CN105487078B - Adaptive bottom detection method for multibeam sounding system - Google Patents
Adaptive bottom detection method for multibeam sounding system Download PDFInfo
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- CN105487078B CN105487078B CN201410475295.8A CN201410475295A CN105487078B CN 105487078 B CN105487078 B CN 105487078B CN 201410475295 A CN201410475295 A CN 201410475295A CN 105487078 B CN105487078 B CN 105487078B
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Abstract
The present invention relates to a kind of adaptive bottom detection method for multibeam sounding system, including：In a frame, by the middle wave beam bottom detecting and tracking thresholding of history bottom testing result prediction present frame, middle wave beam bottom detection is realized according to the middle wave beam bottom detecting and tracking thresholding, obtained depth measurement result then is detected the bottom of to and is assessed；The tracking threshold of each edge wave beam is estimated by the depth measurement result of middle wave beam bottom detection, the bottom that edge wave beam is then done according to the tracking threshold of the edge wave beam is detected, and bottom testing result is assessed.
Description
Technical field
The present invention relates to acoustic detection field, more particularly to a kind of adaptive bottom detection side for multibeam sounding system
Method.
Background technology
The multibeam sounding system that the 1970s occurs grows up on the basis of echo sounder.More ripples
Beam sounding system can obtain ship both sides one bar within the once transmitting-receiving cycle and take tens, the depth of a sampled point even up to a hundred
Degrees of data, measurement coverage are several times of the depth of water even more than ten times, thus it can accurately and quickly measure it is certain along course line
The size of submarine target in width range, shape and height change, so that reliable seafloor topography of depicting
Fine-feature.Multi-beam measuring system has the advantages that measurement range is big, speed is fast, precision is high, particularly suitable for large area
Wire drag survey operation, has a wide range of applications in marine charting field.Current shallow water multibeam sounding system is covered towards width
The technique direction development such as angle, high-resolution, multi-functional.
Bottom detection technique is the core methed of multibeam echosounding technology, and at present, bottom detection method mainly has amplitude method and phase
Position method, summary say that amplitude method is that phase method utilizes the phase of echo at the time of judging bottom echo using the center of energy of bottom echo
At the time of position zero crossing judges bottom echo.When bottom is detected, if being not provided with rational bottom detection search thresholding, it is necessary to complete
Search, is easily influenced be subject to echo interference in water body in range ability, also larger with hour operation quantity.Existing detection technique master
Fixed threshold is used, can be met the requirements under conditions of wave cover angle is smaller, still, for shallow water multibeam echosounding
System, especially for the multibeam sounding system (mainstream shallow water multi-beam antenna angle is up to 165 ° at present) under big cone of coverage,
Hypsography in each frame is larger, and fixed threshold is difficult to meet requirement.
The content of the invention
, can not adaptation to the ground it is an object of the invention to overcome bottom detection method of the prior art to need fixed threshold
The detection requirement compared with overall situation is lied prostrate, so as to provide a kind of adaptive bottom detection method.
To achieve these goals, the present invention provides a kind of adaptive bottom detection side for multibeam sounding system
Method, including：
Step 1), in a frame, by history bottom testing result prediction present frame middle wave beam bottom detecting and tracking thresholding, root
Middle wave beam bottom detection is realized according to the middle wave beam bottom detecting and tracking thresholding, and then detecting obtained depth measurement result the bottom of to carries out
Assessment；
The depth measurement result that step 2), the middle wave beam bottom obtained by step 1) are detected estimates the tracking gate of each edge wave beam
Limit, the bottom that edge wave beam is then done according to the tracking threshold of the edge wave beam are detected, bottom testing result are assessed.
In above-mentioned technical proposal, the step 1) further comprises：
Step 1-1), according to history bottom testing result predict present frame middle wave beam bottom detecting and tracking thresholding；
Step 1-2), according to step 1-1) tracking threshold predicted does middle wave beam bottom detection, then bottom is detected and is tied
Fruit is assessed, in assessment, by the output signal-to-noise ratio in the testing result of bottom compared with first threshold, if the output letter
To make an uproar than higher than the threshold value, then assessment result is qualified, obtained depth measurement is detected at output bottom as a result, otherwise, assessment result is unqualified,
Current tracking threshold is abandoned, bottom detection is re-started in gamut, is then built again according to the bottom testing result newly obtained
Vertical tracking threshold, then performs step 2).
In above-mentioned technical proposal, history bottom testing result uses the bottom of the multiple historical frames closest compared with present frame
Testing result.
In above-mentioned technical proposal, the step 2) further comprises：
Step 2-1), do according to the middle wave beam of step 1) bottom and detect obtained depth measurement result and estimate to both sides successively recurrence
Count the tracking threshold of each edge wave beam；
Step 2-2), according to step 2-1) tracking threshold predicted does the bottom detection of edge wave beam, in a certain edge wave
After the completion of the once bottom detection of beam, bottom testing result is assessed；Wherein, in assessment, the output in the testing result of bottom is believed
Make an uproar than compared with second threshold, if the output signal-to-noise ratio is higher than the threshold value, assessment result is qualified, export bottom detection
As a result；If assessment result is unqualified, current tracking threshold is abandoned, bottom detection is re-started in gamut, output is worked as
The bottom testing result of leading edge wave beam, meanwhile, according to bottom testing result, tracking threshold is established, the inspection for subsequent edges wave beam
Survey.
In above-mentioned technical proposal, when big rise and fall, the increase of edge wave beam thresholding width, when relatively flat, edge wave
Beam thresholding reduced width.
The advantage of the invention is that：
1st, adaptive bottom detection method of the invention is special according to the change of the gradient tendency in seabed, depth and seabed involuting wave
Point, is automatically performed bottom tracking parameter and sets, by setting rational track window, filter out the interference echo from current, the shoal of fish etc.
Signal, improves the environmental suitability of multibeam sounding system depth measurement result；
2nd, tracking threshold has adaptivity used by adaptive bottom detection method of the invention, can be in different terrain
Under can complete the detection of adaptive bottom, avoid manual intervention；
3rd, adaptive bottom detection method of the invention sets the operand that can effectively reduce system by thresholding.
Brief description of the drawings
Fig. 1 is that the adaptive bottom detection method of the present invention does the process schematic of bottom detection using middle wave beam；
Fig. 2 is that the adaptive bottom detection method of the present invention does the process schematic of bottom detection using edge wave beam.
Embodiment
In conjunction with attached drawing, the invention will be further described.
Before elaborating to the present invention, related notion involved in the present invention is explained first.
Middle wave beam：Wave beam immediately below basic matrix, vertical incidence seabed, glancing angle are 90 °.
Edge wave beam：The wave beam of middle wave beam both sides, oblique incidence seabed, glancing angle are less than 90 °.
The adaptive bottom detection method of the present invention comprises the following steps：
Step 1), in a frame, bottom detection is done using middle wave beam, obtains depth results.With reference to figure 1, which can be into
One step includes：
Step 1-1), in view of the change of landform be this continuous feature, predicted according to history bottom testing result current
The middle wave beam bottom detecting and tracking thresholding of frame.
In order to improve accuracy, history bottom testing result is using several historical frames closest compared with present frame
Bottom testing result, the bottom testing result as used 3 frames before present frame.The thresholding of the middle wave beam bottom detection threshold of present frame is wide
Degree can freely be set, and can also adaptively be adjusted according to hypsography, such as setting adaptive tracing door dimension 10%, work as depth
For H when, thresholding width is [90%H, 110%H].
Step 1-2), according to step 1-1) tracking threshold predicted does middle wave beam bottom detection, then bottom is detected and is tied
Fruit is assessed, in assessment, by the output signal-to-noise ratio in the testing result of bottom compared with a threshold value (such as 10dB), if described
Output signal-to-noise ratio is higher than the threshold value, then assessment result is qualified, and obtained depth measurement is detected as a result, otherwise in output bottom, assessment result
It is unqualified, then current tracking threshold is abandoned, bottom detection is re-started in gamut, then according to the bottom detection knot newly obtained
Fruit re-establishes tracking threshold, then performs step 2).
Step 2), in a frame, bottom detection is carried out respectively to the edge wave beam of middle wave beam both sides.With reference to figure 2, the step
It can further comprise：
Step 2-1), do according to the middle wave beam of step 1) bottom and detect obtained depth measurement result and estimate to both sides successively recurrence
Count the tracking threshold of each edge wave beam；The width of the tracking threshold of the edge wave beam can be adjusted adaptively, when rise and fall compared with
Thresholding width increase when big, the thresholding reduced width when relatively flat.
Step 2-2), according to step 2-1) tracking threshold predicted does the bottom detection of edge wave beam, in a certain edge wave
Beam once bottom detection after the completion of, bottom testing result is assessed, assessment when, by the output signal-to-noise ratio in the testing result of bottom with
One threshold value (such as 10dB) is compared, if the output signal-to-noise ratio is higher than the threshold value, assessment result is qualified, exports bottom detection
As a result；If assessment result is unqualified, current tracking threshold is abandoned, bottom detection is re-started in gamut, output is worked as
The bottom testing result of preceding wave beam.Meanwhile according to bottom testing result, tracking threshold is established, the detection for subsequent edges wave beam.
It should be noted last that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted.Although ginseng
The present invention is described in detail according to embodiment, it will be understood by those of ordinary skill in the art that, to the technical side of the present invention
Case technical scheme is modified or replaced equivalently, without departure from the spirit and scope of technical solution of the present invention, it should all cover in the present invention
Right among.
Claims (4)
1. a kind of adaptive bottom detection method for multibeam sounding system, including：
Step 1), in a frame, by history bottom testing result prediction present frame middle wave beam bottom detecting and tracking thresholding, according to this
Middle wave beam bottom detecting and tracking thresholding realizes middle wave beam bottom detection, then detects obtained depth measurement result the bottom of to and comments
Estimate；
The depth measurement result that step 2), the middle wave beam bottom obtained by step 1) are detected estimates the tracking threshold of each edge wave beam,
Then the bottom for edge wave beam being done according to the tracking threshold of the edge wave beam is detected, and bottom testing result is assessed；
The step 2) further comprises：
Step 2-1), doing according to the middle wave beam of step 1) bottom, to detect obtained depth measurement result each to both sides successively recursive estimation
The tracking threshold of a edge wave beam；
Step 2-2), according to step 2-1) tracking threshold predicted does the bottom detection of edge wave beam, in a certain edge wave beam
Once after the completion of the detection of bottom, bottom testing result is assessed；Wherein, in assessment, by the output signal-to-noise ratio in the testing result of bottom
Compared with second threshold, if the output signal-to-noise ratio is higher than the threshold value, assessment result is qualified, exports bottom detection knot
Fruit；If assessment result is unqualified, current tracking threshold is abandoned, bottom detection is re-started in gamut, output is current
The bottom testing result of edge wave beam, meanwhile, according to bottom testing result, tracking threshold is established, the detection for subsequent edges wave beam.
2. the adaptive bottom detection method according to claim 1 for multibeam sounding system, it is characterised in that described
Step 1) further comprises：
Step 1-1), according to history bottom testing result predict present frame middle wave beam bottom detecting and tracking thresholding；
Step 1-2), according to step 1-1) tracking threshold predicted does middle wave beam bottom detection, then to bottom testing result into
Row assessment, in assessment, by the output signal-to-noise ratio in the testing result of bottom compared with first threshold, if the output signal-to-noise ratio
Higher than the threshold value, then assessment result is qualified, and obtained depth measurement is detected at output bottom as a result, otherwise, assessment result is unqualified, abandons
Current tracking threshold, re-starts bottom detection in gamut, then according to the bottom testing result that newly obtains re-establish with
Track thresholding, then performs step 2).
3. the adaptive bottom detection method according to claim 2 for multibeam sounding system, it is characterised in that described
History bottom testing result uses the bottom testing result of the multiple historical frames closest compared with present frame.
4. the adaptive bottom detection method according to claim 1 for multibeam sounding system, it is characterised in that when rise
When lying prostrate larger, the increase of edge wave beam thresholding width, when relatively flat, edge wave beam thresholding reduced width.
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