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The existence of internal waves was first recognized by a measurement of water temperature by Helland-Hansen and Nansen (1926). Later, the vertical structure of internal waves has been detected by observation of temperature, salinity, or ocean current, while the propagation of internal waves has been identified by images from radar or acoustic Doppler and echo sounder. Shand (1953) found internal wave fronts appearing on aerial photographs. From observation of offshore temperature variations, LaFond (1962) found that time-dependent isotherms are flattened for a shallower thermocline and peaked for a deeper thermocline on the wave crests. Apel et al. (1975, 1976, 1985) reported a series of research results for the internal waves observed in pictures from satellites, space shuttles, and aircraft. In addition to these indirect photographs, they also used various instruments such as the expendable bathythermograph (XBT), acoustic echo sounding, and ship radar.

Measurements of Particle Velocities and Trajectories for Internal Waves Propagating in a Density-Stratified Two-Layer Fluid on a Slope