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

A kind of method that sea-floor relief automatically generates Download PDF

Info

Publication number
CN104680583B
CN104680583B CN201310636913.8A CN201310636913A CN104680583B CN 104680583 B CN104680583 B CN 104680583B CN 201310636913 A CN201310636913 A CN 201310636913A CN 104680583 B CN104680583 B CN 104680583B
Authority
CN
China
Prior art keywords
mrow
msub
msup
mtr
mtd
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201310636913.8A
Other languages
Chinese (zh)
Other versions
CN104680583A (en
Inventor
刘健
王轶群
刘铁军
赵宏宇
贾松力
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Institute of Automation of CAS
Original Assignee
Shenyang Institute of Automation of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Institute of Automation of CAS filed Critical Shenyang Institute of Automation of CAS
Priority to CN201310636913.8A priority Critical patent/CN104680583B/en
Publication of CN104680583A publication Critical patent/CN104680583A/en
Application granted granted Critical
Publication of CN104680583B publication Critical patent/CN104680583B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05Geographic models

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Remote Sensing (AREA)
  • Computer Graphics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Other Investigation Or Analysis Of Materials By Electrical Means (AREA)

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

一种海底地形自动生成的方法A Method for Automatic Generation of Seabed Terrain

技术领域technical field

本发明涉及水下机器人技术领域,尤其涉及一种利用水下机器人航行数据自动生成海底地形的方法。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.

背景技术Background technique

水下机器人航行深度可达数千米,航行区域海底地形复杂,海底暗礁和海底山脉的存在对水下机器人的航行安全带来很大的威胁。而传统的电子海图对于海底的地形信息比较缺乏,所以根据水下机器人的航行数据,通过数据挖掘和融合,自动绘制机器人航行区域内海底地图的工作显得尤其重要。当水下机器人首次航行于该海区时,将航行数据离线处理,可以自动生成一个该航行区域内的海底地形图;当水下机器人再次航行于该区域时,该航次的航行数据可以自动修正上一次生成的海底地形图。随着水下机器人在该航行区域航行次数的增加,自动生成的海底地形图会更加完善。可以利用生成的海底地形图仿真海底环境,验证水下机器人在复杂海洋环境下的航行安全性,而且能够为水下机器人使用海底地形导航提供参考。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.

传统的海底地形生成方法只是关注无序离散点的水深数据处理,没有考虑连续水深数据的处理,没有很好地利用连续数据的关联处理海底地形数据,特别是当海底测量数据存在交叠时,无法很好的进行数据融合,导致生成的海底地形无法真实反应海底的地形特点。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.

发明内容Contents of the invention

为了克服现有方法的不足,本发明要解决的技术问题是根据水下机器人的航行数据,通过数据处理,生成海底地形数据,更加真实地反应海底地形特点。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.

本发明为实现上述目的所采用的技术方案是:一种海底地形自动生成的方法,包括以下步骤: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:

测量水深数据;Measuring water depth data;

将水深数据转换成海图坐标系下的数据;Convert water depth data into data in the chart coordinate system;

将水深数据网格化;Grid the water depth data;

分别在X、Y轴方向网格建立关于水深数据的插值函数;Establish interpolation functions for water depth data in the X and Y axis grids respectively;

将Y轴方向和X轴方向的网格数据进行数据融合,得到融合后的深度Z;Data fusion is performed on the grid data in the Y-axis direction and the X-axis direction to obtain the fused depth Z;

利用融合后的深度Z构造出海底地形数据。Use the fused depth Z to construct seabed terrain data.

所述获得水深数据来源于AUV的航行数据,通过深度计和测高声纳装置测量水深数据。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.

所述将水深数据转换成海图坐标系,包括以下步骤:Said converting the water depth data into a chart coordinate system includes the following steps:

将水深数据的西南端点作为坐标原点(X0,Y0,Z0),坐标原点的纬度、经度和深度数据为 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

其它测量点的纬度、经度和深度数据为转换成海图坐标系的数据为(X,Y,Z):The latitude, longitude and depth data of other measurement points are The data converted into the chart coordinate system is (X, Y, Z):

其中,X表示距离原点的北向距离,Y表示距离原点的东向距离,Z表示水深值。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.

所述将水深数据网格化,具体为:The gridding of water depth data is specifically:

定义海图区域的分辨率为m*n,即在X轴方向上划分m个网格,在Y轴方向上划分n个网格,X轴方向上网格宽度width_x,Y轴方向上网格宽度为width_y;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;

坐标原点网格化后表示为(X0,Y0,Z0);The coordinate origin is expressed as (X 0 , Y 0 , Z 0 ) after gridding;

坐标东北角端点网格化后表示为(Xmax,Ymax,Z);The gridded end point of the northeast corner of the coordinates is expressed as (X max , Y max , Z);

其它测量点的海图坐标系的坐标为(X,Y,Z),网格化后表示为(Xp,Yq,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:

式中, In the formula,

其中,Xp表示距离原点网格区的北向第p个网格,Yq表示距离原点的东向第q个网格,Z表示水深值。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.

所述在X轴方向网格建立关于水深数据的插值函数,具体为:The interpolation function about the water depth data is established in the grid in the X-axis direction, specifically:

当东向距离为Yq时,水深关于X的插值函数Zq(X)为:When the eastward distance is Yq, the interpolation function Zq(X) of water depth with respect to X is:

Zq(X)=(Xj-X)3/6hj*Z″j-1 Zq(X)=(X j -X) 3 /6h j *Z″ j-1

+(X-Xj-1)3/6hj*Z″j (3)+(XX j-1 ) 3 /6h j *Z″ j (3)

+(Zj-1-Z″j-1*hj 2/6)*(Xj-X)/hj +(Z j-1 -Z″ j-1 *h j 2 /6)*(X j -X)/h j

式中,hj=Xj-Xj-1,1≤j≤n-1;Z″j,1≤j≤n-1,为待定系数,表示该点的二阶导数。为了计算Z″j,1≤j≤n-1,建立方程组(4),方程组中Zj(1≤j≤n-1)为已知量,Z″j(1≤j≤n-1)为未知量,方程个数未知量个数,能够求解出Z″j,1≤j≤n-1;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;

所述在Y轴方向网格建立关于水深数据的插值函数,具体为:The interpolation function about the water depth data is established in the grid in the Y-axis direction, specifically:

当东向距离为Xp时,水深关于Y的插值函数Zp(Y)为:When the eastward distance is Xp, the interpolation function Zp (Y) of water depth with respect to Y is:

Zp(Y)=(Yj-Y)3/6hj*Z″j-1 Zp(Y)=(Y j -Y) 3 /6h j *Z″ j-1

+(Y-Yj-1)3/6hj*Z″j (5)+(YY j-1 ) 3 /6h j *Z″ j (5)

+(Zj-1-Z″j-1*hj 2/6)*(Yj-Y)/hj +(Z j-1 -Z″ j-1 *h j 2 /6)*(Y j -Y)/h j

式中,定义hj=Yj-Yj-1,1≤j≤n-1;Z″j,1≤j≤n-1,为待定系数,表示该点的二阶导数;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;

为了计算Z″j,1≤j≤n-1,建立方程组(6),方程组中Zj,1≤j≤n-1为已知量,Z″j,1≤j≤n-1为未知量,方程个数未知量个数,能够求解出Z″j,1≤j≤n-1;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;

所述将Y轴方向和X轴方向的网格数据进行数据融合,得到融合后的深度Z为: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=PY*Zp(Y)+PX*Zq(X) (7)Z=P Y *Zp(Y)+P X *Zq(X) (7)

其中,PY表示测量点(Xp,Yq,Z)在Y轴插值曲线的影响因子,PX表示测量点(Xp,Yq,Z)在X轴插值曲线影响因子,Zq(X)为水深关于X的插值函数,Zp(Y)为水深关于Y的插值函数。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.

设定邻域半径为R,统计在距离点(Xp,Yq,Z)小于半径R的X方向坐标点数为NX,Y方向坐标点数为NY,那么定义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

所述利用融合后的深度Z构造出海底地形数据,具体为:对融合后的数据使用Delaunay算法进行处理,利用Vega的Creator软件生成海底地形数据。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.

本发明具有以下优点及有益效果:The present invention has the following advantages and beneficial effects:

1.方法简单和应用广泛。本发明需要的装置仅需要AUV、图形工作站计算机,不需其它辅助装置,程序能够利用水下机器人的水深数据,自动生成海底地形。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.经济高效。本发明自动生成海底地形,提高了水下机器人在复杂环境下的航行安全性,而且能够为水下机器人使用海底地形导航提供参考,提高了水下机器人的航行安全性和作业效率。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.

附图说明Description of drawings

图1是本发明的组成示意图;Fig. 1 is a composition schematic diagram of the present invention;

图2是本发明的海底地形生成方法的流程图。Fig. 2 is a flow chart of the seabed terrain generation method of the present invention.

具体实施方式Detailed ways

下面结合附图及实施例对本发明做进一步的详细说明。The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

本发明由的AUV(Autonomous underwater vechle,无人无缆潜水器)和图形工作站计算机组成,其中AUV需要搭载深度计和测高声纳来测量海水的深度值,如图1所示。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.

海底地形生成的方法如图2所示,AUV按照测线轨迹获得数据后,将数据上传到图形工作站计算机,运用海底地形数据生成方法进行处理,处理后调用Vega进行海底地形建模,生成海底地形,如图2所示。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.

按照本发明的方法在图形工作站计算机上处理水深数据,最后利用图形工作站计算机上的Vega软件对海底地形进行建模。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.

第1步:获得水深数据。Step 1: Get water depth data.

水下机器人的航行区域的水深数据等于AUV的深度值和AUV的高度值之和。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.

第2步:将水深数据转换成海图坐标系。Step 2: Convert the bathymetry data into chart coordinate system.

将水深数据的西南端点作为坐标原点(X0,Y0,Z0),原点的纬度、经度和深度坐标为对于其它测量点,当它的纬度、经度和深度坐标为转换成海图坐标系的坐标为(X,Y,Z),其中X表示距离坐标原点的北向距离,Y表示距离原点的东向距离,Z表示水深值。X,Y和Z的计算方法如公式(1)所示。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).

第3步:将水深数据网格化。Step 3: Grid the water depth data.

定义海图区域的分辨率为m*n,即在X轴方向上划分m个网格,在Y轴方向上划分n个网格,X轴方向上网格宽度width_x,Y轴方向上网格宽度为width_y。定义坐标原点网格化后表示(X0,Y0,Z0)。定义东北角端点的网格化后表示为(Xmax,Ymax,Z)。对于其它测量点,当它的海图坐标系的坐标为(X,Y,Z),网格化后表示(Xp,Yq,Z),其中Xp表示距离原点网格区的北向第p个网格,Yq表示距离原点的东向第q个网格,Z表示水深值,计算方法如公式(2)所示。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).

式中,In the formula,

width_x=(Xmax-X0)/nwidth_x=(X max -X 0 )/n

width_y=(Ymax-Y0)/mwidth_y=(Y max -Y 0 )/m

第4步:在X轴方向网格建立关于水深数据的插值函数。Step 4: Establish an interpolation function for water depth data on the grid in the X-axis direction.

定义Zq(X)表示当东向距离为Yq时,水深关于X的插值函数。Zq(X)的计算方法如公式(3)所示。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).

式中,定义hj=Xj-Xj-1(1≤j≤n-1);In the formula, define h j =X j -X j-1 (1≤j≤n-1);

其中,Z″j(1≤j≤n-1)为待定系数,表示该点的二阶导数。Among them, Z″ j (1≤j≤n-1) is an undetermined coefficient, representing the second derivative of this point.

为了计算Z″j(1≤j≤n-1),建立方程组(4),方程组中Zj(1≤j≤n-1)为已知量,Z″j(1≤j≤n-1)为未知量,方程个数未知量个数,能够求解出Z″j(1≤j≤n-1)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

第5步:在Y轴方向网格建立关于水深数据的插值函数。Step 5: Establish an interpolation function for water depth data on the Y-axis grid.

定义Zp(Y)表示当东向距离为Xp时,水深关于Y的插值函数。Zp(Y)的计算方法如公式(5)所示。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).

式中,定义hj=Yj-Yj-1(1≤j≤n-1);;In the formula, define h j =Y j -Y j-1 (1≤j≤n-1);

其中,Z″j(1≤j≤n-1)为待定系数,表示该点的二阶导数。Among them, Z″ j (1≤j≤n-1) is an undetermined coefficient, representing the second derivative of this point.

为了计算Z″j(1≤j≤n-1),建立方程组(6),方程组中Zj(1≤j≤n-1)为已知量,Z″j(1≤j≤n-1)为未知量,方程个数未知量个数,能够求解出Z″j(1≤j≤n-1)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

第6步:将Y轴方向和X轴方向的网格数据进行数据融合。Step 6: Perform data fusion on the grid data in the Y-axis direction and the X-axis direction.

对于测量点(Xp,Yq,Z),定义它的PY表示Y轴插值曲线的影响因子,PX表示X轴插值曲线影响因子,深度Z的计算公式如公式(7)所示。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=PY*Zp(Y)+PX*Zq(X)(7)Z=P Y *Zp(Y)+P X *Zq(X) (7)

设定邻域半径为R(R值根据实际情况进行设定),统计在距离点(Xp,Yq,Z)小于半径R的X方向坐标点数为NX,Y方向坐标点数为NY,那么定义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

第7步:将融合的数据再使用Delaunay算法进行处理,在图形工作站计算机上利用Vega的Creator软件生成海底地形数据。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)

1.一种海底地形自动生成的方法,其特征在于,包括以下步骤:1. A method for automatically generating seabed topography, comprising the following steps: 测量水深数据;Measuring water depth data; 将水深数据转换成海图坐标系下的数据;Convert water depth data into data in the chart coordinate system; 将水深数据网格化;Grid the water depth data; 分别在X、Y轴方向网格建立关于水深数据的插值函数;Establish interpolation functions for water depth data in the X and Y axis grids respectively; 将Y轴方向和X轴方向的网格数据进行数据融合,得到融合后的深度Z;Data fusion is performed on the grid data in the Y-axis direction and the X-axis direction to obtain the fused depth Z; 利用融合后的深度Z构造出海底地形数据;Use the fused depth Z to construct seabed terrain data; 所述将水深数据转换成海图坐标系下的数据,包括以下步骤:Said converting the water depth data into data under the chart coordinate system comprises the following steps: 将水深数据的西南端点作为坐标原点(X0,Y0,Z0),坐标原点的纬度、经度和深度数据为 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 其它测量点的纬度、经度和深度数据为转换成海图坐标系的数据为(X,Y,Z):The latitude, longitude and depth data of other measurement points are The data converted into the chart coordinate system is (X, Y, Z): 其中,X表示距离原点的北向距离,Y表示距离原点的东向距离,Z表示水深值。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.根据权利要求1所述的一种海底地形自动生成的方法,其特征在于,所述水深数据来源于AUV的航行数据,通过深度计和测高声纳装置测量水深数据。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.根据权利要求1所述的一种海底地形自动生成的方法,其特征在于,所述将水深数据网格化,具体为: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: 定义海图区域的分辨率为m*n,即在X轴方向上划分m个网格,在Y轴方向上划分n个网格,X轴方向上网格宽度width_x,Y轴方向上网格宽度为width_y;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; 坐标原点网格化后表示为(X0,Y0,Z0);The coordinate origin is expressed as (X 0 , Y 0 , Z 0 ) after gridding; 坐标东北角端点网格化后表示为(Xmax,Ymax,Z);The gridded end point of the northeast corner of the coordinates is expressed as (X max , Y max , Z); 其它测量点的海图坐标系的坐标为(X,Y,Z),网格化后表示为(Xp,Yq,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> <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> 式中, In the formula, 其中,Xp表示距离原点网格区的北向第p个网格,Yq表示距离原点的东向第q个网格,Z表示水深值。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.根据权利要求1所述的一种海底地形自动生成的方法,其特征在于,在X轴方向网格建立关于水深数据的插值函数,具体为: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: 当东向距离为Yq时,水深关于X的插值函数Zq(X)为: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> <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> 式中,hj=Xj-Xj-1,1≤j≤n-1;Z”j为待定系数,表示该点的二阶导数;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; 为了计算Z”j,建立方程组(4),方程组中Zj为已知量,Z”j为未知量,方程个数等于未知量个数,能够求解出Z”jIn 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> </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> <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.根据权利要求1所述的一种海底地形自动生成的方法,其特征在于,在Y轴方向网格建立关于水深数据的插值函数,具体为: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: 当东向距离为Xp时,水深关于Y的插值函数Zp(Y)为: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> <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> 式中,定义hj=Yj-Yj-1,1≤j≤n-1;Z”j为待定系数,表示该点的二阶导数;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; 为了计算Z”j,建立方程组(6),方程组中Zj为已知量,Z”j为未知量,方程个数等于未知量个数,能够求解出Z”jIn 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> </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> <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.根据权利要求1所述的一种海底地形自动生成的方法,其特征在于,所述将Y轴方向和X轴方向的网格数据进行数据融合,得到融合后的深度Z为: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=PY*Zp(Y)+PX*Zq(X) (7)Z=P Y *Zp(Y)+P X *Zq(X) (7) 其中,PY表示测量点(Xp,Yq,Z)在Y轴插值曲线的影响因子,PX表示测量点(Xp,Yq,Z)在X轴插值曲线影响因子,Zq(X)为水深关于X的插值函数,Zp(Y)为水深关于Y的插值函数;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; 设定邻域半径为R,统计在距离点(Xp,Yq,Z)小于半径R的X方向坐标点数为NX,Y方向坐标点数为NY,那么定义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> <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.根据权利要求1所述的一种海底地形自动生成的方法,其特征在于,所述利用融合后的深度Z构造出海底地形数据,具体为:对融合后的数据使用Delaunay算法进行处理,利用Vega的Creator软件生成海底地形数据。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.
CN201310636913.8A 2013-11-27 2013-11-27 A kind of method that sea-floor relief automatically generates Active CN104680583B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310636913.8A CN104680583B (en) 2013-11-27 2013-11-27 A kind of method that sea-floor relief automatically generates

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310636913.8A CN104680583B (en) 2013-11-27 2013-11-27 A kind of method that sea-floor relief automatically generates

Publications (2)

Publication Number Publication Date
CN104680583A CN104680583A (en) 2015-06-03
CN104680583B true CN104680583B (en) 2018-04-27

Family

ID=53315574

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310636913.8A Active CN104680583B (en) 2013-11-27 2013-11-27 A kind of method that sea-floor relief automatically generates

Country Status (1)

Country Link
CN (1) CN104680583B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109387181A (en) * 2017-08-07 2019-02-26 广州极飞科技有限公司 Terrain rendering method and device
CN108413926B (en) * 2018-01-31 2020-12-04 上海荟蔚信息科技有限公司 High-precision measurement method for underwater topography elevation of pile foundation of offshore wind farm
CN108665549A (en) * 2018-05-09 2018-10-16 辽宁省海洋水产科学研究院 The three-dimensional seafloor model method for building up in project sea and the computational methods of marine organisms loss amount
CN110765686B (en) * 2019-10-22 2020-09-11 中国人民解放军战略支援部队信息工程大学 A Method for Designing Shipborne Sonar Bathymetry Lines Using Limited-band Submarine Topography

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102446367A (en) * 2011-09-19 2012-05-09 哈尔滨工程大学 Method for constructing three-dimensional terrain vector model based on multi-beam sonar seabed measurement data
CN102819568A (en) * 2012-07-18 2012-12-12 哈尔滨工程大学 Submarine topography data establishment method based on topographical sampling point positions
CN103344954A (en) * 2013-07-08 2013-10-09 国家海洋局第二海洋研究所 Submarine topography construction method based on multi-source water depth data fusion

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102446367A (en) * 2011-09-19 2012-05-09 哈尔滨工程大学 Method for constructing three-dimensional terrain vector model based on multi-beam sonar seabed measurement data
CN102819568A (en) * 2012-07-18 2012-12-12 哈尔滨工程大学 Submarine topography data establishment method based on topographical sampling point positions
CN103344954A (en) * 2013-07-08 2013-10-09 国家海洋局第二海洋研究所 Submarine topography construction method based on multi-source water depth data fusion

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
一种海底地形和海流虚拟生成方法;刘开周 等;《系统仿真学报》;20050531;第17卷(第5期);第1268-1271页 *
三维海底地形仿真技术的研究与实现;邱秋香;《中国优秀硕士学位论文全文数据库》;20120515;正文第4-5,21-26页 *

Also Published As

Publication number Publication date
CN104680583A (en) 2015-06-03

Similar Documents

Publication Publication Date Title
CN103344954B (en) Submarine topography construction method based on multi-source water depth data fusion
US9651698B2 (en) Multi-beam bathymetric chart construction method based on submarine digital depth model feature extraction
CN102446367B (en) Method for constructing three-dimensional terrain vector model based on multi-beam sonar submarine measurement data
CN105353412B (en) A kind of well shakes the computational methods and system of joint average velocity field
CN101872195B (en) Path deviation generation analysis method for ship at sea
CN103900573B (en) A kind of underwater research vehicle multiple constraint Route planner based on S57 standard electronic sea chart
CN103292792B (en) Actual measurement SVP reconstruction method suitable for submarine detection and pseudo-landform processing
CN102213594A (en) Method for fusing ocean current observation data of unmanned undersea vehicle (UUV)
CN104680583B (en) A kind of method that sea-floor relief automatically generates
CN103530904B (en) A kind of underwater landform digital method for building up based on kriging method
CN104729486A (en) Bathymetric surveying method without tide observation based on quasigeoid refinement
CN102589528B (en) Multi-temporal imaging island shoreline surveying method
CN102419436A (en) Multi-beam data processing method based on total propagation error filter
CN117875200A (en) Internal solitary wave early warning method, system and device based on Gaussian function model
CN111220146B (en) An underwater terrain matching and localization method based on Gaussian process regression learning
CN102521882A (en) Method for obtaining seabed terrain data based on discrete elevation and adaptive mixed weighting
CN111368406A (en) Continuous depth datum plane construction method
CN108089588A (en) A kind of Observational depth segmented adaptive planing method of underwater robot
CN106908036B (en) A kind of AUV multi-beam Bathymetric Data patterning process based on local offset
CN106767749B (en) A Path Generation Method Based on GRD Format Map
CN106441244B (en) A kind of tide prediction device based on global position system
CN103854302A (en) AUV navigation environmental space construction method under plurality of constraint conditions
CN115905877A (en) Inversion method and system of bathymetric model based on VGGNet
CN104112045B (en) Thruster local optimum configuration method based on dynamic positioning capacity comprehensive standards
CN112381936A (en) Submarine topography modeling method based on self-adaptive screen resolution

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant