CN109724577A - A kind of bathymetric data processing method that simple beam is combined with towing measurement - Google Patents
A kind of bathymetric data processing method that simple beam is combined with towing measurement Download PDFInfo
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Abstract
The present invention provides the bathymetric data processing methods that a kind of simple beam is combined with towing measurement, including establishing local coordinate system, the elevation of measuring point is directly calculated using elevation transmitting, the measuring point coordinate that measuring system obtains will be pulled, earth coordinates are gone to by local coordinate system, the coordinate for calculating measuring point, elevation are combined with simple beam measurement data.The bathymetric data processing method that simple beam provided by the invention is combined with towing measurement, this method merge simple beam measurement data and towing measurement data, can efficiently, quickly obtain entire intertidal zone terrain data, meet engineering survey needs.
Description
Technical field
The present invention relates to intertidal zone survey fields, and in particular at the bathymetric data that a kind of simple beam is combined with towing measurement
Reason method.
Background technique
Intertidal zone is the mouth of the river or seashore by the area between the higher low tide of tidal effect, and high water time is flooded not,
Time of low water exposes the surface.Since intertidal zone is in the junction on land and ocean, topography and geomorphology is complicated, and topography is changeable, higher low tide
Interdigit beach area change is big, and measuring condition is harsh, and testing difficulty is quite big, and by any single traditional measurement method, (depth of water is surveyed
Amount and land surveying) it cannot complete full terrain data acquisition.
Water-depth measurement experienced rod sounding, weight method, depth-sounding development, nowadays various advanced simple beams and more
Wave beam sounding system has been able to reach very high measurement accuracy, but for 1 meter of water depth deficiency of shoal, all kinds of depth measurement instruments are equal
It can not effectively sound the depth of the water.Single beam echosounding system can quick obtaining seabed bottom shape information, towing measuring system can be with
Shoal elevation information is obtained, single beam echosounding system is combined with towing measurement can obtain entire intertidal zone terrain data.
This area with a varied topography and shallower water body for intertidal zone, can be simply fast using the method that simple beam is combined with towing measurement
Speed obtains complete underwater topography data, measures the measurement form combined for simple beam and towing and invents at a kind of bathymetric data
Reason method.
Summary of the invention
In view of the problems of the existing technology, the present invention provides the bathymetric datas that a kind of simple beam is combined with towing measurement
Processing method.
The following technical solution is employed by the present invention:
The bathymetric data processing method that a kind of simple beam is combined with towing measurement, including sounding gear, sounding gear include
Carrier vehicle is provided with GNSS antenna, inertial navigation system, encoder and single beam echosounding system on carrier vehicle, connects on encoder
It is connected to towing measuring system；
Bathymetric data processing method the following steps are included:
Step 1: establishing local coordinate system；
Coordinate origin OPPositioned at GNSS antenna phase center, the longitudinal axis, that is, YPAxis is directed toward instantaneous course, horizontal axis XPIt is directed toward carrier vehicle
Starboard direction, ZPAxis is perpendicular to XPOYPPlane is upward；Coordinate system is right-handed coordinate system；
Step 2: the elevation of measuring point is directly calculated using elevation transmitting；
Step 3: the measuring point coordinate that measuring system obtains will be pulled, earth coordinates are gone to by local coordinate system；
Step 4: the coordinate for calculating measuring point, elevation are combined with simple beam measurement data.
Preferably, the encoder is angular encoder, and towing measuring system includes inclination stock, tilts one end of stock
It is connected on angular encoder, the other end for tilting stock is equipped with wheel；
The step 2 specifically includes:
The elevation of angular encoder and carrier vehicle junction are as follows: Hb=H-hg*cosP-Cbg*sin P
The elevation of wheel and the measuring point of ground face contact are as follows: Ha=Hb-(C*sin(90°-α+P)+R*cos P)
Then Ha=H-hg*cosP-Cbg*sin P-(C*sin(90°-α+P)+R*cos P)；
After abbreviation
Ha=H- (hg+R)*cosP-Cbg*sin P-C*cos(α-P)；
Wherein, H is the elevation of GNSS antenna, CbgIt is angular encoder and carrier vehicle junction point in local coordinate system Y-axis
On length of the subpoint to origin, hgFor angular encoder and projection of the carrier vehicle junction point on local coordinate system Z axis
Point arrives the length of origin, and C is the length for tilting stock, and R is the radius of wheel, and α is the inclination stock of angular encoder record
Deviation angle, P are posture pitching；
When car body level, posture pitching P is 0.
Preferably, the encoder is range encoder, and towing measuring system includes vertical stock, vertical stock it is vertical
Across range encoder, vertical stock can move up and down on range encoder, and the bottom end of vertical stock is equipped with wheel；
The step 2 specifically includes:
The elevation of range encoder and carrier vehicle junction point are as follows: Hd=H-hg*cosP-Cbg*sin P-hbd*cos P
Vertical range at the vertical vertical center of stock between carrier vehicle is Ced:
The then elevation at the vertical center of vertical stock: He=Hd-Ced*sin P；
The elevation of wheel and the measuring point of ground face contact: Ha=He-C*cos P-R*cos P；
Then Ha=H-hg*cos P-Cbg*sin P-hbd*cos P-Ced*sin P-C*cos P-R*cos P；
After abbreviation
Ha=H- (hg+hbd+C+R)*cosP-(Cbg+Ced)*sin P；
Since the vertical range at the vertical center of vertical stock between carrier vehicle is close, can be ignored, i.e. CedIt is 0, then:
Ha=H- (hg+hbd+C+R)*cos P-Cbg*sin P；
Wherein, H is the elevation of GNSS antenna, CbgFor throwing of the tailstock edge point in local coordinate system Y-axis of carrier vehicle
Length of the shadow point to origin, hgFor carrier vehicle subpoint of the tailstock edge point on local coordinate system Z axis to origin length
Degree, C are that the bar for the vertical stock that range encoder measures is long, and R is the radius of the bottom end wheel of vertical stock, and P is posture pitching,
hbdFor range encoder to the vertical range of tailstock top edge；
When car body level, pitching P is 0, then:
Ha=H- (hg+hbd+C+R)。
Preferably, the step 3 includes:
Measuring point is indicated with local coordinate system first, then coordinate is transformed under local horizontal coordinates, is finally turned again
It changes under earth coordinates or Gaussian parabolic line system；
Wherein local horizontal coordinates are defined as follows:
It is related with the selecting sequence that three axis are directed toward that local horizontal coordinates are defined, origin OLIn GNSS antenna phase
The heart using northeast day definition mode, and provides east to for XLAxis positive direction, the north is to for YLAxis positive direction, ZLAxis perpendicular to
XOYLPlane is upward, and coordinate system is right-handed coordinate system；
If coordinate of the measuring point in local coordinate system is (X1, Y1, Z1), measuring point is in ZPOPYPIn face, then:
X1=0
Y1=-Cbg*cos P+hg*sin P-C*cos(90°-α+P)+R*sin P
Z1=-(hg+R)*cosP-Cbg*sin P-C*cos(α-P)
In formula: CbgFor angular encoder and subpoint of the carrier vehicle junction point in local coordinate system Y-axis to origin
Length, hgFor the length of angular encoder and subpoint of the carrier vehicle junction point on local coordinate system Z axis to origin, α is
The deviation angle of the inclination stock of angular encoder record, P are posture pitching, and C is the length for tilting stock, and R is the half of wheel
Diameter；
Local coordinate system reduction is to local horizontal coordinates: because two coordinate origins are identical, local coordinate being rotated about the z axis
Certain angle can be such that each shafting of two coordinates is overlapped, wherein rotating angle, θHFor the course angle that posture instrument compass measures, then depth measurement
Coordinate (X of the point under local horizontal coordinates2, Y2, Z2) calculation formula are as follows:
Local horizontal coordinates reduction is to rectangular coordinate system in space: local coordinate system origin is under ECEF coordinate system
Geodetic coordinates is (B, L, H), first local horizontal coordinates is rotated by 90 °-B around E axis counterclockwise, then revolved clockwise around U axis
Turn 90 ° of+L, local horizontal coordinates are parallel with rectangular coordinate system in space at this time；
If rectangular space coordinate of the measuring point under ECEF coordinate system is (X3, Y3, Z3), then there is following relationship:
In formula, [Xoe, Yoe, Zoe]T, for local horizontal coordinates origin OLSpace right-angle under ECEF coordinate system is sat
Mark, obtains according to the transformational relation between geodetic coordinates and geodetic rectangular coordinates in space；RWFor about geodetic longitude and latitude
Spin matrix；Wherein:
RW=RB*RL
Preferably, the step 4 includes:
The unicast beam data that single beam echosounding system is obtained carries out data prediction, including suppressing exception point, drinking water change
Just, tide rectification and data smoothing processing export the data file handled well, then will utilize the data of towing measuring system measurement
Calculated coordinate and elevation are stored according to derived document format data, and Become the picture software is recycled to show at figure.
The invention has the advantages that:
The bathymetric data processing method that simple beam provided by the invention is combined with towing measurement, this method, which merges simple beam, to be surveyed
Data and towing measurement data are measured, entire intertidal zone terrain data can efficiently, be quickly obtained, meet engineering survey needs.
Detailed description of the invention
Fig. 1 is that elevation when pulling the first mounting means carrier vehicle level of measuring system solves auxiliary figure.
Fig. 2 is that elevation when pulling the inclination of the first mounting means carrier vehicle of measuring system solves auxiliary figure.
Fig. 3 is that towing second of mounting means of measuring system and elevation solve auxiliary figure.
Specific embodiment
A specific embodiment of the invention is described further in the following with reference to the drawings and specific embodiments:
In conjunction with Fig. 1 to Fig. 3, a kind of bathymetric data processing method that simple beam is combined with towing measurement, including sounding gear,
Sounding gear includes carrier vehicle 1, and GNSS antenna 2, inertial navigation system 3, encoder and single beam echosounding are provided on carrier vehicle
System is connected with towing measuring system on encoder.
Bathymetric data processing method the following steps are included:
Step 1: establishing local coordinate system；
Coordinate origin OPPositioned at GNSS antenna phase center, the longitudinal axis, that is, YPAxis is directed toward instantaneous course, horizontal axis XPIt is directed toward ship starboard
Direction, ZPAxis is perpendicular to XPOYPPlane is upward；Coordinate system is right-handed coordinate system；
Step 2: the elevation of measuring point is directly calculated using elevation transmitting；
(1) towing the first mounting means of measuring system is as depicted in figs. 1 and 2.
Encoder is angular encoder, and towing measuring system includes that one end of the inclination inclination stock of stock 4 is connected to angle
On encoder, the other end for tilting stock is equipped with wheel 5.
Such as Fig. 1 and Fig. 2, the elevation of angular encoder and carrier vehicle junction B are as follows: Hb=H-hg*cosP-Cbg*sin P
The elevation A of wheel and the measuring point of ground face contact are as follows: Ha=Hb-(C*sin(90°-α+P)+R*cos P)
Then Ha=H-hg*cosP-Cbg*sin P-(C*sin(90°-α+P)+R*cos P)；
After abbreviation
Ha=H- (hg+R)*cosP-Cbg*sin P-C*cos(α-P)；
Wherein, H is the elevation of GNSS antenna, CbgIt is angular encoder and carrier vehicle junction point B in local coordinate system Y-axis
On length of the subpoint to origin, hgFor angular encoder and projection of the carrier vehicle junction point B on local coordinate system Z axis
Point arrives the length of origin, and C is the length for tilting stock, and R is the radius of wheel, and α is the inclination stock of angular encoder record
Deviation angle, P are posture pitching；
When car body level, such as Fig. 1, posture pitching P are 0；
Ha=H-hg-C*cosα+R。
(2) towing second of mounting means of measuring system is as shown in Figure 3.
Encoder is range encoder, and towing measuring system includes vertical stock 6, and the distance that passes vertically through of vertical stock is compiled
Code device, vertical stock can move up and down on range encoder, and the bottom end of vertical stock is equipped with wheel 7.
The elevation of range encoder and carrier vehicle junction point D are as follows: Hd=H-hg*cos P-Cbg*sin P-hbd*cos P
Vertical range at the vertical vertical center of stock between carrier vehicle, the i.e. distance of DE are Ced:
Then at the vertical center of vertical stock E elevation: He=Hd-Ced*sin P；
The elevation of wheel and the measuring point A of ground face contact: Ha=He-C*cos P-R*cos P；
Then Ha=H-hg*cos P-Cbg*sin P-hbd*cos P-Ced*sin P-C*cos P-R*cos P；
After abbreviation
Ha=H- (hg+hbd+C+R)*cos P-(Cbg+Ced)*sin P；
Since the vertical range at the vertical center of vertical stock between carrier vehicle is close, can be ignored, i.e. CedIt is 0, then:
Ha=H- (hg+hbd+C+R)*cos P-Cbg*sin P；
Wherein, H is the elevation of GNSS antenna, CbgFor throwing of the tailstock edge point B in local coordinate system Y-axis of carrier vehicle
Length of the shadow point to origin, hgFor carrier vehicle subpoint of the tailstock edge point B on local coordinate system Z axis to origin length
Degree, C are that the bar for the vertical stock that range encoder measures is long, and R is the radius of the bottom end wheel of vertical stock, and P is posture pitching,
hbdFor range encoder to the vertical range of tailstock top edge；
When car body level, pitching P is 0, then:
Ha=H- (hg+hbd+C+R)。
Step 3: the measuring point coordinate that measuring system obtains will be pulled, earth coordinates are gone to by local coordinate system；
Measuring point is indicated with local coordinate system first, then coordinate is transformed under local horizontal coordinates, is finally turned again
It changes under earth coordinates or Gaussian parabolic line system；
Wherein local horizontal coordinates are defined as follows:
It is related with the selecting sequence that three axis are directed toward that local horizontal coordinates are defined, origin OLIn GNSS antenna phase
The heart using northeast day definition mode, and provides east to for XLAxis positive direction, the north is to for YLAxis positive direction, ZLAxis perpendicular to
XOYLPlane is upward, and coordinate system is right-handed coordinate system；
If coordinate of the measuring point in local coordinate system is (X1, Y1, Z1), measuring point is in ZPOPYPIn face, such as Fig. 2, then:
X1=0
Y1=-Cbg*cos P+hg*sin P-C*cos(90°-α+P)+R*sin P
Z1=-(hg+R)*cosP-Cbg*sin P-C*cos(α-P)
In formula: CbgFor angular encoder and subpoint of the carrier vehicle junction point in local coordinate system Y-axis to origin
Length, hgFor the length of angular encoder and subpoint of the carrier vehicle junction point on local coordinate system Z axis to origin, α is
The deviation angle of the inclination stock of angular encoder record, P are posture pitching, and C is the length for tilting stock, and R is the half of wheel
Diameter.
Local coordinate system reduction is to local horizontal coordinates: because two coordinate origins are identical, local coordinate being rotated about the z axis
Certain angle can be such that each shafting of two coordinates is overlapped, wherein rotating angle, θHFor the course angle that posture instrument compass measures, then depth measurement
Coordinate (X of the point under local horizontal coordinates2, Y2, Z2) calculation formula are as follows:
Local horizontal coordinates reduction is to rectangular coordinate system in space: local coordinate system origin is under ECEF coordinate system
Geodetic coordinates is (B, L, H), local horizontal coordinates is rotated by 90 °-B counterclockwise around E axis (X-axis) first, then around U axis (Z
Axis) 90 ° of+L are rotated clockwise, local horizontal coordinates are parallel with rectangular coordinate system in space at this time；
If rectangular space coordinate of the measuring point under ECEF coordinate system is (X3, Y3, Z3), then there is following relationship:
In formula, [Xoe, Yoe, Zoe]T, for local horizontal coordinates origin OLSpace right-angle under ECEF coordinate system is sat
Mark, obtains according to the transformational relation between geodetic coordinates and geodetic rectangular coordinates in space；RWFor about geodetic longitude and latitude
Spin matrix；Wherein:
RW=RB*RL
Step 4: the coordinate for calculating measuring point, elevation are combined with simple beam measurement data.
The unicast beam data that single beam echosounding system is obtained carries out data prediction, including suppressing exception point, drinking water change
Just, tide rectification and data smoothing processing export the data file handled well, then will utilize the data of towing measuring system measurement
Calculated coordinate and elevation are stored according to derived document format data, and Become the picture software is recycled to show at figure.
Certainly, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made within the essential scope of the present invention also should belong to of the invention
Protection scope.
Claims (5)
1. the bathymetric data processing method that a kind of simple beam is combined with towing measurement, which is characterized in that including sounding gear, depth measurement
Device includes carrier vehicle, and GNSS antenna, inertial navigation system, encoder and single beam echosounding system are provided on carrier vehicle, is compiled
Towing measuring system is connected on code device；
Bathymetric data processing method the following steps are included:
Step 1: establishing local coordinate system；
Coordinate origin OPPositioned at GNSS antenna phase center, the longitudinal axis, that is, YPAxis is directed toward instantaneous course, horizontal axis XPIt is directed toward carrier vehicle starboard
Direction, ZpAxis is perpendicular to XPOYPPlane is upward；Coordinate system is right-handed coordinate system；
Step 2: the elevation of measuring point is directly calculated using elevation transmitting；
Step 3: the measuring point coordinate that measuring system obtains will be pulled, earth coordinates are gone to by local coordinate system；
Step 4: the coordinate for calculating measuring point, elevation are combined with simple beam measurement data.
2. the bathymetric data processing method that a kind of simple beam according to claim 1 is combined with towing measurement, feature exist
In the encoder is angular encoder, and towing measuring system includes inclination stock, and the one end for tilting stock is connected to angle volume
On code device, the other end for tilting stock is equipped with wheel；
The step 2 specifically includes:
The elevation of angular encoder and carrier vehicle junction are as follows: Hb=H-hg*cos P-Cbg*sin P
The elevation of wheel and the measuring point of ground face contact are as follows: Ha=Hb-(C*sin(90°-α+P)+R*cos P)
Then Ha=H-hg*cos P-Cbg*sin P-(C*sin(90°-α+P)+R*cos P)；
After abbreviation
Ha=H- (hg+R)*cos P-Cbg*sin P-C*cos(α-P)；
Wherein, H is the elevation of GNSS antenna, CbgIt is angular encoder and carrier vehicle junction point in local coordinate system Y-axis
Length of the subpoint to origin, hgIt is arrived for angular encoder and subpoint of the carrier vehicle junction point on local coordinate system Z axis
The length of origin, C are the length for tilting stock, and R is the radius of wheel, and α is the offset of the inclination stock of angular encoder record
Angle, P are posture pitching；
When car body level, posture pitching P is 0.
3. the bathymetric data processing method that a kind of simple beam according to claim 1 is combined with towing measurement, feature exist
In the encoder is range encoder, and towing measuring system includes vertical stock, and vertical stock passes vertically through range coding
Device, vertical stock can move up and down on range encoder, and the bottom end of vertical stock is equipped with wheel；
The step 2 specifically includes:
The elevation of range encoder and carrier vehicle junction point are as follows: Hd=H-hg*cos P-Cbg*sin P-hbd*cos P
Vertical range at the vertical vertical center of stock between carrier vehicle is Ced:
The then elevation at the vertical center of vertical stock: He=Hd-Ced*sin P；
The elevation of wheel and the measuring point of ground face contact: Ha=He-C*cos P-R*cos P；
Then Ha=H-hg*cos P-Cbg*sin P-hbd*cos P-Ced*sin P-C*cos P-R*cos P；
After abbreviation
Ha=H- (hg+hbd+C+R)*cos P-(Cbg+Ced)*sin P；
Since the vertical range at the vertical center of vertical stock between carrier vehicle is close, can be ignored, i.e. CedIt is 0, then:
Ha=H- (hg+hbd+C+R)*cos P-Cbg*sin P；
Wherein, H is the elevation of GNSS antenna, CbgFor subpoint of the tailstock edge point in local coordinate system Y-axis of carrier vehicle
To the length of origin, hgFor subpoint length to origin of the tailstock edge point on local coordinate system Z axis of carrier vehicle, C
The bar of the vertical stock measured for range encoder is long, and R is the radius of the bottom end wheel of vertical stock, and P is posture pitching, hbdFor
Vertical range of the range encoder to tailstock top edge；
When car body level, pitching P is 0, then:
Ha=H- (hg+hbd+C+R)。
4. the bathymetric data processing method that a kind of simple beam according to claim 2 is combined with towing measurement, feature exist
In the step 3 includes:
First measuring point is indicated with local coordinate system, then coordinate is transformed under local horizontal coordinates, and last reconvert arrives
Under earth coordinates or Gaussian parabolic line system；
Wherein local horizontal coordinates are defined as follows:
It is related with the selecting sequence that three axis are directed toward that local horizontal coordinates are defined, origin OLPositioned at GNSS antenna phase center, adopt
With northeast day definition mode, and provide east to for XLAxis positive direction, the north is to for YLAxis positive direction, ZLAxis is perpendicular to XOYLIt is flat
Upwardly, coordinate system is right-handed coordinate system；
If coordinate of the measuring point in local coordinate system is (X1, Y1, Z1), measuring point is in ZPOPYPIn face, then:
X1=0
Y1=-Cbg*cos P+hg*sin P-C*cos(90°-α+P)+R*sin P
Z1=-(hg+R)*cos P-Cbg*sin P-C*cos(α-P)
In formula: CbgFor the length of angular encoder and subpoint of the carrier vehicle junction point in local coordinate system Y-axis to origin,
hgIt is angular encoder and subpoint of the carrier vehicle junction point on local coordinate system Z axis to the length of origin, α is angle volume
The deviation angle of the inclination stock of code device record, P are posture pitching, and C is the length for tilting stock, and R is the radius of wheel；
Local coordinate system reduction is to local horizontal coordinates: because two coordinate origins are identical, local coordinate being rotated about the z axis certain
Angle can be such that each shafting of two coordinates is overlapped, wherein rotating angle, θHFor the course angle that posture instrument compass measures, then depth measurement point exists
Coordinate (X under local horizontal coordinates2, Y2, Z2) calculation formula are as follows:
Local horizontal coordinates reduction is to rectangular coordinate system in space: the earth of the local coordinate system origin under ECEF coordinate system
Coordinate is (B, L, H), first local horizontal coordinates is rotated by 90 °-B around E axis counterclockwise, then rotates clockwise 90 ° around U axis
+ L, local horizontal coordinates are parallel with rectangular coordinate system in space at this time；
If rectangular space coordinate of the measuring point under ECEF coordinate system is (X3, Y3, Z3), then there is following relationship:
In formula, [Xoe, Yoe, Zoe]T, for local horizontal coordinates origin OLRectangular space coordinate under ECEF coordinate system,
It is obtained according to the transformational relation between geodetic coordinates and geodetic rectangular coordinates in space；RWFor the rotation about geodetic longitude and latitude
Matrix；Wherein:
RW=RB*RL
5. the bathymetric data processing method that a kind of simple beam according to claim 1 is combined with towing measurement, feature exist
In the step 4 includes:
The unicast beam data that single beam echosounding system is obtained carries out data prediction, including suppressing exception point, drinking water correction, tide
Position correction and data smoothing processing are exported the data file handled well, then will be calculated using the data of towing measuring system measurement
Coordinate and elevation out is stored according to derived document format data, and Become the picture software is recycled to show at figure.
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| CN108759798A (en) * | 2018-06-20 | 2018-11-06 | 上海卫星工程研究所 | A kind of implementation method of high-precision spacecraft precision measure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7196777B1 (en) * | 2003-09-05 | 2007-03-27 | The United States Of America As Represented By The Secretary Of The Navy | Global laser rangefinder profilometry |
| CN101010563A (en) * | 2004-07-13 | 2007-08-01 | 天宝导航有限公司 | Combination laser system and global navigation satellite system |
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| CN106767724A (en) * | 2016-12-10 | 2017-05-31 | 国家海洋局第二海洋研究所 | A kind of installation method on the spot of Ocean Surveying equipment |
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| CN108759798A (en) * | 2018-06-20 | 2018-11-06 | 上海卫星工程研究所 | A kind of implementation method of high-precision spacecraft precision measure |
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