CN104680583B - A kind of method that sea-floor relief automatically generates - Google Patents
A kind of method that sea-floor relief automatically generates Download PDFInfo
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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
Technical field
The present invention relates to underwater robot technical field, more particularly to one kind to be given birth to automatically using underwater robot aeronautical data
Into the method for sea-floor relief.
Background technology
Underwater robot keel depth is up to thousands of rice, and navigation area sea-floor relief is complicated, seabed submerged reef and seamount range
Presence very big threat is brought to the navigation safety of underwater robot.And traditional electronic chart is for the terrain information in seabed
Compare shortage, so according to the aeronautical data of underwater robot, by data mining and fusion, automatic drawing robot cruising ground
The work of seabed map, which seems, in domain is even more important.It is when underwater robot maiden voyage is in the sea area, aeronautical data is offline
Processing, can automatically generate the bottom relief map in the navigation area；When underwater robot is navigated by water in the region again,
The aeronautical data of the flight number can correct the bottom relief map of last generation automatically.As underwater robot is in the navigation area
The increase of number of trips, the bottom relief map automatically generated can be more perfect.The bottom relief map emulation sea of generation can be utilized
Base ring border, nevigation safety of the verification underwater robot under complicated marine environment, and can be that underwater robot uses sea
Bottom topographical navigation provides reference.
Traditional sea-floor relief generation method is to pay close attention to the bathymetric data processing of unordered discrete point, does not account for continuous water
The processing of deep data, does not utilize the association process submarine topography data of continuous data, particularly when ocean floor topographic survey number well
During according to having overlapping, data fusion can not be carried out well, cause generation sea-floor relief can not actual response seabed landform
Feature.
The content of the invention
In order to overcome the shortcomings of existing method, the technical problem to be solved in the present invention is the navigation number according to underwater robot
According to by data processing, generation submarine topography data, more truly reacts sea-floor relief feature.
The used to achieve the above object technical solution of the present invention is：A kind of method that sea-floor relief automatically generates, bag
Include following steps：
Sound the depth of the water data；
Bathymetric data is converted into the data under sea chart coordinate system；
By bathymetric data gridding；
Respectively the interpolating function on bathymetric data is established in X, Y direction grid；
The grid data of Y direction and X-direction is subjected to data fusion, the depth Z after being merged；
Submarine topography data is constructed using the depth Z after fusion.
The aeronautical data for obtaining bathymetric data and deriving from AUV, is sounded the depth of the water by depth gauge and the high sonar equipment of survey
Data.
It is described that bathymetric data is converted into sea chart coordinate system, comprise the following steps：
Using the southwestern endpoint of bathymetric data as coordinate origin (X0,Y0,Z0), latitude, longitude and the depth number of coordinate origin
According to for
Latitude, longitude and the depth data of other measurement points beBe converted into the data of sea chart coordinate system for (X,
Y,Z)：
Wherein, X represents the north orientation distance apart from origin, and Y represents the east orientation distance apart from origin, and Z represents water depth value.
It is described by bathymetric data gridding, be specially：
The resolution ratio for defining sea chart region is m*n, i.e., divides m grid in the X-axis direction, divides n in the Y-axis direction
Grid, mesh width width_x in X-direction, mesh width is width_y in Y direction；
(X is expressed as after coordinate origin gridding0,Y0,Z0)；
(X is expressed as after coordinate northeast corner endpoint griddingmax,Ymax,Z)；
The coordinate of the sea chart coordinate system of other measurement points is (X, Y, Z), and (X is expressed as after griddingp,Yq,Z)：
In formula,
Wherein, XpRepresent p-th of grid of north orientation apart from origin grid regions, YqRepresent q-th of net of east orientation apart from origin
Lattice, Z represent water depth value.
The interpolating function established in X-direction grid on bathymetric data, is specially：
When east orientation distance is Yq, the depth of water is on the interpolating function Zq (X) of X：
Zq(X)=(Xj-X)3/6hj*Z″j-1
+(X-Xj-1)3/6hj*Z″j（3）
+(Zj-1-Z″j-1*hj 2/6)*(Xj-X)/hj
In formula, hj=Xj-Xj-1, 1≤j≤n-1；Z″j, 1≤j≤n-1, is undetermined coefficient, represents the second dervative of the point.
In order to calculate Z "j, 1≤j≤n-1, establishes equation group（4）, Z in equation groupj(1≤j≤n-1) is known quantity, Z "j(1≤j≤n-
1) it is unknown quantity, equation number unknown quantity number, can solve Z "j, 1≤j≤n-1；
The interpolating function established in Y direction grid on bathymetric data, is specially：
When east orientation distance is XpWhen, the depth of water is on the interpolating function Zp (Y) of Y：
Zp(Y)=(Yj-Y)3/6hj*Z″j-1
+(Y-Yj-1)3/6hj*Z″j（5）
+(Zj-1-Z″j-1*hj 2/6)*(Yj-Y)/hj
In formula, h is definedj=Yj-Yj-1, 1≤j≤n-1；Z″j, 1≤j≤n-1, is undetermined coefficient, represents that the second order of the point is led
Number；
In order to calculate Z "j, 1≤j≤n-1, establishes equation group（6）, Z in equation groupj, 1≤j≤n-1 is known quantity, Z "j, 1
≤ j≤n-1 is unknown quantity, and equation number unknown quantity number, can solve Z "j, 1≤j≤n-1；
Described that the grid data of Y direction and X-direction is carried out data fusion, the depth Z after being merged is：
Z=PY*Zp(Y)+PX*Zq(X) （7）
Wherein, PYRepresent measurement point (Xp,Yq, Z) and in the factor of influence of Y-axis interpolation curve, PXRepresent measurement point (Xp,Yq,Z)
In X-axis interpolation curve factor of influence, Zq (X) is interpolating function of the depth of water on X, and Zp (Y) is interpolating function of the depth of water on Y.
The radius of neighbourhood is set as R, is counted in range points (Xp,Yq, Z) less than radius R X-direction coordinate points be NX, Y side
It is N to coordinate pointsY, then definition
The depth Z using after fusion constructs submarine topography data, is specially：Data after fusion are used
Delaunay algorithms are handled, and utilize the Creator Software Create submarine topography datas of Vega.
The present invention has the following advantages and beneficial effect：
1. method is simple and is widely used.The device that the present invention needs only needs AUV, graphics workstation computer, is not required to
Other auxiliary devices, program can utilize the bathymetric data of underwater robot, automatically generate sea-floor relief.
2. economical and efficient.The present invention automatically generates sea-floor relief, improves navigation of the underwater robot under complex environment
Security, and reference can be provided using sea-floor relief navigation for underwater robot, improve the navigation peace of underwater robot
Full property and operating efficiency.
Brief description of the drawings
Fig. 1 is the composition schematic diagram of the present invention；
Fig. 2 is the flow chart of the sea-floor relief generation method of the present invention.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
The present invention by AUV（Autonomous underwater vechle, underwater untethered submersible）And graphical Work
Computer of standing forms, and wherein AUV needs to carry depth gauge and surveys high sonar to measure the depth value of seawater, as shown in Figure 1.
Sea-floor relief generation method as shown in Fig. 2, AUV according to survey line track obtain data after, upload the data to figure
Shape workstation computer, is handled with submarine topography data generation method, is called Vega to carry out sea-floor relief after processing and is built
Mould, generates sea-floor relief, as shown in Figure 2.
The method according to the invention handles bathymetric data on graphics workstation computer, finally utilizes graphics workstation meter
Vega softwares on calculation machine are modeled sea-floor relief.
1st step：Obtain bathymetric data.
The sum of height value of depth value of the bathymetric data of the navigation area of underwater robot equal to AUV and AUV.
2nd step：Bathymetric data is converted into sea chart coordinate system.
Using the southwestern endpoint of bathymetric data as coordinate origin (X0,Y0,Z0), latitude, longitude and the depth coordinate of origin areFor other measurement points, when its latitude, longitude and depth coordinate areIt is converted into sea chart coordinate system
Coordinate be (X, Y, Z), wherein X represents the north orientation distance apart from coordinate origin, and Y represents the east orientation distance apart from origin, and Z is represented
Water depth value.The computational methods of X, Y and Z such as formula（1）It is shown.
3rd step：By bathymetric data gridding.
The resolution ratio for defining sea chart region is m*n, i.e., divides m grid in the X-axis direction, divides n in the Y-axis direction
Grid, mesh width width_x in X-direction, mesh width is width_y in Y direction.After defining coordinate origin gridding
Represent (X0,Y0,Z0).(X is expressed as after defining the gridding of northeast corner endpointmax,Ymax,Z).For other measurement points, when it
The coordinate of sea chart coordinate system is (X, Y, Z), and (X is represented after griddingp,Yq, Z), wherein XpRepresent the north orientation apart from origin grid regions
P-th of grid, YqRepresent q-th of grid of east orientation apart from origin, Z represents water depth value, computational methods such as formula（2）It is shown.
In formula,
width_x=(Xmax-X0)/n
width_y=(Ymax-Y0)/m
4th step：The interpolating function on bathymetric data is established in X-direction grid.
Define Zq (X) to represent when east orientation distance is Yq, interpolating function of the depth of water on X.The computational methods of Zq (X) such as public affairs
Formula（3）It is shown.
In formula, h is definedj=Xj-Xj-1(1≤j≤n-1)；
Wherein, Z "j(1≤j≤n-1) is undetermined coefficient, represents the second dervative of the point.
In order to calculate Z "j(1≤j≤n-1), establishes equation group（4）, Z in equation groupj(1≤j≤n-1) is known quantity, Z "j
(1≤j≤n-1) is unknown quantity, and equation number unknown quantity number, can solve Z "j(1≤j≤n-1)
5th step：The interpolating function on bathymetric data is established in Y direction grid.
Define Zp (Y) to represent when east orientation distance is Xp, interpolating function of the depth of water on Y.The computational methods of Zp (Y) such as public affairs
Formula（5）It is shown.
In formula, h is definedj=Yj-Yj-1(1≤j≤n-1)；；
Wherein, Z "j(1≤j≤n-1) is undetermined coefficient, represents the second dervative of the point.
In order to calculate Z "j(1≤j≤n-1), establishes equation group（6）, Z in equation groupj(1≤j≤n-1) is known quantity, Z "j
(1≤j≤n-1) is unknown quantity, and equation number unknown quantity number, can solve Z "j(1≤j≤n-1)
6th step：The grid data of Y direction and X-direction is subjected to data fusion.
For measurement point (Xp,Yq, Z), define its PYRepresent the factor of influence of Y-axis interpolation curve, PXRepresent X-axis interpolation
Curve factor of influence, the calculation formula such as formula of depth Z（7）It is shown.
Z=PY*Zp(Y)+PX*Zq(X)（7）
The radius of neighbourhood is set as R（R values are set according to actual conditions）, count in range points (Xp,Yq, Z) and it is less than radius
The X-direction coordinate points of R are NX, Y-direction coordinate points are NY, then definition
7th step：The data of fusion are reused Delaunay algorithms to be handled, are utilized on graphics workstation computer
The Creator Software Create submarine topography datas of Vega.
Claims (7)
1. a kind of method that sea-floor relief automatically generates, it is characterised in that comprise the following steps：
Sound the depth of the water data；
Bathymetric data is converted into the data under sea chart coordinate system；
By bathymetric data gridding；
Respectively the interpolating function on bathymetric data is established in X, Y direction grid；
The grid data of Y direction and X-direction is subjected to data fusion, the depth Z after being merged；
Submarine topography data is constructed using the depth Z after fusion；
Data bathymetric data being converted under sea chart coordinate system, comprise the following steps：
Using the southwestern endpoint of bathymetric data as coordinate origin (X0,Y0,Z0), latitude, longitude and the depth data of coordinate origin are
Latitude, longitude and the depth data of other measurement points beThe data for being converted into sea chart coordinate system are (X, Y, Z)：
Wherein, X represents the north orientation distance apart from origin, and Y represents the east orientation distance apart from origin, and Z represents water depth value.
2. the method that a kind of sea-floor relief according to claim 1 automatically generates, it is characterised in that the bathymetric data comes
The aeronautical data of AUV is come from, by depth gauge and high sonar equipment is surveyed and sounds the depth of the water data.
3. the method that a kind of sea-floor relief according to claim 1 automatically generates, it is characterised in that described by bathymetric data
Gridding, is specially：
The resolution ratio for defining sea chart region is m*n, i.e., divides m grid in the X-axis direction, divides n net in the Y-axis direction
Lattice, mesh width width_x in X-direction, mesh width is width_y in Y direction；
(X is expressed as after coordinate origin gridding0,Y0,Z0)；
(X is expressed as after coordinate northeast corner endpoint griddingmax,Ymax,Z)；
The coordinate of the sea chart coordinate system of other measurement points is (X, Y, Z), and (X is expressed as after griddingp,Yq,Z)：
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Show water depth value.
4. the method that a kind of sea-floor relief according to claim 1 automatically generates, it is characterised in that in X-direction grid
The interpolating function on bathymetric data is established, is specially：
When east orientation distance is Yq, the depth of water is on the interpolating function Zq (X) of X：
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In order to calculate Z "j, establish equation group (4), Z in equation groupjFor known quantity, Z "jFor unknown quantity, equation number is equal to unknown
Number is measured, Z " can be solvedj；
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5. the method that a kind of sea-floor relief according to claim 1 automatically generates, it is characterised in that in Y direction grid
The interpolating function on bathymetric data is established, is specially：
When east orientation distance is XpWhen, the depth of water is on the interpolating function Zp (Y) of Y：
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In formula, h is definedj=Yj-Yj-1, 1≤j≤n-1；Z”jFor undetermined coefficient, the second dervative of the point is represented；
In order to calculate Z "j, establish equation group (6), Z in equation groupjFor known quantity, Z "jFor unknown quantity, equation number is equal to unknown
Number is measured, Z " can be solvedj；
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6. the method that a kind of sea-floor relief according to claim 1 automatically generates, it is characterised in that described by Y direction
Data fusion is carried out with the grid data of X-direction, the depth Z after being merged is：
Z=PY*Zp(Y)+PX*Zq(X) (7)
Wherein, PYRepresent measurement point (Xp,Yq, Z) and in the factor of influence of Y-axis interpolation curve, PXRepresent measurement point (Xp,Yq, Z) and in X
Axis interpolation curve factor of influence, Zq (X) are interpolating function of the depth of water on X, and Zp (Y) is interpolating function of the depth of water on Y；
The radius of neighbourhood is set as R, is counted in range points (Xp,Yq, Z) less than radius R X-direction coordinate points be NX, Y-direction seat
Punctuate number is NY, then definition
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7. the method that a kind of sea-floor relief according to claim 1 automatically generates, it is characterised in that after the utilization fusion
Depth Z construct submarine topography data, be specially：Data after fusion are handled using Delaunay algorithms, are utilized
The Creator Software Create submarine topography datas of Vega.
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