Aug 2026· The Heritage· Vol 9, pp. 308· 0 citations· 30 references
Abstract
The preservation of submerged cultural heritage depends on the ability to locate, document, and monitor sites before they are degraded or lost. Although the North American Great Lakes contain thousands of exceptionally well-preserved shipwrecks, their large geographic extent and diverse operating environments present significant challenges for efficient archeological survey. This study presents a multi-platform autonomous survey framework developed and implemented during 2021–2022 field campaigns in Lake Michigan and Lake Ontario. The framework integrates autonomous underwater vehicles (AUVs), autonomous surface vehicles (ASVs), crewed vessels, side-scan sonar, multibeam bathymetry, magnetometry, optical imaging, and field-based data review within a hierarchical workflow comprising wide-area assessment (WAA) reconnaissance, high-resolution geophysical (HRG) mapping, adaptive mission refinement, and visual confirmation. The surveys produced 19.72 km2 of geophysical coverage, including side-scan sonar mosaics, bathymetric surfaces, magnetic anomaly maps, and optical imagery that supported archeological interpretation. A case study from Lake Ontario demonstrates the framework’s effectiveness through the confirmation of a previously undocumented wooden shipwreck using complementary acoustic, magnetic, and visual datasets. Beyond the individual discoveries, the results demonstrate how integrated autonomous systems improve survey efficiency, support adaptive decision-making, and provide scalable methods for digital documentation, baseline site characterization, long-term monitoring, and preservation of submerged cultural heritage in freshwater and marine environments.
Abstract. Mapping at the air–water interface in shallow coastal environments remains challenging due to the need to integrate heterogeneous datasets acquired under different geometric and operational conditions. This study presents a modular uncrewed surface vehicle (USV)-based system for simultaneous above- and underwater photogrammetric surveying supported by differential GNSS positioning. The system integrates a rigid multi-camera configuration, GNSS time synchronization, and a direct georeferencing workflow based on trajectory interpolation and lever-arm calibration. Experimental results from a rocky coastal site in Sardinia (Italy) show that underwater photogrammetry can achieve centimetric absolute accuracy (2–4 cm horizontally and ~8 cm vertically) without underwater ground control points. The USV enables controlled and repeatable acquisition in very shallow environments, while UAV photogrammetry complements the reconstruction of the emerged area. Limitations related to image quality and refraction effects are discussed. The system represents a flexible and scalable solution for integrated coastal mapping and monitoring.
Sergey Khokhlov, F. Menna, E. Nocerino· The International Archives o...· 0 citations
The search and discovery of underwater shipwreck sites represent the most arduous and critical phases of underwater archaeology. Wooden shipwrecks, in particular, are characterized by low acoustic impedance contrast and weak magnetic anomalies, coupled with their limited physical dimensions. Consequently, they predominantly exist as shallow-buried, discontinuous small targets scattered within confined areas, making their detection exceptionally challenging. Furthermore, the complexity of the submarine environment—including rugged topography, turbid water columns, and strong currents—poses formidable obstacles to the effective detection of these archaeological remains. Single geophysical methods are often limited by insufficient imaging resolution, interpretation ambiguity, and geological noise, making precise localization and characterization difficult. Focusing on the Nan’ao I Ming Dynasty shipwreck located in waters approximately 24 m deep off the coast of Nan’ao, Guangdong Province, China, this study proposes and validates an “acoustic-magnetic” multi-source data integration detection method. This approach systematically integrates high-resolution multibeam echo sounding (MBES), side-scan sonar (SSS), sub-bottom profiling (SBP), and marine magnetic data to establish a comprehensive framework for identification and integration analysis. The results indicate that the MBES bathymetric data reveal a regular, elongated structure oriented north–south (approximately 34 m × 12 m), closely matching the main hull and deck configuration. The SSS imagery exhibited high backscatter intensity and parallel linear textures, effectively delineating the hard shipwreck structure and the associated rigid protective frame employed for in situ preservation. SBP data confirmed the semi-buried state of the shipwreck (burial depth of approximately 0.6 m). Spatial variations in sediment thickness around the site suggested ongoing modification by strong hydrodynamic processes. Marine magnetic surveys identified localized negative anomalies (−210 nT relative to the ambient magnetic field), contrasting sharply with the positive anomalies of the surrounding natural reefs, thereby indicating an artificial ferromagnetic source. The spatial registration and feature superposition of multi-source data facilitated the characterization of the shipwreck, demonstrating its potential to mitigate environmental interference and enhance detection reliability in this complex environment. Using the Nan’ao I shipwreck site as a case study, this study provides a detailed characterization of the site’s 3D morphology, burial state, and physical properties. The proposed methodology offers a practical and robust technical solution for underwater shipwreck archaeology in complex nearshore environments, providing significant implications for proactive discovery, efficient investigation, and protection of underwater cultural heritage (UCH).
Accurate bathymetric data are essential for the design and monitoring of coastal structures, but conventional multibeam surveys are costly and often impractical in shallow or confined areas. We evaluate a single-beam echosounder (SBES, ECT400) suspended beneath an unmanned aerial vehicle (UAV) as a rapid method with low logistical requirements for bathymetric monitoring of coastal infrastructure. Fieldwork was performed in an operational dry dock that was alternately drained and filled, enabling direct geometric validation against an ultra-high-resolution photogrammetric DEM (0.55 cm GSD). The co-registered dataset comprises N = 16,137 sonar returns to depths of ≈ 8 m. The UAV-mounted SBES produced a mean depth difference of 0.15 m (SD = 0.58 m) relative to the photogrammetric reference. From these residuals we estimate a 95% Minimum Detectable Change (MDC95) of ≈ 0.5 m when changes are assessed by aggregating repeated co-located passes. These results indicate that the UAV-SBES workflow is suitable as a Tier-1 screening tool for structural-health monitoring, effective for detecting metre- to decimetre-scale changes and triaging sites for targeted high-precision follow-up, but not for micrometre/mm-scale deformation monitoring. The method’s portability and vessel-free operation make it especially useful for frequent inspections in shallow, confined coastal settings.
Bethsaide Souza-Santos, M. Arza-García, J. Ortiz-Sanz et al.· Journal of Civil Structural...· 0 citations
Autonomous underwater vehicles (AUVs) provide high-resolution magnetic measurements essential for investigating crustal accretion, tectonic segmentation, and hydrothermal processes at mid-ocean ridges. However, raw magnetometer measurements are strongly influenced by platform-induced magnetic fields, attitude-dependent biases, and navigation uncertainties that must be corrected to recover geophysically meaningful anomaly fields. We apply a procedure to measurements from AUVs which includes platform independent scalar calibration, transformation into geographic reference frames, spin-based removal of permanent and induced vehicle magnetization, and computation of magnetic anomalies relative to the International Geomagnetic Reference Field. The framework also incorporates a two-dimensional spectral upward continuation to reconcile altitude variations, thereby recovering anomalies at a uniform reference level. Application of this system to AUV datasets from the East Pacific Rise and Mid-Atlantic Ridge demonstrates effective suppression of platform biases, improved crossover consistency, and the generation of internally coherent geomagnetic anomaly fields suitable for subsequent analysis and mapping.
Vaibhav Vijay Ingale, J. Gee, R. Parnell-Turner· Geophysical Journal Internat...· 0 citations
Abstract. Shallow-water cultural heritage occupies a dynamic land-sea interface where coastal erosion, sediment transport, limited visibility and burial processes hinder conventional archaeological investigation. This paper presents an integrated geoinformatics framework for reconstructing the cultural dynamics of coastal and shallow submerged archaeological landscapes in southeastern Crete, Greece. The methodology combines multispectral remote sensing, satellite-derived and in situ bathymetry, UAV and shallow-water photogrammetry, marine geophysics, GIS-based coastal vulnerability, fuzzy logic multi-criteria risk assessment and digital dissemination through augmented reality. The workflow was applied at five representative case studies, including Stomio, Ierapetra harbour, Koufonisi, Chryse and associated coastal sectors. Optical data from Pleiades-1A, PlanetScope, and Sentinel-2A were used for shoreline mapping, feature enhancement, and satellite-derived bathymetry. Geophysical and bathymetric surveys covered more the 4.5 and 10 hectares respectively. UAV photogrammetry produced high resolution orthomosaics, while the proposed experimental Remote Control (RC) boat extends documentation potential to very shallow submerged environments. Integrated interpretation clarified palaeo-shorelines, submerged harbour structures, fish tanks, architectural continuities and archaeological risk hotspots. The results demonstrate a scalable and transferable framework for documenting, interpreting, monitoring, and communicating endangered shallow-water cultural landscapes.
Nikos Papadopoulos, Nasos Argyriou· The International Archives o...· 0 citations
The use of Satellite-Derived Bathymetry (SDB) constitutes an efficient, cost-effective, time-saving, and scalable approach for generating high-resolution shallow-water bathymetry. In this context, SDB can be proven to be a valuable method for supporting bathymetric surveys of submerged archaeological sites. This paper focuses on the ancient city of Asopos, located on the coast of the modern village of Plytra in Laconia, SE Peloponnese, Greece. The site occupies an extensive coastal area characterised by numerous ancient remains and geomorphological features distributed along the shoreline and within the nearshore zone. To achieve the objective of producing a very-high-resolution SDB map, one empirical and four machine learning approaches were evaluated: (a) the quadratic Stumpf band-ratio model; (b) Categorical Boosting; (c) Random Forest; (d) Extreme Gradient Boosting, with all models trained using the same three optimal spectral band ratios; and (e) the CatBoost model trained using principal components derived from a Principal Component Analysis of the multispectral dataset. These approaches were developed using multispectral WorldView-2 imagery and 208 in situ depth measurements as ground truth, collected across a different range of depths and distances from the coastline. Pan-sharpened imagery was used for visual interpretation. Model accuracy was assessed using an additional validation dataset of 57 depth measurements. This combined approach demonstrates that VHR SDB mapping of the nearshore zone is highly effective when employing three band ratios involving the blue, green, and yellow bands, achieving a root mean squared error of less than 1 m, and can therefore serve as a reliable method for shallow-water geoarchaeological investigations.
