold objective. First, a rigorous gradient-based formulation for the multichannel phase unwrapping (MCh-PhU) problem is systematically established, thus capturing the intrinsic topological character of the problem. The presented mathematical formulation is consistent with the theoretical foundation of the discrete calculus. Then within the considered theoretical framework, we formally describe an innovative procedure for the noise filtering of time-redundant multichannel multilook interferograms. The strategy underlying the adopted multichannel noise filtering (MCh-NF) procedure arises from the key observation that multilook interferograms are not fully time consistent due to multilook operations independently applied on each single interferogram. Accordingly, the presented MCh-NF procedure suitably exploits the temporal mutual relationships of the interferograms. Finally, we present some experimental results on real data and show the effectiveness of our approach applied within the well-known small baseline subset (SBAS) processing chain, thus finally retrieving the relevant Earth’s surface deformation time series for geospatial phenomena analysis and understanding

Advanced satellite radar interferometry for small-scale surface deformation detection

Synthetic aperture radar interferometry (InSAR) is a technique that enables generation of Digital Elevation Models (DEMs) and detection of surface motion at the centimetre level using radar signals transmitted from a satellite or an aeroplane. Deformation observations can be performed due to the fact that surface motion, caused by natural and human activities, generates a local phase shift in the resultant interferogram. The magnitude of surface deformation can be estimated directly as a fraction of the wavelength of the transmitted signal. Moreover, differential InSAR (DInSAR) eliminates the phase signal caused by relief to yield a differential interferogram in which the signature of surface deformation can be seen. Although InSAR applications are well established, the improvement of the interferometry technique and the quality of its products is highly desirable to further enhance its capabilities. The application of InSAR encounters problems due to noise in the interferometric phase measurement, caused by a number of decorrelation factors. In addition, the interferogram contains biases owing to satellite orbit errors and atmospheric heterogeneity These factors dramatically reduce the stlectiveness of radar interferometry in many applications, and, in particular, compromise detection and analysis of small-scale spatial deformations. The research presented in this thesis aim to apply radar interferometry processing to detect small-scale surface deformations, improve the quality of the interferometry products, determine the minimum and maximum detectable deformation gradient and enhance the analysis of the interferometric phase image. The quality of DEM and displacement maps can be improved by various methods at different processing levels. One of the methods is filtering of the interferometric phase.However, while filtering reduces noise in the interferogram, it does not necessarily enhance or recover the signal. Furthermore, the impact of the filter can significantly change the structure of the interferogram. A new adaptive radar interferogram filter has been developed and is presented herein. The filter is based on a modification to the Goldstein radar interferogram filter making the filter parameter dependent on coherence so that incoherent areas are filtered more than coherent areas. This modification minimises the loss of signal while still reducing the level of noise. A methodology leading to the creation of a functional model for determining minimum and maximum detectable deformation gradient, in terms of the coherence value, has been developed. The sets of representative deformation models have been simulated and the associated phase from these models has been introduced to real SAR data acquired by ERS-1/2 satellites. A number of cases of surface motion with varying magnitudes and spatial extent have been simulated. In each case, the resultant surface deformation has been compared with the 'true' surface deformation as defined by the deformation model. Based on those observations, the functional model has been developed. Finally, the extended analysis of the interferometric phase image using a wavelet approach is presented. The ability of a continuous wavelet transform to reveal the content of the wrapped phase interferogram, such as (i) discontinuities, (ii) extent of the deformation signal, and (iii) the magnitude of the deformation signal is examined. The results presented represent a preliminary study revealing the wavelet method as a promising technique for interferometric phase image analysis

Seafloor depth estimation by means of interferometric synthetic aperture sonar

The topic of this thesis is relative depth estimation using interferometric sidelooking sonar. We give a thorough description of the geometry of interferometric sonar and of time delay estimation techniques. We present a novel solution for the depth estimate using sidelooking sonar, and review the cross-correlation function, the cross-uncertainty function and the phase-differencing technique. We find an elegant solution to co-registration and unwrapping by interpolating the sonar data in ground-range. Two depth estimation techniques are developed: Cross-correlation based sidescan bathymetry and synthetic aperture sonar (SAS) interferometry. We define flank length as a measure of the horizontal resolution in bathymetric maps and find that both sidescan bathymetry and SAS interferometry achieve theoretical resolutions. The vertical precision of our two methods are close to the performance predicted from the measured coherence. We study absolute phase-difference estimation using bandwidth and find a very simple split-bandwidth approach which outperforms a standard 2D phase unwrapper on complicated objects. We also examine advanced filtering of depth maps. Finally, we present pipeline surveying as an example application of interferometric SAS

A simple solution to mitigate noise effects in time-redundant sequences of small baseline multi-look DInSAR interferograms

We present a simple and effective filtering algorithm to mitigate noise effects in a time-redundant sequence of multi-look small baseline (SB) differential synthetic aperture radar (SAR) interferograms by exploiting the temporal relationships among the selected interferometric data pairs. The proposed method relies on the estimation of the (wrapped) filtered phase terms associated to each SAR acquisition; this result is achieved via a non-linear minimization procedure which is applied to the phase signal of conventional multi-look interferograms without any pixel selection process, and with no a-priori information on the statistics of the involved complex-valued SAR images. Following their estimation, the phase images are paired to reconstruct a new sequence of filtered SB differential interferograms, which are used to generate surface deformation products, such as deformation velocity maps and displacement time-series. The filtering algorithm effectiveness is demonstrated by analysing a set of SAR images..