CN104680583B - A kind of method that sea-floor relief automatically generates - Google Patents

Abstract

The present invention discloses a kind of method that submarine topography data automatically generates, which dives unmanned untethered device（AUV）The bathymetric data of acquisition automatically generates sea-floor relief.The invention is divided into 2 stages, and the 1st stage was to obtain bathymetric data using AUV, and the 2nd stage was to automatically generate sea-floor relief according to the AUV bathymetric datas obtained.The present invention is easy to operate, can effectively realize and automatically generate sea-floor relief according to the AUV bathymetric datas obtained, the terrain result of generation more truly reacts sea-floor relief feature.

Description

A Method for Automatic Generation of Seabed Terrain

technical field

The invention relates to the technical field of underwater robots, in particular to a method for automatically generating seabed topography by utilizing navigation data of an underwater robot.

Background technique

The navigation depth of underwater robots can reach thousands of meters, and the seabed terrain in the navigation area is complex. The existence of submarine reefs and submarine mountains poses a great threat to the navigation safety of underwater robots. However, the traditional electronic chart lacks topographic information on the seabed, so it is particularly important to automatically draw the seabed map in the robot's navigation area through data mining and fusion according to the navigation data of the underwater robot. When the underwater robot sails in the sea area for the first time, the navigation data is processed offline to automatically generate a seabed topographic map in the navigation area; when the underwater robot sails in the area again, the navigation data of the voyage can be automatically corrected. A topographic map of the ocean floor generated in one pass. As the number of underwater robots sailing in the navigation area increases, the automatically generated seabed topographic map will be more perfect. The generated seabed topographic map can be used to simulate the seabed environment, verify the navigation safety of the underwater robot in the complex ocean environment, and provide a reference for the underwater robot to use the seabed topography to navigate.

The traditional seabed terrain generation method only focuses on the processing of bathymetry data at unordered discrete points, does not consider the processing of continuous bathymetry data, and does not make good use of the association of continuous data to process seabed topographic data, especially when there is overlap in seabed measurement data. Data fusion cannot be performed well, resulting in the generated seabed topography not being able to truly reflect the topographical characteristics of the seabed.

Contents of the invention

In order to overcome the deficiencies of the existing methods, the technical problem to be solved by the present invention is to generate seabed terrain data through data processing according to the navigation data of the underwater robot, so as to more truly reflect the characteristics of the seabed topography.

The technical solution adopted by the present invention for achieving the above object is: a method for automatically generating seabed topography, comprising the following steps:

Measuring water depth data;

Convert water depth data into data in the chart coordinate system;

Grid the water depth data;

Establish interpolation functions for water depth data in the X and Y axis grids respectively;

Data fusion is performed on the grid data in the Y-axis direction and the X-axis direction to obtain the fused depth Z;

Use the fused depth Z to construct seabed terrain data.

The obtained water depth data is derived from the navigation data of the AUV, and the water depth data is measured by a depth gauge and an altimeter sonar device.

Said converting the water depth data into a chart coordinate system includes the following steps:

The southwest endpoint of the water depth data is taken as the coordinate origin (X ₀ , Y ₀ , Z ₀ ), and the latitude, longitude and depth data of the coordinate origin are

The latitude, longitude and depth data of other measurement points are The data converted into the chart coordinate system is (X, Y, Z):

Among them, X represents the northward distance from the origin, Y represents the eastward distance from the origin, and Z represents the water depth value.

The gridding of water depth data is specifically:

Define the resolution of the chart area as m*n, that is, divide m grids in the direction of the X axis, divide n grids in the direction of the Y axis, the width of the grid in the direction of the X axis is width_x, and the width of the grid in the direction of the Y axis is width_y;

The coordinate origin is expressed as (X ₀ , Y ₀ , Z ₀ ) after gridding;

The gridded end point of the northeast corner of the coordinates is expressed as (X _max , Y _max , Z);

The coordinates of the chart coordinate system of other measurement points are (X, Y, Z), which are expressed as (X _p , Y _q , Z) after gridding:

In the formula,

Among them, X _p represents the p-th grid in the north direction from the grid area of the origin, Y _q represents the q-th grid in the east direction from the origin, and Z represents the water depth value.

The interpolation function about the water depth data is established in the grid in the X-axis direction, specifically:

When the eastward distance is Yq, the interpolation function Zq(X) of water depth with respect to X is:

Zq(X)=(X _j -X) ³ /6h _j *Z″ _j-1

+(XX _j-1 ) ³ /6h _j *Z″ _j (3)

+(Z _j-1 -Z″ _j-1 *h _j ² /6)*(X _j -X)/h _j

In the formula, h _j =X _j -X _j-1 , 1≤j≤n-1; Z″ _j , 1≤j≤n-1, is an undetermined coefficient, representing the second order derivative of this point. In order to calculate Z″ _j , 1≤j≤n-1, establish a system of equations (4), in which Z _j (1≤j≤n-1) is a known quantity, and Z″ _j (1≤j≤n-1) is an unknown Quantity, the number of equations is unknown, and Z″ _j can be solved, 1≤j≤n-1;

The interpolation function about the water depth data is established in the grid in the Y-axis direction, specifically:

When the eastward distance is Xp, the interpolation function _Zp (Y) of water depth with respect to Y is:

Zp(Y)=(Y _j -Y) ³ /6h _j *Z″ _j-1

+(YY _j-1 ) ³ /6h _j *Z″ _j (5)

+(Z _j-1 -Z″ _j-1 *h _j ² /6)*(Y _j -Y)/h _j

In the formula, define h _j =Y _j -Y _j-1 , 1≤j≤n-1; Z″ _j , 1≤j≤n-1, is an undetermined coefficient, representing the second order derivative of this point;

In order to calculate Z″ _j , 1≤j≤n-1, establish equations (6), Z _j in the equations, 1≤j≤n-1 is a known quantity, Z″ _j , 1≤j≤n-1 is the unknown quantity, the number of equations is the number of unknown quantities, and Z″ _j can be solved, 1≤j≤n-1;

The grid data in the Y-axis direction and the X-axis direction are fused for data, and the depth Z obtained after fusion is:

Z=P _Y *Zp(Y)+P _X *Zq(X) (7)

Among them, P _Y represents the influence factor of the measurement point (X _p , Y _q , Z) on the Y-axis interpolation curve, P _X represents the influence factor of the measurement point (X _p , Y _q , Z) on the X-axis interpolation curve, Zq (X ) is the interpolation function of water depth with respect to X, and Zp(Y) is the interpolation function of water depth with respect to Y.

Set the radius of the neighborhood as R, count the number of coordinate points in the X direction less than the radius R from the point (X _p , Y _q , Z) as N _X , and the number of coordinate points in the Y direction as N _Y , then define

The use of the fused depth Z to construct seabed topography data specifically includes: processing the fused data using the Delaunay algorithm, and using Vega's Creator software to generate seabed topography data.

The present invention has the following advantages and beneficial effects:

1. The method is simple and widely used. The device required by the invention only needs AUV, graphics workstation computer, without other auxiliary devices, and the program can use the water depth data of the underwater robot to automatically generate the seabed topography.

2. Cost-effective. The invention automatically generates the seabed topography, improves the navigation safety of the underwater robot in a complex environment, and can provide reference for the underwater robot to navigate using the seabed topography, thereby improving the navigation safety and operation efficiency of the underwater robot.

Description of drawings

Fig. 1 is a composition schematic diagram of the present invention;

Fig. 2 is a flow chart of the seabed terrain generation method of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

The present invention is composed of AUV (Autonomous underwater vechle, unmanned unmanned submersible) and a graphics workstation computer, wherein the AUV needs to be equipped with a depth gauge and an altimeter sonar to measure the depth value of seawater, as shown in Figure 1.

The method of seabed terrain generation is shown in Figure 2. After the AUV obtains the data according to the survey line trajectory, it uploads the data to the graphics workstation computer, uses the seabed terrain data generation method for processing, and calls Vega after processing to model the seabed terrain and generate the seabed terrain. ,as shown in picture 2.

According to the method of the present invention, the water depth data is processed on the graphics workstation computer, and finally the seabed topography is modeled by using the Vega software on the graphics workstation computer.

Step 1: Get water depth data.

The water depth data of the navigation area of the underwater robot is equal to the sum of the depth value of the AUV and the height value of the AUV.

Step 2: Convert the bathymetry data into chart coordinate system.

The southwest endpoint of the water depth data is taken as the coordinate origin (X ₀ , Y ₀ , Z ₀ ), and the latitude, longitude and depth coordinates of the origin are For other measurement points, when its latitude, longitude and depth coordinates are The coordinates converted into the chart coordinate system are (X, Y, Z), where X represents the northward distance from the coordinate origin, Y represents the eastward distance from the origin, and Z represents the water depth value. The calculation method of X, Y and Z is shown in formula (1).

Step 3: Grid the water depth data.

Define the resolution of the chart area as m*n, that is, divide m grids in the direction of the X axis, divide n grids in the direction of the Y axis, the width of the grid in the direction of the X axis is width_x, and the width of the grid in the direction of the Y axis is width_y. Define the coordinate origin to represent (X ₀ , Y ₀ , Z ₀ ) after gridding. After defining the meshing of the northeast corner endpoint, it is expressed as (X _max , Y _max , Z). For other measurement points, when the coordinates of its chart coordinate system are (X, Y, Z), it will be expressed as (X _p , Y _q , Z) after gridding, where X _p represents the north direction of the grid area from the origin. p grids, Y _q represents the qth grid eastward from the origin, Z represents the water depth value, and the calculation method is shown in formula (2).

In the formula,

width_x=(X _max -X ₀ )/n

width_y=(Y _max -Y ₀ )/m

Step 4: Establish an interpolation function for water depth data on the grid in the X-axis direction.

The definition Zq(X) represents the interpolation function of water depth with respect to X when the eastward distance is Yq. The calculation method of Zq(X) is shown in formula (3).

In the formula, define h _j =X _j -X _j-1 (1≤j≤n-1);

Among them, Z″ _j (1≤j≤n-1) is an undetermined coefficient, representing the second derivative of this point.

In order to calculate Z″ _j (1≤j≤n-1), establish equations (4), in which Z _j (1≤j≤n-1) is a known quantity, Z″ _j (1≤j≤n -1) is the unknown quantity, the number of equations is the number of unknown quantities, and Z″ _j (1≤j≤n-1) can be solved

Step 5: Establish an interpolation function for water depth data on the Y-axis grid.

Define Zp(Y) as the interpolation function of water depth with respect to Y when the eastward distance is Xp. The calculation method of Zp(Y) is shown in formula (5).

In the formula, define h _j =Y _j -Y _j-1 (1≤j≤n-1);

Among them, Z″ _j (1≤j≤n-1) is an undetermined coefficient, representing the second derivative of this point.

In order to calculate Z″ _j (1≤j≤n-1), establish equations (6), in which Z _j (1≤j≤n-1) is a known quantity, Z″ _j (1≤j≤n -1) is the unknown quantity, the number of equations is the number of unknown quantities, and Z″ _j (1≤j≤n-1) can be solved

Step 6: Perform data fusion on the grid data in the Y-axis direction and the X-axis direction.

For the measurement point (X _p , Y _q , Z), define its P _Y to represent the influence factor of the Y-axis interpolation curve, P _X to represent the influence factor of the X-axis interpolation curve, and the calculation formula of the depth Z is shown in formula (7).

Z=P _Y *Zp(Y)+P _X *Zq(X) (7)

Set the radius of the neighborhood as R (the value of R is set according to the actual situation), and the number of coordinate points in the X direction where the distance point (X _p , Y _q , Z) is less than the radius R is N _X , and the number of coordinate points in the Y direction is N _Y , then define

Step 7: Process the fused data with the Delaunay algorithm, and use Vega's Creator software on the graphics workstation computer to generate seabed terrain data.

Claims (7)

1. A method for automatically generating seabed topography, comprising the following steps: Measuring water depth data; Convert water depth data into data in the chart coordinate system; Grid the water depth data; Establish interpolation functions for water depth data in the X and Y axis grids respectively; Data fusion is performed on the grid data in the Y-axis direction and the X-axis direction to obtain the fused depth Z; Use the fused depth Z to construct seabed terrain data; Said converting the water depth data into data under the chart coordinate system comprises the following steps: The southwest endpoint of the water depth data is taken as the coordinate origin (X ₀ , Y ₀ , Z ₀ ), and the latitude, longitude and depth data of the coordinate origin are The latitude, longitude and depth data of other measurement points are The data converted into the chart coordinate system is (X, Y, Z): Among them, X represents the northward distance from the origin, Y represents the eastward distance from the origin, and Z represents the water depth value. 2. The method for automatically generating a kind of seabed topography according to claim 1, wherein the water depth data is derived from the navigation data of the AUV, and the water depth data is measured by a depth gauge and an altimeter sonar device. 3. the method for a kind of seabed terrain automatic generation according to claim 1, is characterized in that, described water depth data is gridded, specifically: Define the resolution of the chart area as m*n, that is, divide m grids in the direction of the X axis, divide n grids in the direction of the Y axis, the width of the grid in the direction of the X axis is width_x, and the width of the grid in the direction of the Y axis is width_y; The coordinate origin is expressed as (X ₀ , Y ₀ , Z ₀ ) after gridding; The gridded end point of the northeast corner of the coordinates is expressed as (X _max , Y _max , Z); The coordinates of the chart coordinate system of other measurement points are (X, Y, Z), which are expressed as (X _p , Y _q , Z) after gridding: <mrow><mtable><mtr><mtd><mrow><mi>p</mi><mo>=</mo><mrow><mo>(</mo><mi>X</mi><mo>-</mo><msub><mi>X</mi><mn>0</mn></msub><mo>)</mo></mrow><mo>/</mo><mi>w</mi><mi>i</mi><mi>d</mi><mi>t</mi><mi>h</mi><mo>_</mo><mi>x</mi></mrow></mtd></mtr><mtr><mtd><mrow><mi>q</mi><mo>=</mo><mrow><mo>(</mo><mi>Y</mi><mo>-</mo><msub><mi>Y</mi><mn>0</mn></msub><mo>)</mo></mrow><mo>/</mo><mi>w</mi><mi>i</mi><mi>d</mi><mi>t</mi><mi>h</mi><mo>_</mo><mi>y</mi></mrow></mtd></mtr></mtable><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>2</mn><mo>)</mo></mrow></mrow> In the formula, Among them, X _p represents the p-th grid in the north direction from the grid area of the origin, Y _q represents the q-th grid in the east direction from the origin, and Z represents the water depth value. 4. the method for a kind of seabed topography automatic generation according to claim 1, is characterized in that, in X-axis direction grid, establishes the interpolation function about water depth data, specifically: When the eastward distance is Yq, the interpolation function Zq(X) of water depth with respect to X is: <mrow><mtable><mtr><mtd><mrow><mi>Z</mi><mi>q</mi><mrow><mo>(</mo><mi>X</mi><mo>)</mo></mrow><mo>=</mo><msup><mrow><mo>(</mo><msub><mi>X</mi><mi>j</mi></msub><mo>-</mo><mi>X</mi><mo>)</mo></mrow><mn>3</mn></msup><mo>/</mo><mn>6</mn><msub><mi>h</mi><mi>j</mi></msub><mo>*</mo><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mrow><mi>j</mi><mo>-</mo><mn>1</mn></mrow></msub></mrow></mtd></mtr><mtr><mtd><mrow><mo>+</mo><msup><mrow><mo>(</mo><mi>X</mi><mo>-</mo><msub><mi>X</mi><mrow><mi>j</mi><mo>-</mo><mn>1</mn></mrow></msub><mo>)</mo></mrow><mn>3</mn></msup><mo>/</mo><mn>6</mn><msub><mi>h</mi><mi>j</mi></msub><mo>*</mo><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mi>j</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mo>+</mo><mrow><mo>(</mo><msub><mi>Z</mi><mrow><mi>j</mi><mo>-</mo><mn>1</mn></mrow></msub><mo>-</mo><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mrow><mi>j</mi><mo>-</mo><mn>1</mn></mrow></msub><mo>*</mo><msup><msub><mi>h</mi><mi>j</mi></msub><mn>2</mn></msup><mo>/</mo><mn>6</mn><mo>)</mo></mrow><mo>*</mo><mrow><mo>(</mo><msub><mi>X</mi><mi>j</mi></msub><mo>-</mo><mi>X</mi><mo>)</mo></mrow><mo>/</mo><msub><mi>h</mi><mi>j</mi></msub></mrow></mtd></mtr></mtable><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>3</mn><mo>)</mo></mrow></mrow> In the formula, h _j ＝X _j -X _j-1 , 1≤j≤n-1; Z” _j is an undetermined coefficient, representing the second order derivative of this point; In order to calculate Z " _j , set up equation group (4), Z _j is known quantity in the equation group, Z " _j is unknown quantity, and the number of equations is equal to the unknown quantity number, can solve Z "_j; <mrow><mfenced open = "{" close = ""><mtable><mtr><mtd><mrow><msub><mi>h</mi><mi>j</mi></msub><mo>/</mo><mrow><mo>(</mo><msub><mi>h</mi><mi>j</mi></msub><mo>+</mo><msub><mi>h</mi><mrow><mi>j</mi><mo>+</mo><mn>1</mn></mrow></msub><mo>)</mo></mrow><mo>*</mo><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mrow><mi>j</mi><mo>-</mo><mn>1</mn></mrow></msub><mo>+</mo><mn>2</mn><mo>*</mo><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mi>j</mi></msub><mo>+</mo><msub><mi>h</mi><mrow><mi>j</mi><mo>+</mo><mn>1</mn></mrow></msub><mo>/</mo><mrow><mo>(</mo><msub><mi>h</mi><mi>j</mi></msub><mo>+</mo><msub><mi>h</mi><mrow><mi>j</mi><mo>+</mo><mn>1</mn></mrow></msub><mo>)</mo></mrow><mo>*</mo><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mrow><mi>j</mi><mo>+</mo><mn>1</mn></mrow></msub><mo>=</mo></mrow></mtd></mtr><mtr><mtd><mrow><mo>+</mo><mfrac><mn>6</mn><mrow><msub><mi>h</mi><mi>j</mi></msub><mo>+</mo><msub><mi>h</mi><mrow><mi>j</mi><mo>+</mo><mn>1</mn></mrow></msub></mrow></mfrac><mo>*</mo><mrow><mo>(</mo><mfrac><mrow><msub><mi>Z</mi><mrow><mi>j</mi><mo>+</mo><mn>1</mn></mrow></msub><mo>-</mo><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></mo>msup><mrow><mi>j</mi><mo>-</mo><mn>1</mn></mrow></msub></mrow><msub><mi>h</mi><mrow><mi>j</mi><mo>+</mo><mn>1</mn></mrow></msub></mfrac><mo>-</mo><mfrac><mrow><msub><mi>Z</mi><mi>j</mi></msub><mo>-</mo><msub><mi>Z</mi><mrow><mi>j</mi><mo>-</mo><mn>1</mn></mrow></msub></mrow><msub><mi>h</mi><mi>j</mi></msub></mfrac><mo>)</mo></mrow><mo>,</mo><mrow><mo>(</mo><mn>1</mn><mo>&amp;le;</mo><mi>j</mi><mo>&amp;le;</mo><mi>n</mi><mo>-</mo><mn>1</mn><mo>)</mo></mrow></mrow></mtd></mtr><mtr><mtd><mrow><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mn>0</mn></msub><mo>=</mo><mn>0</mn><mo>,</mo></mrow></mtd></mtr><mtr><mtd><mrow><msubsup><mi>Z</mi><mi>n</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msubsup><mo>=</mo><mn>0</mn></mrow></mtd></mtr></mtable></mfenced><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>4</mn><mo>)</mo></mrow><mo>.</mo></mrow> 5. the method for a kind of seabed topography automatic generation according to claim 1, is characterized in that, the interpolation function about water depth data is set up in Y-axis direction grid, is specially: When the eastward distance is Xp, the interpolation function _Zp (Y) of water depth with respect to Y is: <mrow><mtable><mtr><mtd><mrow><mi>Z</mi><mi>p</mi><mrow><mo>(</mo><mi>Y</mi><mo>)</mo></mrow><mo>=</mo><msup><mrow><mo>(</mo><msub><mi>Y</mi><mi>j</mi></msub><mo>-</mo><mi>Y</mi><mo>)</mo></mrow><mn>3</mn></msup><mo>/</mo><mn>6</mn><msub><mi>h</mi><mi>j</mi></msub><mo>*</mo><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mrow><mi>j</mi><mo>-</mo><mn>1</mn></mrow></msub></mrow></mtd></mtr><mtr><mtd><mrow><mo>+</mo><msup><mrow><mo>(</mo><mi>Y</mi><mo>-</mo><msub><mi>Y</mi><mrow><mi>j</mi><mo>-</mo><mn>1</mn></mrow></msub><mo>)</mo></mrow><mn>3</mn></msup><mo>/</mo><mn>6</mn><msub><mi>h</mi><mi>j</mi></msub><mo>*</mo><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mi>j</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mo>+</mo><mrow><mo>(</mo><msub><mi>Z</mi><mrow><mi>j</mi><mo>-</mo><mn>1</mn></mrow></msub><mo>-</mo><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mrow><mi>j</mi><mo>-</mo><mn>1</mn></mrow></msub><mo>*</mo><msup><msub><mi>h</mi><mi>j</mi></msub><mn>2</mn></msup><mo>/</mo><mn>6</mn><mo>)</mo></mrow><mo>*</mo><mrow><mo>(</mo><msub><mi>Y</mi><mi>j</mi></msub><mo>-</mo><mi>Y</mi><mo>)</mo></mrow><mo>/</mo><msub><mi>h</mi><mi>j</mi></msub></mrow></mtd></mtr></mtable><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>5</mn><mo>)</mo></mrow></mrow> In the formula, define h _j =Y _j -Y _j-1 , 1≤j≤n-1; Z” _j is an undetermined coefficient, representing the second order derivative of this point; In order to calculate Z " _j , set up equation group (6), in equation group Z _j is known quantity, Z " _j is unknown quantity, and the number of equations is equal to the unknown quantity number, can solve Z "_j; <mrow><mfenced open = "{" close = ""><mtable><mtr><mtd><mrow><msub><mi>h</mi><mi>j</mi></msub><mo>/</mo><mrow><mo>(</mo><msub><mi>h</mi><mi>j</mi></msub><mo>+</mo><msub><mi>h</mi><mrow><mi>j</mi><mo>+</mo><mn>1</mn></mrow></msub><mo>)</mo></mrow><mo>*</mo><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mrow><mi>j</mi><mo>-</mo><mn>1</mn></mrow></msub><mo>+</mo><mn>2</mn><mo>*</mo><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mi>j</mi></msub><mo>+</mo><msub><mi>h</mi><mrow><mi>j</mi><mo>+</mo><mn>1</mn></mrow></msub><mo>/</mo><mrow><mo>(</mo><msub><mi>h</mi><mi>j</mi></msub><mo>+</mo><msub><mi>h</mi><mrow><mi>j</mi><mo>+</mo><mn>1</mn></mrow></msub><mo>)</mo></mrow><mo>*</mo><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mrow><mi>j</mi><mo>+</mo><mn>1</mn></mrow></msub><mo>=</mo></mrow></mtd></mtr><mtr><mtd><mrow><mo>+</mo><mfrac><mn>6</mn><mrow><msub><mi>h</mi><mi>j</mi></msub><mo>+</mo><msub><mi>h</mi><mrow><mi>j</mi><mo>+</mo><mn>1</mn></mrow></msub></mrow></mfrac><mo>*</mo><mrow><mo>(</mo><mfrac><mrow><msub><mi>Z</mi><mrow><mi>j</mi><mo>+</mo><mn>1</mn></mrow></msub><mo>-</mo><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></mo>msup><mrow><mi>j</mi><mo>-</mo><mn>1</mn></mrow></msub></mrow><msub><mi>h</mi><mrow><mi>j</mi><mo>+</mo><mn>1</mn></mrow></msub></mfrac><mo>-</mo><mfrac><mrow><msub><mi>Z</mi><mi>j</mi></msub><mo>-</mo><msub><mi>Z</mi><mrow><mi>j</mi><mo>-</mo><mn>1</mn></mrow></msub></mrow><msub><mi>h</mi><mi>j</mi></msub></mfrac><mo>)</mo></mrow><mo>,</mo><mrow><mo>(</mo><mn>1</mn><mo>&amp;le;</mo><mi>j</mi><mo>&amp;le;</mo><mi>n</mi><mo>-</mo><mn>1</mn><mo>)</mo></mrow></mrow></mtd></mtr><mtr><mtd><mrow><msub><msup><mi>Z</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mn>0</mn></msub><mo>=</mo><mn>0</mn><mo>,</mo></mrow></mtd></mtr><mtr><mtd><mrow><msubsup><mi>Z</mi><mi>n</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msubsup><mo>=</mo><mn>0</mn></mrow></mtd></mtr></mtable></mfenced><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>6</mn><mo>)</mo></mrow><mo>.</mo></mrow> 6. the method for a kind of seabed terrain automatic generation according to claim 1, is characterized in that, described grid data of Y-axis direction and X-axis direction is carried out data fusion, obtains the depth Z after fusion as: Z＝P _Y *Zp(Y)+P _X *Zq(X) (7) Among them, P _Y represents the influence factor of the measurement point (X _p , Y _q , Z) on the Y-axis interpolation curve, P _X represents the influence factor of the measurement point (X _p , Y _q , Z) on the X-axis interpolation curve, Zq (X ) is the interpolation function of water depth about X, and Zp(Y) is the interpolation function of water depth about Y; Set the radius of the neighborhood as R, count the number of coordinate points in the X direction less than the radius R from the point (X _p , Y _q , Z) as N _X , and the number of coordinate points in the Y direction as N _Y , then define <mrow><mfenced open = "{" close = ""><mtable><mtr><mtd><mrow><msub><mi>P</mi><mi>X</mi></msub><mo>=</mo><mfrac><msub><mi>N</mi><mi>x</mi></msub><mrow><msub><mi>N</mi><mi>x</mi></msub><mo>+</mo><msub><mi>N</mi><mi>Y</mi></msub></mrow></mfrac></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>P</mi><mi>Y</mi></msub><mo>=</mo><mfrac><msub><mi>N</mi><mi>Y</mi></msub><mrow><msub><mi>N</mi><mi>x</mi></msub><mo>+</mo><msub><mi>N</mi><mi>Y</mi></msub></mrow></mfrac></mrow></mtd></mtr></mtable></mfenced><mo>.</mo></mrow> 7. the method for a kind of seabed topography automatic generation according to claim 1, is characterized in that, described utilization depth Z after fusion constructs seabed topography data, specifically: the data after fusion is processed using Delaunay algorithm, Use Vega's Creator software to generate seabed topography data.