CN101587187B - Method for correcting deviation of depth measuring sonar system - Google Patents
Method for correcting deviation of depth measuring sonar system Download PDFInfo
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Abstract
The invention provides a correcting method for the deviation of a depth measuring sonar system, which comprises the following steps: 1) acquiring data by a sea calibration test to obtain initial values of various parameters to be calibrated; 2) selecting a parameter to be calibrated and calculating correction quantity of the selected parameter to be calibrated according to current values of various parameters to be calibrated; and 3) judging whether the current correction quantity of the selected parameter to be calibrated is less than a preset threshold value or converged into certain value or not, if the judging result is not, substituting the value of the parameter to be calibrated by the sum of the current value of the parameter to be calibrated and the current correction quantity, andreturning the step 2) until all correction quantity of the parameter to be calibrated accord with the judging conditions. With the correcting method, various calibration parameters of the system are comprehensively considered, the influence of the deviation of various systems is reduced by using a feedback mechanism and the accuracy of the deviation correction quantity of various systems is improved. Meanwhile, with the correcting method, various characteristic of a high resolution depth measuring side scanning sonar are considered, so the correcting method is particularly suitable to be applied to the high resolution depth measuring side scanning sonar.
Description
Technical field
The invention belongs to the depth-determining sonar technical field, specifically, the present invention relates to a kind of method for correcting deviation of depth measuring sonar system.
Background technology
Depth-determining sonar commonly used at present has three types, and one type is multibeam sounding system, and another kind of is exactly high resolution detection depth side scan sonar, and the 3rd type is the interference synthetic aperture sonar.The morning that multibeam sounding system occurs, range of application is wider; High resolution detection depth side scan sonar occurs later, at present in the popularization process; The interference synthetic aperture sonar system is the most complicated, just in evolution, therefore mainly introduces preceding two types of depth-determining sonars below at present.
High resolution detection depth side scan sonar is a kind of acoustic equipment that can survey high resolving power submarine topography and landforms.It is developed by conventional detection depth side scan sonar, and conventional detection depth side scan sonar uses two parallel reception linear arrays, reaches to delay time between two sonar battle arrays through the measurement seabed involuting wave and estimates that echo reaches direction, thereby obtain the position of the relative sonar battle array in seabed.The shortcoming of conventional detection depth side scan sonar is that energy measurement does not arrive a plurality of targets of sonar battle array simultaneously, and total accuracy of sounding is poor under the sonar.
High resolution detection depth side scan sonar is the parallel reception linear array of half-wavelength through adopting many stripe pitch, utilizes the special signal Processing Algorithm again, has solved two problems of conventional detection depth side scan sonar, has enlarged its usable range, has strengthened the applicability of sonar.
The multibeam echosounding sonar utilizes certain signal processing method to estimate the time delay that each wave beam seabed involuting wave arrives through forming the wave beam of a plurality of sensing different directions again, thereby obtains the position of the relative sonar battle array in seabed.The depth measurement principle of high resolution detection depth side scan sonar is different with traditional multibeam sounding system; It is to the echoed signal of known time delay; Arrive the direction of sonar battle array through certain signal processing method direct estimation echo, thereby obtain the position of the relative sonar battle array in seabed.
These two types of sonars obtain incident angles and the time delay; All need utilize data such as carrier positions that various sensors obtain, attitude of carrier, velocity of sound section, tidal level again; And sonar battle array and the spatial relation data of various sensor on carrier; Time delay and incident angle to obtaining are carried out the parameter correction, and finally derive the latitude and longitude coordinates and the stable state degree of depth in tested seabed.
But, actual carry out above-mentioned work before, in order to obtain more high-precision seabed depth and position data, need to adopt certain system deviation bearing calibration to obtain to produce the departure of the parameter of systematic error, proofread and correct with the various parameters that reality is used.
Proofread and correct existing certain research to the system deviation of multiple-beam system; Wu Ziyin; The article of Jin Xianglong " integrated calibration of error correction of multi-beam marginal sounding beam [J]. ocean journal; 2005,27 (4): 88-94. " proposed before exploration to the bearing calibration of rolling deviation angle and on the data basis that has surveyed to the bearing calibration of rolling deviation angle; Liu Shengxuan; The article of Guan Yongxian " parameter error of multiple-beam system is judged and is proofreaied and correct [J]. marine charting; 2002,22 (1): 33-37. " and proposed same target detection method and section overlay method and carry out method and measurement method and the same target detection method of navigator fix delay correction and carry out head and shake offset correction; Li Wenjie, Hu Ping, Xiao all, the article of Liu Chunlei " application [J] of multibeam echosounding in oceanographic engineering prospecting. physical prospecting and geochemical exploration, 2004,28 (4): 373-376. " proposed to proofread and correct the first linear goal probe method of deviation that shakes; Liu Fanglan, Zhang Zhi is flourish, surplus flat article " bearing calibration of multiple-beam system rolling, trim parameter [J]. Jilin University's journal geoscience version, 2004,34 (4): 621-624. " measurement method and correction rolling of section coincidence method and trim angle deviation proposed.
Said method exists following deficiency and defective: 1) above-mentioned system deviation bearing calibration, essence is to hope to reduce other parameter influence as far as possible, and is outstanding by the influence of school parameter, to carry out offset correction.But in fact sounding error is the result of multiple parametric synthesis influence, so single system deviation bearing calibration can only be removed significant system deviation influence to a certain extent.2) above-mentioned system deviation bearing calibration is based on the multibeam echosounding sonar; Do not consider the characteristics of some other depth-determining sonar, for example high resolution detection depth side scan sonar has following characteristics: the one, and the main estimated parameter of high resolution detection depth side scan sonar is the arrival direction of echo; The 2nd, high resolution detection depth side scan sonar does not generally adopt the wave beam stabilization technique; The 3rd, the multichannel inconsistency of high resolution detection depth side scan sonar, it can cause the system deviation of calculating incident angle; The 4th, the high resolution detection depth side scan sonar port and starboard respectively adopts a sonar battle array, needs to use two groups of independently sonar battle array installation parameters.Therefore existing systems offset correction method is difficult to directly be used for high resolution detection depth side scan sonar.
In order to improve the total accuracy of sounding of depth-determining sonar, make it obtain to use widely, and consider the characteristics of high resolution detection depth side scan sonar, the practicable system deviation bearing calibration of a cover has been proposed.
Summary of the invention
The objective of the invention is to overcome the prior art deficiency; With head shake, many-sided deviation such as rolling, trim, time delay carries out systematically overall treatment; Thereby a kind of depth-determining sonar that is suitable for is provided, and is particularly suitable for the practicable system deviation bearing calibration of high resolution detection depth side scan sonar.
For realizing the foregoing invention purpose, method for correcting deviation of depth measuring sonar system provided by the invention comprises the steps:
1), draws the initial value of each parameter to be calibrated through marine calibration test image data; Said calibration parameter comprises the rolling deviation at least;
2) choose a parameter to be calibrated,, calculate the correction of selected parameter to be calibrated according to the currency of each parameter to be calibrated;
Whether the current correction of 3) judging selected parameter to be calibrated is less than preset threshold value or converge on a certain numerical value; As be judged as and be, then with the final correction of the current correction of parameter to be calibrated as this parameter to be calibrated; As be judged as not, then the value of parameter to be calibrated is returned step 2 with this parameter currency to be calibrated and the replacement of current correction sum);
4) when all parameters to be calibrated all obtain final correction, trimming process finishes.
In the technique scheme, said parameter to be calibrated also includes the firing angle system deviation.
In the technique scheme, said parameter to be calibrated comprises that also head shakes deviation.
In the technique scheme, said parameter to be calibrated also comprises the trim deviation.
In the technique scheme, said parameter to be calibrated comprises that also the location postpones.
In the technique scheme, described depth-determining sonar system is the high resolution detection depth side scan sonar system, and said rolling deviation and incident angle system deviation are proofreaied and correct synchronously, draw the comprehensive correction of rolling and incident angle system deviation.
In the technique scheme, the computing method of the comprehensive correction of said rolling and incident angle system deviation are following:
A) in the calibration test at sea,, gather the depth measurement data along predetermined survey line navigation; Velocity of sound cross-sectional data before and after the acquisition test;
B) respectively starboard depth measurement data and larboard depth measurement data are handled, obtained starboard rolling and the comprehensive correction of incident angle system deviation and larboard rolling and the comprehensive correction of incident angle system deviation respectively, it is following that the depth measurement data are carried out disposal route:
B1) for i frame depth measurement data, read wherein under scattered signal time of arrival, depth d under calculating according to velocity of sound cross-sectional data again;
B2) degree of depth at each depth measurement point all equals under the assumed condition of d, and The Fitting Calculation goes out the corresponding theoretical incident angle θ ' of each time delay τ in the i frame starboard data;
B3) calculate the difference DELTA of the corresponding actual incident angle θ of each the time delay τ in i frame depth measurement data, directly the read theoretical incident angle θ ' corresponding with it
i(θ), with this difference DELTA
i(θ) as the rolling and the comprehensive correction of incident angle system deviation of i frame;
B4) calculate the rolling of all frames on the wall scroll flight path and the mean value Δ (θ) of the comprehensive correction of incident angle system deviation;
B5) according to the mean inclination of path in elevation direction, and rolling that calculates on the Different Flight and the comprehensive correction mean value of incident angle system deviation, draw revised rolling and the comprehensive correction of incident angle system deviation.
In the technique scheme, said calibration parameter also comprises motion sensor output delay deviation, and the method for correction that obtains said motion sensor output delay deviation is following:
C1) get one section depth measurement data that obtain at flat site as the raw data of proofreading and correct;
C2) the correction substitution of existing system calibration parameter, according to raw data compute depth and position, The Fitting Calculation goes out the slope of the depth measurement data that emission each time obtains, with the slope r of i frame data
i
C3) read the rolling R of each frame
iAnd time T
i, obtain R
i(T
i);
C4) calculate because the rolling deviation of each frame that motion sensor output time-delay causes:
Δ
iR(τ
0)＝R
i(T
i-τ
0)-R
i(T
i)
Choose optimum τ by minimum mean square error criterion
0Value is got feasible
Minimum τ
0Be final motion sensor time-delay correction.
In the technique scheme; Said step 2) in; At first the order of severity to the deviation of each parameter to be calibrated sorts, and draws the priority that each parameter to be calibrated is proofreaied and correct, and according to priority chooses each parameter to be calibrated then successively and calculates with the correction to each parameter to be calibrated.
In the technique scheme, said step 2) in, the order of choosing each parameter to be calibrated is followed successively by: head shakes deviation, trim deviation, location delay, rolling deviation and incident angle system deviation.
Compared with prior art, beneficial effect of the present invention is:
(1) features of high resolution detection depth side scan sonar has been considered in system deviation bearing calibration of the present invention, therefore is particularly suitable for being applied to high resolution detection depth side scan sonar; But the present invention also can be used for the parameter correction of sonars such as conventional detection depth side scan sonar, multibeam sounding system and interference synthetic aperture sonar.
(2) system deviation bearing calibration of the present invention has proposed rolling and the incident angle system deviation synthesis correction method to the high resolution detection depth side scan sonar characteristics; This method also can be used for the parameter correction of sonars such as conventional detection depth side scan sonar, multibeam sounding system and interference synthetic aperture sonar.。
(3) system deviation bearing calibration of the present invention has proposed the motion sensor time-delay bearing calibration to depth-determining sonar.
(4) the system deviation correction of each step acquisition of system deviation bearing calibration of the present invention can be updated in next step the data processing; And last rolling that obtains and incident angle system deviation correction substitution head at first shake and handle once more in the adjustment of data aftertreatment; Form feedback, thereby increased the accuracy of each system deviation correction.
Description of drawings
Below, specify embodiments of the invention in conjunction with accompanying drawing, wherein:
Fig. 1 is the flat site survey line;
Fig. 2 is a system deviation bearing calibration process flow diagram of the present invention;
Fig. 3 is to use system deviation of the present invention to proofread and correct the contrast synoptic diagram of front and back fathometer chart; Preceding depth measurement result (bathymetric chart) is proofreaied and correct for system deviation in the left side, and the right side is the depth measurement result (bathymetric chart) after system deviation is proofreaied and correct; The two uses same scale;
Fig. 4 be to use system deviation of the present invention proofread and correct before and after the depth error comparison diagram, left side figure be the depth error figure before system deviation is proofreaied and correct, right side figure be after the system deviation correction depth error figure.Two figure use same scale;
Fig. 5 is that the landform that the rolling deviation causes changes synoptic diagram.
Embodiment
Basic design of the present invention is following:
Because all parameters that need proofread and correct of depth-determining sonar system are to influence each other with interactional in carrying out the parameter makeover process, therefore can't get rid of the influence of other parameter error to the bearing calibration of certain single parameter, thereby bring new error.Therefore the present invention proposes the method that loop-around data is handled; Its principle is to be updated to the system deviation correction that each step obtains in next step the data processing; And handle once more in the last system deviation correction substitution system deviation adjustment of data aftertreatment at first that obtains, form feedback.The purpose of feedback is the influence that reduces again between each system deviation, and the termination condition of feedback is that the changing value of the correction of each system deviation reaches preset threshold value or converges on a certain value.
High resolution detection depth side scan sonar obtain incident angle and the time delay; Also need utilize data such as carrier positions that various sensors obtain, attitude of carrier, velocity of sound section, tidal level; And sonar battle array and the spatial relation data of various sensor on carrier; Time delay and incident angle to obtaining are carried out the parameter correction, and finally derive the latitude and longitude coordinates and the stable state degree of depth in tested seabed.Table 1 is the tabulation that influences the major parameter of high resolution detection depth side scan sonar error.
Table 1
Can find out that from table 1 system is according to himself characteristic, the required offset correction of carrying out mainly comprises the following aspects: the meticulous measurement of the relative distance between positioning system antenna, motion sensor and the sonar battle array; Head shakes, the installation deviation of trim, rolling is proofreaied and correct; The incident angle system deviation that location delay correction and sonar passage inconsistency cause is proofreaied and correct.
Present embodiment mainly be to head shake, trim, rolling (only considering to install the rolling deviation that causes) and location postpone to carry out integrated calibration.Its step is following:
The 1st step: the relative distance when system installs between meticulous measurement and positioning system antenna, motion sensor and the sonar battle array, with the parameter that is used as under these data recording in the follow-up data processing.
The 2nd step: carry out marine calibration experiments.At first obtain to carry out head and shake the data that correction, trim correction and location delay correction need according to conventional method.Select an isolated target, the side line navigation at it with edge wave beam measurement target, obtains a data file; In the opposite side reverse linear navigation of target, the edge wave beam survey mark thing with same sonar battle array obtains another data file, obtains head and shakes the correction desired data.Look for a sloping marine site, come and go along a survey line and measure, keep the speed of a ship or plane constant as far as possible, obtain trim and proofread and correct desired data perpendicular to the sea-bottom contour direction.Change the speed of a ship or plane, line navigation repeatedly in the same way directly over target obtains locating the data that delay correction needs.The smooth area measure of selecting then to try one's best is proofreaied and correct needed data to obtain rolling, uses survey line as shown in Figure 1, and survey line length is the maximum coverage range of the both sides of sonar, and survey line is spaced apart single maximum coverage range of surveying.Should use before and after the calibration test velocity of sound section plotter that the velocity of sound section in test waters is surveyed, institute's sonar profile values of surveying will use in the 3rd step and the 4th goes on foot.
The 3rd step: carry out that head shakes, trim and location delay correction Data Post.At first shake correction data and calculate preliminary depth measurement result from head; Obtain head and shake correction, revise the head value of shaking in the trim correction data then, and processing obtains the trim correction; Shake correction and trim correction substitution location delay correction data to head at last, obtain the value that the location postpones.Head shake with the aftertreatment of trim correction data in the data of two sonar battle arrays are handled respectively.
The head of this step shakes, trim and location delay correction Data Post can with reference to " rolling deviation and trim correction for drift method: Liu Fanglan; Zhang Zhi is flourish, surplus flat, the bearing calibration [J] of multiple-beam system rolling, trim parameter. Jilin University's journal geoscience version; 2004; 34 (4): 621-624. " and " navigator fix delay correction method and head shake correction for drift method: Liu Shengxuan, and Guan Yongxian, the parameter error of multiple-beam system judge and correction [J]. marine charting; 2002,22 (1): 33-37. "
The 4th step: carry out the aftertreatment of rolling correction data.Bring head into and shake corrections such as deviation, trim deviation and location delay; Utilize the detection data of flat site to adopt fitting algorithm to obtain roll system drift correction amount, utilize the same side sonar battle array to the same area through rolling repeatedly the consistance of measured value as the criterion of judging that correction is whether correct.Rolling is proofreaied and correct and will be divided port and starboard to carry out respectively.
The rolling correction data aftertreatment of this step can with reference to " rolling deviation and trim correction for drift method: Liu Fanglan, Zhang Zhi is flourish, and is surplus flat; the bearing calibration [J] of multiple-beam system rolling, trim parameter. Jilin University's journal geoscience version, 2004,34 (4): 621-624. " and " rolling correction for drift method: Wu Ziyin; Jin Xianglong; the integrated calibration of error correction of multi-beam marginal sounding beam [J]. ocean journal, 2005,27 (4): 88-94 ".
The 5th step: with the 3rd step of rolling drift correction amount substitution; Replace original rolling data; Then again according to the 3rd the step method; Calculate the head that makes new advances successively and shake deviation, trim deviation and location delay correction, and then shake deviation, trim deviation and location delay correction the 4th step of substitution to new head, calculate rolling drift correction amount once more.Like this above-mentioned repeatedly iterative computation process, up to head shake deviation, trim deviation, the location postpones and the variable quantity of rolling drift correction amount all less than preset threshold value or till converging on a certain value.Certainly, the standard that stops iterative computation here also can be the variable quantity of wherein some or a plurality of parameter corrections less than preset threshold value or converge on a certain value, this is that those skilled in the art understand easily.
Specifically, in this step, whether the current correction (like the currency of rolling drift correction amount) of at first judging selected parameter to be calibrated is less than preset threshold value or converge on a certain numerical value; As be judged as and be, then with the final correction of the current correction of parameter to be calibrated as this parameter to be calibrated; As be judged as not; Then the value of parameter to be calibrated (being the value of rolling deviation) is with this parameter currency to be calibrated (being current rolling deviate) and the replacement of current correction (being current rolling drift correction amount) sum; With the value of new parameter to be calibrated (being the value of new rolling deviation) the 3rd step of substitution, recomputate the correction (shake deviation, trim deviation and location like head and postpone correction) of other parameter to be calibrated then; Continuous like this iterating calculated and upgraded each parameter to be calibrated correction of (comprising that head shakes deviation, trim deviation, location and postpones and the rolling deviation), all meets above-mentioned Rule of judgment until all parameters to be calibrated, thereby obtains final correction.
The 6th step: select the right-angled intersection survey line to carry out interior Pass Test at sea, relevant parameter is calibrated, and handle and obtain the depth measurement result and meet assessment, the effect of checking system offset correction in carrying out with each correction that obtains.
The analysis that internally meets assessment result shows that in all depth measurement points, the error of 96.6% point is less than 0.2712 meter, and measuring accuracy surpasses the IHO primary standard.The checking of test figure has been passed through in the high resolution detection depth side scan sonar system deviation bearing calibration that the present invention proposes, and can obtain high-precision fathometer chart.
Embodiment 2
1 to 3 step and the 5th, the 6th step of present embodiment are consistent with embodiment 1; Its difference is to obtaining more accurate drift correction data; The 4th step of present embodiment is considered the incident angle system deviation that sonar passage inconsistency causes, rolling and incident angle system deviation are proofreaied and correct simultaneously.Describe the present embodiment principle and the implementation step in the 4th step below in detail.
For high resolution detection depth side scan sonar, because there is fixing deviation in each interchannel inconsistency through the incident angle that obtains after the signal Processing.Its size changes with the value of θ, when the θ value is in certain interval, has higher value.This deviation shows as ditch shape or the carinate false landform that is parallel to the flight path direction on fathometer chart.Because the existence of incident angle system deviation causes the calculating of the mean inclination of the seabed path in elevation direction in the measurement method to produce very mistake, adjust roll angle merely section is overlapped.Therefore the installation deviation of rolling and the deviation of incident angle are superimposed to the degree of depth and position effects, must accomplish simultaneously their correction, are called rolling and incident angle system deviation integrated calibration.
Rolling and incident angle system deviation integrated calibration carry out correction test, image data in a smooth seabed.Adopt certain fitting algorithm to obtain the correction of rolling installation deviation and incident angle system deviation, utilize the same side sonar battle array to the same area through the whether correct criterion of rolling and the consistent as far as possible conduct judgement of repeatedly measured value correction after incident angle is proofreaied and correct.Rolling and incident angle system deviation integrated calibration will divide port and starboard to carry out respectively.
Use that survey line is in the flat site image data as shown above, survey line length is the maximum coverage range of the both sides of sonar, and survey line is spaced apart single maximum coverage range of surveying.
Adopt following steps to obtain rolling and the comprehensive correction of incident angle system deviation in the real work:
1. along survey line navigation shown in Figure 1; Gather the depth measurement data; Get the raw data of the starboard depth measurement data of AB section and CD section as starboard rolling and incident angle system deviation integrated calibration, the larboard depth measurement data of CD section and EF section are as the raw data of larboard rolling and incident angle system deviation integrated calibration.To gather velocity of sound cross-sectional data before and after the test.
2. getting the starboard depth measurement data of AB section handles.Get the starboard depth measurement data (being assumed to be i frame starboard depth measurement data) that once emission obtains, read wherein under scattered signal time of arrival, depth d under calculating according to velocity of sound cross-sectional data again.
3. the degree of depth at each depth measurement point all equals under the assumed condition of d, simulates the corresponding theoretical incident angle θ ' of each time delay τ in the i frame starboard data.Fitting algorithm uses various depth measurement parameters and velocity of sound section to calculate according to the formula of sound ray tracing, through recursion layer by layer, equals d up to the degree of depth, finally obtains the corresponding theoretical incident angle θ ' of each time delay τ.
4. the difference DELTA of the theoretical incident angle θ ' that the actual incident angle θ (the incident angle θ that promptly in i frame starboard data, reads) that each time delay τ is corresponding is corresponding with it (i.e. the incident angle θ ' that match obtains in the 3rd step)
i(θ) be the starboard rolling and the comprehensive correction of incident angle system deviation of i frame.
5. to each frame starboard depth measurement data computation Δ of AB section
n(θ), ask their mean value Δ (θ).
6. consider that the seabed generally always has certain intrinsic inclination; Be updated to Δ (θ) in the parameter correction formula; According to the CD section starboard depth measurement data computation degree of depth and position; Draw the mean inclination β of path in elevation direction then, Δ (θ) deducts
and obtains starboard rolling and the comprehensive correction of incident angle system deviation.
7. starboard rolling and the comprehensive correction of incident angle system deviation are finely tuned, consistent as far as possible up to the starboard depth measurement result of AB section and CD section.
8. with reference to above-mentioned 2 to 7 steps, the larboard depth measurement data of CD section and EF section are done same processing obtain larboard rolling and the comprehensive correction of incident angle system deviation.
Embodiment 3
Present embodiment is on the basis of embodiment 2, further considers motion sensor output time-delay, thereby each system deviation is proofreaied and correct more accurately.
Except that installation deviation, the deviation that rolling, trim and angle of yaw also exist motion sensor output time-delay to be caused.Adopting certain method to obtain motion sensor output time-delay is this deviation of recoverable.General motion sensor output time-delay is a fixing systematic parameter, and manufacturer provides by motion sensor.But in real work, because the time-delay of data transmission or computer processing data causes actual motion sensor output time-delay not to be inconsistent with the value that producer provides.The measurement of this value is difficulty relatively, and this paper carries out motion sensor output time-delay through Data Post and proofreaies and correct, and its principle is can prove the depth measurement result for flat site on how much, and wherein the slope of a certain frame equals the rolling deviation of this frame.Concrete bearing calibration is following:
1. get one section depth measurement data that obtain at flat site as the raw data of proofreading and correct;
2. be updated to existing system deviation correction in the parameter correction formula,, simulate the slope r of the depth measurement data (being assumed to be the i frame data) that emission each time obtains then according to raw data compute depth and position
i
3. read the rolling R of each frame
iAnd time T
i, they are one to one, obtain R
i(T
i);
By computes because the rolling deviation of each frame that motion sensor output time-delay causes:
Δ
iR(τ
0)＝R
i(T
i-τ
0)-R
i(T
i)
Choose optimum τ by minimum mean square error criterion
0Value is promptly got feasible
Minimum τ
0Be final motion sensor time-delay correction.
In the present embodiment, with the calculating in said motion sensor time-delay correction the 4th step (being the step of carrying out the aftertreatment of rolling correction data among the embodiment 1) of substitution, in order to improve the accuracy of rolling and incident angle system deviation integrated calibration.
In addition; Because shaking deviation to trim and head, motion sensor time-delay can cause certain influence equally; Therefore, also can be simultaneously in the calculating in the 3rd step (be carry out among the embodiment 1 that head shakes, the step of trim and location delay correction Data Post) the said motion sensor time-delay of substitution correction.
In the select progressively that the difference of present embodiment and first three embodiment is each parameter error is proofreaied and correct, remainder is consistent with embodiment 1 or 2 or 3.The step of present embodiment is following:
The 1st step: the relative distance when system installs between accurate as far as possible measurement and positioning system antenna, motion sensor and the sonar battle array reduces because the system deviation that relative distance causes.
The 2nd step: carry out marine calibration experiments.Calibration test comprises two parts: the one, and obtain to carry out head according to conventional method and shake the data that correction, trim correction and location delay correction need; The 2nd, the smooth area measure of selecting to try one's best is proofreaied and correct needed data to obtain rolling and incident angle system deviation, uses survey line as shown in Figure 1, and survey line length is the maximum coverage range of the both sides of sonar, and survey line is spaced apart single maximum coverage range of surveying.Should use velocity of sound section plotter that the velocity of sound section in test waters is surveyed before and after the calibration test.
The 3rd step: test figure is carried out the parameter correction, obtain preliminary depth measurement result.Preliminary depth measurement result is analyzed, according to depth measurement result's influence size, the order of severity of each systematic parameter deviation is sorted, thereby draw the priority that each systematic parameter deviation is proofreaied and correct.The systematic parameter that the needs here carry out prioritization comprises at least that head shakes, trim, location postpone and rolling.
The 4th step: according to the priority that said each systematic parameter deviation is proofreaied and correct, carry out the correction data aftertreatment successively, obtain their correction according to priority order from high to low.The systematic parameter drift correction amount that each step obtains will be updated in the data processing of the lower systematic parameter deviation of next step priority.
The 5th step: the data processing of the systematic parameter drift correction amount that the correction substitution priority again of the systematic parameter deviation that the priority that the 4th step was obtained is minimum is the highest; Carried out for the 4th step once more; Carry out the correction data aftertreatment successively according to priority order from high to low; Draw each systematic parameter drift correction amount, obtain system deviation correction more accurately.Said process so repeatedly, up to each parameter variable quantity less than preset threshold value or till converging on a certain value.
The 6th step: select the right-angled intersection survey line to meet evaluation test in carrying out at sea, with each the system deviation correction corrective system deviation that obtains, carry out the parameter correction with in meet assessment, the effect of checking system offset correction.
Above-described specific embodiment has carried out detailed explanation to the object of the invention, technical scheme and beneficial effect.The foregoing that it should be understood that is merely specific embodiment of the present invention, is not limited to the present invention.All within spirit of the present invention and principle, any modification of being made, be equal to replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. a method for correcting deviation of depth measuring sonar system comprises the steps:
1) chooses rolling deviation, incident angle system deviation, head and shake in postponing some of deviation, trim deviation, location, and comprise the rolling deviation at least in the said parameter to be calibrated as parameter to be calibrated; Through marine calibration test image data, draw the initial value of each parameter to be calibrated;
2) choose a parameter to be calibrated,, calculate the correction of selected parameter to be calibrated according to the currency of each parameter to be calibrated;
Whether the current correction of 3) judging selected parameter to be calibrated is less than preset threshold value or converge on a certain numerical value; As be judged as and be, then with the final correction of the current correction of parameter to be calibrated as this parameter to be calibrated; As be judged as not, then the value of parameter to be calibrated is returned step 2 with this parameter currency to be calibrated and the replacement of current correction sum);
4) when all parameters to be calibrated all obtain final correction, trimming process finishes;
Wherein, in said step 2) in, said rolling deviation and incident angle system deviation are proofreaied and correct synchronously, draw the comprehensive correction of rolling and incident angle system deviation; The calculating of the comprehensive correction of said rolling and incident angle system deviation comprises step:
A) in the calibration test at sea,, gather the depth measurement data along predetermined survey line navigation; Velocity of sound cross-sectional data before and after the acquisition test;
B) respectively starboard depth measurement data and larboard depth measurement data are handled, obtained starboard rolling and the comprehensive correction of incident angle system deviation and larboard rolling and the comprehensive correction of incident angle system deviation respectively, it is following that the depth measurement data are carried out disposal route:
B1) for i frame depth measurement data, read wherein under scattered signal time of arrival, depth d under calculating according to velocity of sound cross-sectional data again;
B2) degree of depth at each depth measurement point all equals under the assumed condition of d, and The Fitting Calculation goes out the corresponding theoretical incident angle θ ' of each time delay τ in the i frame starboard data;
B3) calculate the difference DELTA of the corresponding actual incident angle θ of each the time delay τ in i frame depth measurement data, directly the read theoretical incident angle θ ' corresponding with it
i(θ), with this difference DELTA
i(θ) as the rolling and the comprehensive correction of incident angle system deviation of i frame;
B4) calculate the rolling of all frames on the wall scroll flight path and the mean value Δ (θ) of the comprehensive correction of incident angle system deviation;
B5) according to the mean inclination of path in elevation direction, and rolling that calculates on the Different Flight and the comprehensive correction mean value of incident angle system deviation, draw revised rolling and the comprehensive correction of incident angle system deviation.
2. method for correcting deviation of depth measuring sonar system according to claim 1 is characterized in that, described depth-determining sonar system is the high resolution detection depth side scan sonar system.
3. method for correcting deviation of depth measuring sonar system according to claim 1 is characterized in that, said calibration parameter also comprises motion sensor output delay deviation, and the computing method of correction that obtain said motion sensor output delay deviation are following:
C1) get one section depth measurement data that obtain at flat site as the raw data of proofreading and correct;
C2) the correction substitution of existing system calibration parameter, according to raw data compute depth and position, The Fitting Calculation goes out the slope of the depth measurement data that emission each time obtains, and the slope of i frame depth measurement data is designated as r
i
C3) read the rolling R of each frame
iAnd time T
i, obtain R
i(T
i);
C4) calculate because the rolling deviation of each frame that motion sensor output time-delay causes:
Δ
iR(τ
0)＝R
i(T
i-τ
0)-R
i(T
i)
Choose optimum τ by minimum mean square error criterion
0Value is got feasible
Minimum τ
0Be final motion sensor time-delay correction.
4. method for correcting deviation of depth measuring sonar system according to claim 1; It is characterized in that; Said step 2) in; At first the order of severity to the deviation of each parameter to be calibrated sorts, and draws the priority that each parameter to be calibrated is proofreaied and correct, and according to priority chooses each parameter to be calibrated then successively and calculates with the correction to each parameter to be calibrated.
5. method for correcting deviation of depth measuring sonar system according to claim 1 is characterized in that, said step 2) in, the order of choosing each parameter to be calibrated is followed successively by: head shakes deviation, trim deviation, location delay, rolling deviation and incident angle system deviation.
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| CN102721966B (en) * | 2012-06-20 | 2013-09-18 | 中国科学院声学研究所 | Below high precision depth-sounding method and system by coherent depth-sounding sonar |
| CN103884869A (en) * | 2012-12-19 | 2014-06-25 | 北京百度网讯科技有限公司 | Sensor deviation correction method and device |
| CN107219529B (en) * | 2017-06-07 | 2019-08-09 | 国家深海基地管理中心 | A kind of acquisition methods and system of high-precision seafloor topography figure |
| CN109031256B (en) * | 2018-07-03 | 2022-08-05 | 交通运输部天津水运工程科学研究所 | Method for calibrating sounding and width scanning performance of multi-beam depth finder |
| CN111190168B (en) * | 2018-11-14 | 2022-01-11 | 中国科学院声学研究所 | Posture stabilizing method of side-scan sonar |
| CN109583083B (en) * | 2018-11-29 | 2022-12-16 | 中国能源建设集团广东省电力设计研究院有限公司 | Cable current-carrying capacity optimization method and device, computer equipment and storage medium |
| CN110837086B (en) * | 2019-10-31 | 2021-07-09 | 江苏科技大学 | Submarine target positioning method and system based on side-scan sonar |
| CN111352115B (en) * | 2020-03-19 | 2022-03-15 | 海底鹰深海科技股份有限公司 | High-resolution sounding side-scan sonar and detection method thereof |
| CN111350214B (en) * | 2020-03-23 | 2021-07-30 | 中交第三航务工程局有限公司江苏分公司 | Multi-beam underwater steel pipe pile position measuring method |
| CN112902948A (en) * | 2021-01-18 | 2021-06-04 | 国家深海基地管理中心 | Deep sea landform and landform combined matching auxiliary navigation positioning system and method |
| CN114791590B (en) * | 2022-06-20 | 2022-08-26 | 北京星天科技有限公司 | Roll compensation beam generation method, device, circuit and system |
| CN115979297B (en) * | 2022-10-31 | 2024-04-26 | 国家海洋标准计量中心 | Calibration system and calibration method for large and medium ocean pressure type depth sounder |
| CN116125477B (en) * | 2023-04-13 | 2023-07-14 | 中交天津港湾工程研究院有限公司 | Automatic-correction underwater acoustic depth finder system and correction method thereof |
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