## 1 Introduction  
Beam echosounder systems play a crucial role in marine topography mapping [1], utilizing the principles of sound wave propagation to measure seabed depth and topographical features, thereby obtaining precise data. These data are invaluable for understanding ocean changes, forecasting future trends [2], and formulating response strategies [3], and have significant practical implications for marine science research [4], seabed resource development [5], navigational safety, and environmental protection [6]. Compared to traditional single-beam echosounder technology, Multibeam Echosounder (MBES) systems offer the advantage of simultaneously transmitting and receiving multiple sound beams, covering a broader area of the seabed, significantly enhancing measurement efficiency and reducing data blind spots [7]. The core components of the MBES system include transmitters, receivers (transducers), signal processors, and high-precision navigation positioning systems [8], all of which are detailed in Figure 1. The system emits dozens to hundreds of sound beams perpendicularly to the ship's course, covering a wide area of the seabed. The reflected signals from the seabed are precisely captured by the receivers and analyzed by the signal processor to calculate the depth values. The advantage of the multibeam system lies in its ability to provide continuous depth coverage, significantly enhancing mapping efficiency and accuracy. Particularly in dealing with complex seabed terrains, the system ensures high measurement precision and reliability through meticulous beam management and optimization [9]. Although modern sea areas have mostly been surveyed with single-beam or traditional multibeam echosounder systems, the continuous change in seabed topography and the limitations of previous measurements make it particularly important to design an efficient and accurate multibeam measurement method for those critical areas that undergo significant changes and require multiple surveys. Taking the South China Sea as an example, this region is not only one of the busiest shipping routes in the world, handling more than one-third of the global maritime cargo annually, but it is also rich in underwater oil and gas resources and biodiversity [10]. The economic and strategic importance of the South China Sea requires its seabed topography to be measured with high accuracy and updated frequently. However, traditional multibeam echosounding systems face significant challenges in dealing with complex terrain and the high costs of data collection and processing [11], which severely affect the accuracy and reliability of the measurements. In response to these challenges, our study proposes an innovative multibeam measurement model that leverages intelligent algorithms to generate optimized survey plans based on previous surveys of the seabed. This new approach significantly improves the accuracy and efficiency of measurements, especially in resource-rich deep-water areas, and has the potential for global impact [12]. This study aims to provide an efficient and accurate multibeam measurement solution for these critical sea areas by utilizing historical data to enhance the resurvey process. Since the beginning of the 21 st century, multibeam bathymetric technology has been extensively studied and applied [13]. These studies primarily focus on terrain tracking and data processing techniques, the design and implementation of signal processing systems, and the optimization of multibeam survey line layouts, thus advancing the standardization and regulation of multibeam bathymetry. The application areas of this technology continue to expand, covering deep-sea exploration, oceanic mapping, and seabed prospecting. However, despite the groundbreaking progress in multiple studies, practical application limitations exist. For instance, the semi-automatic seabed geological classification method based on multibeam data and maximum likelihood classification proposed by [PERSON], [PERSON], [PERSON], [PERSON], and [PERSON] is innovative.