CN109724577B - Water depth data processing method combining single-beam and towing measurement - Google Patents

Abstract

The invention provides a water depth data processing method combining single-beam and towing measurement, which comprises the steps of establishing a local coordinate system, directly calculating the elevation of a measured point by utilizing elevation transfer, transferring the coordinate of the measured point acquired by a towing measurement system from the local coordinate system to a geodetic coordinate system, and integrating the calculated coordinate and elevation of the measured point with single-beam measurement data. According to the water depth data processing method combining single-beam and towing measurement, provided by the invention, single-beam measurement data and towing measurement data are fused, so that the terrain data of the whole intertidal zone can be efficiently and quickly acquired, and the engineering measurement requirements are met.

Description

Water depth data processing method combining single-beam and towing measurement

Technical Field

The invention relates to the field of intertidal zone mapping, in particular to a water depth data processing method combining single-beam and towing measurement.

Background

The intertidal zone is a zone between high and low tides influenced by tides at the entrance of a river or a coast, and is submerged by water during the high tides and exposed out of the water surface during the low tides. Because the intertidal zone is positioned at the junction of land and sea, the terrain and landform are complex, the terrain is changeable, the tidal flat area change between high and low tidal levels is large, the measurement condition is harsh, the measurement difficulty is quite large, and the all-terrain data acquisition cannot be completed by any single traditional measurement method (water depth measurement and land measurement).

The water depth measurement is developed by a rod measuring method, a heavy hammer method and echo sounding, various advanced single-beam and multi-beam sounding systems can achieve high measurement accuracy at present, but various sounding instruments cannot effectively measure the water depth of a shoal with the water depth of less than 1 m. The single-beam depth measurement system can quickly acquire seabed bottom form information, the towing measurement system can acquire shoal elevation information, and the single-beam depth measurement system and the towing measurement system are combined to acquire terrain data of the whole intertidal zone. For the area with complex terrain and shallow water body, which is the intertidal zone, the method for combining the single-beam and towing measurement can be used for simply and quickly acquiring complete underwater terrain data, and the water depth data processing method is invented aiming at the measurement form combining the single-beam and towing measurement.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a water depth data processing method combining single-beam and towing measurement.

The invention adopts the following technical scheme:

a water depth data processing method combining single-beam and towing measurement comprises a depth measurement device, wherein the depth measurement device comprises a carrier vehicle, a GNSS antenna, an inertial navigation system, an encoder and a single-beam depth measurement system are arranged on the carrier vehicle, and the encoder is connected with a towing measurement system;

the water depth data processing method comprises the following steps:

step 1: establishing a local coordinate system;

origin of coordinates O_PLocated in the phase centre of the GNSS antenna, the vertical axis being Y_PThe axis pointing to the instantaneous course, the horizontal axis X_PIn the direction of the starboard of the carrier vehicle, Z_PAxis perpendicular to X_POY_PThe plane is upward; the coordinate system is a right-hand coordinate system;

step 2: directly calculating the elevation of the measuring point by utilizing elevation transmission;

and step 3: transferring the coordinates of the measuring points acquired by the towing measuring system from the local coordinate system to a geodetic coordinate system;

and 4, step 4: and integrating the coordinates and the elevation of the calculated measuring points with the single-beam measurement data.

Preferably, the encoder is an angle encoder, the towing measurement system comprises an inclined long rod, one end of the inclined long rod is connected to the angle encoder, and the other end of the inclined long rod is provided with a wheel;

the step 2 specifically comprises:

the elevation of the joint of the angle encoder and the carrier vehicle is as follows: h_b＝H-h_g*cosP-C_bg*sin P

The elevations of the measurement points where the wheels are in contact with the ground are: h_a＝H_b-(C*sin(90°-α+P)+R*cos P)

Then H_a＝H-h_g*cosP-C_bg*sin P-(C*sin(90°-α+P)+R*cos P)；

After simplification

H_a＝H-(h_g+R)*cosP-C_bg*sin P-C*cos(α-P)；

Wherein H is the elevation of the GNSS antenna, C_bgThe length h from the projection point of the joint point of the angle encoder and the carrier vehicle on the Y axis of the local coordinate system to the original point_gThe length from a projection point of a joint point of an angle encoder and a carrier vehicle on a Z axis of a local coordinate system to an original point is shown, C is the length of an inclined long rod, R is the radius of a wheel, alpha is the offset angle of the inclined long rod recorded by the angle encoder, and P is attitude pitching;

when the vehicle body is horizontal, the attitude pitch P is 0.

Preferably, the encoder is a distance encoder, the towing measurement system comprises a vertical long rod, the vertical long rod vertically penetrates through the distance encoder, the vertical long rod can move up and down on the distance encoder, and wheels are mounted at the bottom end of the vertical long rod;

the step 2 specifically comprises:

the elevation of the connecting point of the distance encoder and the carrier vehicle is as follows: h_d＝H-h_g*cosP-C_bg*sin P-h_bd*cos P

The vertical distance between the vertical center of the vertical long rod and the carrier vehicle is C_ed：

Then the elevation at the vertical center of the vertical long rod is: h_e＝H_d-C_ed*sin P；

Elevation of the measurement point where the wheel is in contact with the ground: h_a＝H_e-C*cos P-R*cos P；

Then H_a＝H-h_g*cos P-C_bg*sin P-h_bd*cos P-C_ed*sin P-C*cos P-R*cos P；

After simplification

H_a＝H-(h_g+h_bd+C+R)*cosP-(C_bg+C_ed)*sin P；

The vertical distance between the vertical center of the long vertical rod and the carrier vehicle is very short, namely C_edIs 0, then:

H_a＝H-(h_g+h_bd+C+R)*cos P-C_bg*sin P；

wherein H is the elevation of the GNSS antenna, C_bgThe length h from the projection point of the edge point of the tail of the carrier vehicle on the Y axis of the local coordinate system to the original point_gThe length from the projection point of the edge point of the tail of the vehicle of the carrier vehicle on the Z axis of the local coordinate system to the original point, the length of the rod of the vertical long rod measured by the distance encoder, the radius of the bottom wheel of the vertical long rod, the pitch of the posture, the h_bdIs the vertical distance from the encoder to the upper edge of the vehicle tail;

when the vehicle body is horizontal, the pitch P is 0, then:

H_a＝H-(h_g+h_bd+C+R)。

preferably, the step 3 comprises:

firstly, a local coordinate system is used for representing a measuring point, then the coordinate is converted into a local horizontal coordinate system, and finally the coordinate is converted into a geodetic coordinate system or a Gaussian plane rectangular coordinate system;

wherein the local horizontal coordinate system is defined as follows:

the local horizontal coordinate system definition is related to the selection order of the three-axis orientation, the origin O of which_LLocating in the phase center of GNSS antenna, adopting northeast definition mode, and defining east direction as X_LPositive axial direction, north direction being Y_LPositive direction of axis, Z_LAxis perpendicular to XOY_LThe plane is upward, and the coordinate system is a right-hand coordinate system;

let the coordinate of the measurement point in the local coordinate system be (X)₁，Y₁，Z₁) At the measurement point Z_PO_PY_PIn-plane, then:

X₁＝0

Y₁＝-C_bg*cos P+h_g*sin P-C*cos(90°-α+P)+R*sin P

Z₁＝-(h_g+R)*cosP-C_bg*sin P-C*cos(α-P)

in the formula: c_bgThe length h from the projection point of the joint point of the angle encoder and the carrier vehicle on the Y axis of the local coordinate system to the original point_gThe length from a projection point of a joint point of an angle encoder and a carrier vehicle on a Z axis of a local coordinate system to an original point is shown, alpha is a deviation angle of an inclined long rod recorded by the angle encoder, P is attitude pitching, C is the length of the inclined long rod, and R is the radius of a wheel;

the local coordinate system is reduced to the local horizontal coordinate system: because the original points of the two coordinates are the same, the local coordinates are rotated by a certain angle around the Z axis to enable the axes of the two coordinates to be coincident, wherein the rotation angle theta_HThe course angle measured by the compass of the attitude instrument is the coordinate (X) of the depth measuring point under the local horizontal coordinate system₂，Y₂，Z₂) The calculation formula is as follows:

the local horizontal coordinate system is reduced to a space rectangular coordinate system: the geodetic coordinates of the origin of the local coordinate system under the geocentric geostationary coordinate system are (B, L, H), the local horizontal coordinate system is firstly rotated by 90 degrees to B anticlockwise around an E axis, and then rotated by 90 degrees plus L clockwise around a U axis, and at the moment, the local horizontal coordinate system is parallel to the space rectangular coordinate system;

the space rectangular coordinate of the measuring point under the geocentric geostationary coordinate system is set as (X)₃，Y₃，Z₃) Then, the following relationship is present:

in the formula, [ X ]_oe，Y_oe，Z_oe]^TIs the origin O of the local horizontal coordinate system_LObtaining a space rectangular coordinate under a geocentric geostationary coordinate system according to a conversion relation between a geodetic coordinate and the space geodetic rectangular coordinate; r_WIs a rotation matrix about the latitude and longitude of the earth; wherein:

R_W＝R_B*R_L

preferably, the step 4 comprises:

and carrying out data preprocessing on the single-beam data obtained by the single-beam depth measurement system, wherein the data preprocessing comprises abnormal point deletion, draft correction, tide level correction and data smoothing, exporting a processed data file, storing the coordinates and the elevation calculated by using the data measured by the towing measurement system according to the format of the exported data file, and displaying the coordinates and the elevation in a mapping manner by using mapping software.

The invention has the beneficial effects that:

according to the water depth data processing method combining single-beam and towing measurement, provided by the invention, single-beam measurement data and towing measurement data are fused, so that the terrain data of the whole intertidal zone can be efficiently and quickly acquired, and the engineering measurement requirements are met.

Drawings

FIG. 1 is an elevation solution aiding map for a first configuration of towed survey system with a carrier vehicle horizontal.

FIG. 2 is an elevation solution assistance map for a first configuration of towed survey system with a vehicle tilted.

FIG. 3 is a diagram of a second installation and elevation solution aiding for a towed survey system.

Detailed Description

The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:

with reference to fig. 1 to 3, a water depth data processing method combining single beam and towing measurement includes a depth measurement device, where the depth measurement device includes a carrier vehicle 1, the carrier vehicle is provided with a GNSS antenna 2, an inertial navigation system 3, an encoder and a single beam depth measurement system, and the encoder is connected to a towing measurement system.

The water depth data processing method comprises the following steps:

step 1: establishing a local coordinate system;

origin of coordinates O_PLocated in the phase centre of the GNSS antenna, the vertical axis being Y_PThe axis pointing to the instantaneous course, the horizontal axis X_PPointing in the direction of the starboard of the ship, Z_PAxis perpendicular to X_POY_PThe plane is upward; the coordinate system is a right-hand coordinate system;

step 2: directly calculating the elevation of the measuring point by utilizing elevation transmission;

(1) a first installation of the drag measurement system is shown in figures 1 and 2.

The encoder is angle encoder, and drag measurement system and include that the one end of 4 slope stock of slope stock is connected on angle encoder, and wheel 5 is installed to the other end of slope stock.

As shown in fig. 1 and 2, the elevation of the joint B of the angular encoder and the carrier vehicle is: h_b＝H-h_g*cosP-C_bg*sin P

The elevation a of the measurement point where the wheel is in contact with the ground is: h_a＝H_b-(C*sin(90°-α+P)+R*cos P)

Then H_a＝H-h_g*cosP-C_bg*sin P-(C*sin(90°-α+P)+R*cos P)；

After simplification

H_a＝H-(h_g+R)*cosP-C_bg*sin P-C*cos(α-P)；

Wherein H is the elevation of the GNSS antenna, C_bgThe length h from the projection point of the joint B of the angle encoder and the carrier vehicle on the Y axis of the local coordinate system to the original point_gThe length from a projection point of a joint point B of the angle encoder and the carrier vehicle on a Z axis of a local coordinate system to an original point is C, the length of the inclined long rod is C, the radius of the wheel is R, alpha is the offset angle of the inclined long rod recorded by the angle encoder, and P is attitude pitching;

when the vehicle body is horizontal, as in fig. 1, the attitude pitch P is 0;

H_a＝H-h_g-C*cosα+R。

(2) a second installation of the towed measuring system is shown in fig. 3.

The encoder is distance encoder, drags measurement system and includes vertical stock 6, and vertical passing distance encoder of vertical stock, vertical stock can be on distance encoder up-and-down motion, and wheel 7 is installed to the bottom of vertical stock.

The elevation of a connecting point D of the distance encoder and the carrier vehicle is as follows: h_d＝H-h_g*cos P-C_bg*sin P-h_bd*cos P

The vertical distance between the vertical center of the vertical long rod and the carrier vehicle, namely the distance of DE is C_ed：

Then the elevation of the vertical center E of the vertical long rod is as follows: h_e＝H_d-C_ed*sin P；

Elevation of measurement point a where the wheel is in contact with the ground: h_a＝H_e-C*cos P-R*cos P；

Then H_a＝H-h_g*cos P-C_bg*sin P-h_bd*cos P-C_ed*sin P-C*cos P-R*cos P；

After simplification

H_a＝H-(h_g+h_bd+C+R)*cos P-(C_bg+C_ed)*sin P；

The vertical distance between the vertical center of the long vertical rod and the carrier vehicle is very short, namely C_edIs 0, then:

H_a＝H-(h_g+h_bd+C+R)*cos P-C_bg*sin P；

wherein H is the elevation of the GNSS antenna, C_bgThe length h from the projection point of a point B at the edge of the tail of the carrier vehicle on the Y axis of the local coordinate system to the original point_gThe length from a projection point of a vehicle tail edge point B of the carrier vehicle on a Z axis of a local coordinate system to an original point, the length C of a rod of the vertical long rod measured by a distance encoder, the radius R of a bottom wheel of the vertical long rod, the attitude P of the vertical long rod, the attitude H of the vehicle tail edge point B, the attitude H of the vehicle tail edge point P and the attitude H of the vehicle tail edge point C_bdIs the vertical distance from the encoder to the upper edge of the vehicle tail;

when the vehicle body is horizontal, the pitch P is 0, then:

H_a＝H-(h_g+h_bd+C+R)。

and step 3: transferring the coordinates of the measuring points acquired by the towing measuring system from the local coordinate system to a geodetic coordinate system;

firstly, a local coordinate system is used for representing a measuring point, then the coordinate is converted into a local horizontal coordinate system, and finally the coordinate is converted into a geodetic coordinate system or a Gaussian plane rectangular coordinate system;

wherein the local horizontal coordinate system is defined as follows:

the local horizontal coordinate system definition is related to the selection order of the three-axis orientation, the origin O of which_LLocating in the phase center of GNSS antenna, adopting northeast definition mode, and defining east direction as X_LPositive axial direction, north direction being Y_LPositive direction of axis, Z_LAxis perpendicular to XOY_LThe plane is upward, and the coordinate system is a right-hand coordinate system;

let the coordinate of the measurement point in the local coordinate system be (X)₁，Y₁，Z₁) At the measurement point Z_PO_PY_PIn-plane, as in fig. 2, then:

X₁＝0

Y₁＝-C_bg*cos P+h_g*sin P-C*cos(90°-α+P)+R*sin P

Z₁＝-(h_g+R)*cosP-C_bg*sin P-C*cos(α-P)

in the formula: c_bgThe length h from the projection point of the joint point of the angle encoder and the carrier vehicle on the Y axis of the local coordinate system to the original point_gThe length from a projection point of a joint point of an angle encoder and a carrier vehicle on a Z axis of a local coordinate system to an original point is alpha, the offset angle of an inclined long rod recorded by the angle encoder is alpha, P is attitude pitching, C is the length of the inclined long rod, and R is the radius of a wheel.

The local coordinate system is reduced to the local horizontal coordinate system: because the original points of the two coordinates are the same, the local coordinates are rotated by a certain angle around the Z axis to enable the axes of the two coordinates to be coincident, wherein the rotation angle theta_HThe course angle measured by the compass of the attitude instrument is the coordinate (X) of the depth measuring point under the local horizontal coordinate system₂，Y₂，Z₂) The calculation formula is as follows:

the local horizontal coordinate system is reduced to a space rectangular coordinate system: the geodetic coordinates of the origin of the local coordinate system under the geocentric geodetic coordinate system are (B, L, H), firstly, the local horizontal coordinate system rotates anticlockwise by 90 degrees to B around an E axis (X axis), and then rotates clockwise by 90 degrees plus L around a U axis (Z axis), and at the moment, the local horizontal coordinate system is parallel to the space rectangular coordinate system;

the space rectangular coordinate of the measuring point under the geocentric geostationary coordinate system is set as (X)₃，Y₃，Z₃) Then, the following relationship is present:

in the formula, [ X ]_oe，Y_oe，Z_oe]^TIs the origin O of the local horizontal coordinate system_LObtaining a space rectangular coordinate under a geocentric geostationary coordinate system according to a conversion relation between a geodetic coordinate and the space geodetic rectangular coordinate; r_WIs a rotation matrix about the latitude and longitude of the earth; wherein:

R_W＝R_B*R_L

and 4, step 4: and integrating the coordinates and the elevation of the calculated measuring points with the single-beam measurement data.

And carrying out data preprocessing on the single-beam data obtained by the single-beam depth measurement system, wherein the data preprocessing comprises abnormal point deletion, draft correction, tide level correction and data smoothing, exporting a processed data file, storing the coordinates and the elevation calculated by using the data measured by the towing measurement system according to the format of the exported data file, and displaying the coordinates and the elevation in a mapping manner by using mapping software.

It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.

Claims (2)

1. A water depth data processing method combining single-beam and towing measurement is characterized by comprising a depth measurement device, wherein the depth measurement device comprises a carrier vehicle, the carrier vehicle is provided with a GNSS antenna, an inertial navigation system, an encoder and a single-beam depth measurement system, and the encoder is connected with a towing measurement system;

the water depth data processing method comprises the following steps:

step 1: establishing a local coordinate system;

the origin of coordinates OP is located at the phase center of the GNSS antenna, the vertical axis Y_PThe axis pointing to the instantaneous course, the horizontal axis X_PIn the direction of the starboard of the carrier vehicle, Z_pAxis perpendicular to X_POY_PThe plane is upward; the coordinate system is a right-hand coordinate system;

step 2: directly calculating the elevation of the measuring point by utilizing elevation transmission;

the encoder is an angle encoder, the towing measurement system comprises an inclined long rod, one end of the inclined long rod is connected to the angle encoder, and the other end of the inclined long rod is provided with a wheel;

the step 2 specifically comprises:

the elevation of the joint of the angle encoder and the carrier vehicle is as follows: h_b＝H-h_g*cosP-C_bgElevation of the measured points of contact of the sinP wheels with the ground:

H_a＝H_b-(C*sin(90°-α+P)+R*cosP)

then H_a＝H-h_g*cosP-C_bg*sinP-(C*sin(90°-α+P)+R*cosP)；

After simplification

H_a＝H-(h_g+R)*cosP-C_bg*sinP-C*cos(α-P)；

Wherein H is the elevation of the GNSS antenna, C_bgThe length h from the projection point of the joint point of the angle encoder and the carrier vehicle on the Y axis of the local coordinate system to the original point_gThe length from a projection point of a joint point of an angle encoder and a carrier vehicle on a Z axis of a local coordinate system to an original point is shown, C is the length of an inclined long rod, R is the radius of a wheel, alpha is the offset angle of the inclined long rod recorded by the angle encoder, and P is attitude pitching;

when the vehicle body is horizontal, the attitude pitch P is 0;

or

The encoder is a distance encoder, the towing measurement system comprises a vertical long rod, the vertical long rod vertically penetrates through the distance encoder, the vertical long rod can move up and down on the distance encoder, and wheels are mounted at the bottom end of the vertical long rod;

the step 2 specifically comprises:

the elevation of the connecting point of the distance encoder and the carrier vehicle is as follows:

H_d＝H-h_g*cos-C_bg*sinP-h_bd*cosP

the vertical distance between the vertical center of the vertical long rod and the carrier vehicle is C_ed：

Then the elevation at the vertical center of the vertical long rod is: h_e＝H_d-C_ed*sinP；

Elevation of the measurement point where the wheel is in contact with the ground: h_a＝H_e-C*cosP-R*cosP；

Then H_a＝H-h_g*cosP-C_bg*sinP-h_bd*cosP-C_ed*sinP-C*cos-R*cosP；

After simplification

H_a＝H-(h_g+h_bd+C+R)*cosP-(C_bg+C_ed)*sinP；

The vertical distance between the vertical center of the long vertical rod and the carrier vehicle is very short, namely C_edIs 0, then:

H_a＝H-(h_g+h_bd+C+R)*cosP-C_bg*sinP；

wherein H is the elevation of the GNSS antenna,C_bgthe length h from the projection point of the edge point of the tail of the carrier vehicle on the Y axis of the local coordinate system to the original point_gThe length from the projection point of the edge point of the tail of the vehicle of the carrier vehicle on the Z axis of the local coordinate system to the original point, the length of the rod of the vertical long rod measured by the distance encoder, the radius of the bottom wheel of the vertical long rod, the pitch of the posture, the h_bdIs the vertical distance from the encoder to the upper edge of the vehicle tail;

when the vehicle body is horizontal, the pitch P is 0, then: h_a＝H-(h_g+h_bd+C+R)

And step 3: transferring the coordinates of the measuring points acquired by the towing measuring system from the local coordinate system to a geodetic coordinate system;

wherein, the step 3 specifically comprises:

firstly, a local coordinate system is used for representing a measuring point, then the coordinate is converted into a local horizontal coordinate system, and finally the coordinate is converted into a geodetic coordinate system or a Gaussian plane rectangular coordinate system;

wherein the local horizontal coordinate system is defined as follows:

the local horizontal coordinate system definition is related to the selection order of the three-axis orientation, the origin O of which_LLocating in the phase center of GNSS antenna, adopting northeast definition mode, and defining east direction as X_LPositive axial direction, north direction being Y_LPositive direction of axis, Z_LAxis perpendicular to X_LO_LY_LThe plane is upward, and the coordinate system is a right-hand coordinate system;

let the coordinate of the measurement point in the local coordinate system be (X)₁，Y₁，Z₁) At the measurement point Z_PO_PY_PIn-plane, then:

X₁＝0

Y₁＝-C_bg*cosP+h_g*sinP-C*cos(90°-α+P)+R*sinP

Z₁＝-(h_g+R)*cosP-C_bg*sinP-C*cos(α-P)

in the formula: c_bgThe length h from the projection point of the joint point of the angle encoder and the carrier vehicle on the Y axis of the local coordinate system to the original point_gIs the joint of the angle encoder and the carrier vehicleThe length from a projection point of a point on a Z axis of a local coordinate system to an original point, alpha is the offset angle of the inclined long rod recorded by the angle encoder, P is the attitude pitching, C is the length of the inclined long rod, and R is the radius of the wheel;

the local coordinate system is reduced to the local horizontal coordinate system: because the original points of the two coordinates are the same, the local coordinates are rotated by a certain angle around the Z axis to enable the axes of the two coordinates to be coincident, wherein the rotation angle theta_HThe course angle measured by the compass of the attitude instrument is the coordinate (X) of the depth measuring point under the local horizontal coordinate system₂，Y₂，Z₂) The calculation formula is as follows:

the local horizontal coordinate system is reduced to a space rectangular coordinate system: the geodetic coordinates of the origin of the local coordinate system under the geocentric geostationary coordinate system are (B, L, H), the local horizontal coordinate system is firstly rotated by 90 degrees to B anticlockwise around an E axis, and then rotated by 90 degrees plus L clockwise around a U axis, and at the moment, the local horizontal coordinate system is parallel to the space rectangular coordinate system;

the space rectangular coordinate of the measuring point under the geocentric geostationary coordinate system is set as (X)₃，Y₃，Z₃) Then, the following relationship is present:

in the formula, [ X ]_oe，Y_oe，Z_oe]^TIs the origin O of the local horizontal coordinate system_LObtaining a space rectangular coordinate under a geocentric geostationary coordinate system according to a conversion relation between a geodetic coordinate and the space geodetic rectangular coordinate; r_WIs a rotation matrix about the latitude and longitude of the earth; wherein:

R_W＝R_B*R_L

and 4, step 4: and integrating the coordinates and the elevation of the calculated measuring points with the single-beam measurement data.

2. The method for processing water depth data by combining single beam and towing measurement according to claim 1, wherein the step 4 comprises:

and carrying out data preprocessing on the single-beam data obtained by the single-beam depth measurement system, wherein the data preprocessing comprises abnormal point deletion, draft correction, tide level correction and data smoothing, exporting a processed data file, storing the coordinates and the elevation calculated by using the data measured by the towing measurement system according to the format of the exported data file, and displaying the coordinates and the elevation in a mapping manner by using mapping software.

Images