The basic principle of Doppler sonar is to determine the speed of movement of an object by measuring the amount of change in frequency (Doppler shift) that occurs when sound waves of a certain frequency are transmitted and scattered by a moving object (Figure 3). ADCP transmits sound waves in three or more different directions and measures the movement of multiple layers of seawater in three dimensions by capturing the difference in Doppler shift that occurs when the waves are scattered by particles such as plankton that are moving with the seawater.