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Seismology and Seismic Imaging5. Ray tracing in practice
N. Rawlinson
Research School of Earth Sciences, ANU
Seismology lecture course – p.1/24
Introduction
Although 1-D whole Earth models are an acceptableapproximation in some applications, lateralheterogeneity is significant in many regions of theEarth (e.g. subduction zones) and therefore needs tobe accounted for.
Ray tracing in laterally heterogeneous media isnon-trivial, and many different schemes have beendevised in the last few decades.
I will briefly discuss the following schemes:
Ray tracingFinite difference solution of the eikonal equationShortest Path Ray tracing (SPR)
Seismology lecture course – p.2/24
Initial value ray tracing
From before, the ray equation is given by:
d
ds
[
Udr
ds
]
= ∇U
where U is slowness, r is the position vector and s ispath length.
The quantity dr/ds is a unit vector in the direction ofthe ray, so in 2-D Cartesian coordinates:
dr
ds= [sin i, cos i]
where i is the ray inclination angle.Seismology lecture course – p.3/24
b
a1i
ray
x
za=cosib=sini
Substitution of this expression into the ray equationyields:
di
ds=
1
U
[
cos i∂U
∂x− sin i
∂U
∂z
]
Seismology lecture course – p.4/24
Since dr/ds = [dx/ds, dz/ds] = [sin i, cos i],
dx
dt= v sin i
dz
dt= v cos i
di
dt= − cos i
∂v
∂x+ sin i
∂v
∂z
where v = v(x, z) is wavespeed.
The above coupled system of ordinary differentialequations represents an initial value form of the rayequation.
Seismology lecture course – p.5/24
The example below shows a fan of 100 rays traced bysolving the initial value ray equations using a 4th orderRunge Kutta scheme.
−40
−30
−20
−10
0
−40
−30
−20
−10
0
0 10 20 30 40 50 60 70 80 90 100
0 10 20 30 40 50 60 70 80 90 1003 4 5 6 7
Seismology lecture course – p.6/24
Shooting and bending methods
ShootingReceiver
Source
2
34
1 initial
final
x
z)x,z(v
BendingReceiver
Source
3
final
1 2
4
initial x
z)x,z(vSeismology lecture course – p.8/24
Ray tracingbecomes lessrobust as thecomplexity of themedium increases.
Can find a limitedclass of laterarrivals.
Reflection Paths
Refraction Paths
Seismology lecture course – p.9/24
Eikonal solvers
Seek finitedifference solutionof eikonal equationthroughout agridded velocityfield (Vidale,1988,1990).
Very fast but firstarrival only.
Stability is anissue.
Upwind
Downwind
Seismology lecture course – p.11/24
Shortest Path Ray tracing (SPR)
A network or graph is formed by connectingneighbouring nodes with traveltime path segments(Moser, 1991).
Find path of minimum traveltime between source andreceiver through network using Dijkstra-like algorithms.
Not as fast aseikonal solvers,but tends to bemore stable.
Seismology lecture course – p.12/24
The Fast Marching Method (FMM)
FMM = grid based numerical scheme for tracking theevolution of monotonically advancing interfaces via FDsolution of the eikonal equation.
Only computes the first arrival in continuous media, butcombines unconditional stability and rapidcomputation.
⇒ It will always work regardless of the complexity ofthe medium. This is a very desirable feature.
First introduced by James Sethian (1996), whosubsequently applied it to a range of problems in thephysical sciences.
Seismology lecture course – p.13/24
FMM in continuous media
Far pointsAlive points
DownwindUpwind
Close points
Narrow bandNarrow band sweepsthrough grid likea forest fire
Entropy condition:
it stays burntOnce a point burns,
Heap sort algorithm used to locate grid points innarrow band with minimum traveltime ⇒ O(M log M)operation count for FMM. Seismology lecture course – p.15/24
Updating grid points
The eikonal equation |∇xT | = s(x) is solved using an
entropy satisfying upwind scheme.
max(D−xa T,−D+x
b T, 0)2+
max(D−yc T,−D+y
d T, 0)2+
max(D−ze T,−D+z
f T, 0)2
1
2
ijk
= si,j,k
D−x1 Ti =
Ti − Ti−1
δxD−x
2 Ti =3Ti − 4Ti−1 + Ti−2
2δx
D1 or D2 are used depending on availability of upwindtraveltimes.
Seismology lecture course – p.16/24
Stability
The unconditional stability of FMM is due in part to itsability to handle propagating wavefront discontinuities.
A B
WavefrontT Ti+1,jTi,j
i,j-1
i,j+1
δz
δxT
i-1,j
T
Seismology lecture course – p.17/24
Example
Wavefronts Rays
First order Second order
1000 m
500 m
250 m125 m
0.1 s
0.3 s
1.3 s5.8 s
T
0.3 s
1.2 s
5.3 s
0.1 s
125 m
250 m
500 m
1000 m= 12.98 sRMST= 12.98 sRMS
Seismology lecture course – p.18/24
FMM in layered media
A locally irregular mesh of triangles is used to suturethe velocity nodes to the interface nodes.
A first-order entropy satisfying upwind scheme is usedto solve the eikonal equation within the irregular mesh.
Seismology lecture course – p.20/24
Example
Four branch multiplevelocity(km/s)
velocity(km/s)velocity(km/s)
41 2
2 3
3
1
Seismology lecture course – p.21/24
= 15.79 sRMST
125 m
250 m
0.2 s
0.8 s
2.9 s12.6 s
1000 m
500 m
velocity(km/s) velocity(km/s)
Snapshot of complete wavefield4
Seismology lecture course – p.22/24