CN110297248A - Automatic data processing method based on multibeam sounding system - Google Patents
Automatic data processing method based on multibeam sounding system Download PDFInfo
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- CN110297248A CN110297248A CN201910490381.9A CN201910490381A CN110297248A CN 110297248 A CN110297248 A CN 110297248A CN 201910490381 A CN201910490381 A CN 201910490381A CN 110297248 A CN110297248 A CN 110297248A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/10—Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
Abstract
The present invention relates to sea-floor relief observation technology fields, more particularly to a kind of automatic data processing method based on multibeam sounding system, the following steps are included: one, data acquisition is parsed with initial data: being acquired data according to the measuring system designed in this method, and is decoded to original measurement data；Two, coordinate conversion: the posture information obtained by posture instrument corrects the depth measurement data obtained under carrier coordinate system G system, obtains depth measurement point in the position of geographic coordinate system P system.Three, Probing of Abnormal Data is with rejecting: to disorder data recognition and rejecting automatically according to the algorithm designed in this method.This method improves the efficiency of Probing of Abnormal Data and rejecting, simplifies work flow, reduces the cost of operation, improves the reliability of multibeam bathymetric data.
Description
Technical field
The present invention relates to sea-floor relief observation technology field more particularly to a kind of data based on multibeam sounding system certainly
Dynamic processing method.
Background technique
This concept of bathymetric surveying is from water-depth measurement inheritance and development.Early 20th century, people have invented use
Echo depth sounding is applied in oceanic sounding.In the 1970s, there is multibeam sounding system, it can once be provided and course line
The water depth value of hundreds of or even thousands of a measuring points, can accurately, rapidly measure in underwater one fixed width in perpendicular plane
Target shape and coordinate, thus the relatively reliable state for depicting subaqua-tic geomorphology.Due to the complexity of marine environment, more waves
The collected bathymetric data of Shu Shengna survey system inevitably will appear some systematic errors and abnormal data.Therefore,
Automatically these data exception points must be rejected either manually or by computer.Manually mode subjectivity is strong and efficiency
Low, traditional data processing software is mostly based on single survey line, is unable to satisfy the edit request of high-volume multibeam bathymetric data.Cause
This, it is necessary to study quick, reliable data filtering methods.
Summary of the invention
It is an object of the invention to overcome the shortcomings of above-mentioned technology, and it is automatic to provide the data based on multibeam sounding system
Processing method.
The present invention to achieve the above object, using following technical scheme: a kind of data based on multibeam sounding system from
Dynamic processing method, it is characterised in that: the following steps are included:
Step 1, data acquisition are parsed with initial data: acquiring data according to the measuring system designed in this method, and right
Original measurement data is decoded；
Step 2, coordinate conversion: the posture information obtained by posture instrument, the depth measurement to being obtained under carrier coordinate system G system
Data are corrected, and obtain depth measurement point in the position of geographic coordinate system P system.
Step 3, Probing of Abnormal Data and reject: according to the algorithm designed in this method automatically to disorder data recognition simultaneously
It rejects.
Preferably, in step 1, in bathymetric surveying, decoded original measurement data is needed mainly to have GNSS to connect
The depth measurement data of position data, the Attitude data that posture instrument obtains and multibeam echosounder acquisition that receipts machine measures.
Preferably, coordinate transformation method is as follows in step 2: in multibeam sounding system, using posture instrument mass center as origin
Carrier coordinate system G is established, XG axis is directed toward course, and vertically downward, YG axis and XG, ZG axis constitute right-handed system to ZG axis；In posture instrument
The heart is that origin establishes the northern meridian in local geographic coordinate system P, XP axis direction ground, and YP axis is perpendicularly oriented to east, ZP axis and XP, YP axis structure
At right hand orthogonal coordinate system；The major parameter of posture instrument output has first h, rolling r and pitching p partially, is sat by posture instrument to hull
Depth measurement data under mark system carry out Attitude Correction, and depth measurement data are transformed under geographic coordinate system.
Preferably, Probing of Abnormal Data and rejecting in step 3, using the region growing algorithm based on three-dimensional grid, identification
Abnormal data and by abnormal data elimination.
The region growing algorithm for being preferably based on three-dimensional grid mainly includes following three step: (a) setting sizing grid w, builds
Vertical three-dimensional space grid is simultaneously numbered each grid, and the grid value fallen into a little is set as 1, does not put the grid value fallen into
It is set as 0, and is not access by the grid ticks that all grid values are 1；(b) grid set Si is established, is not 1 not with any value
The grid points of access carry out region growth as starting point, search for its 26 adjacent spatial grid, if grid points pi value is 1,
Then this point is put into Si, and is to have accessed by this grid ticks；If (c) Si growth terminates, and the lattice that all grid values are 1
Net value is collectively labeled as having accessed, then region increases and terminates；If Si growth terminates, and is 1 not access grid there are grid value, then
Return step b, until increasing terminates；(d) the grid set Si that peels off is rejected.
The beneficial effects of the present invention are: this method is realized and is quickly decoded to multiple-beam system measurement data and coordinate
Conversion, and the abnormal data in measurement process is detected and rejected automatically, eliminate the subjectivity of artificial rejecting abnormalities point
Property, especially when the amount of data is large, the efficiency of Probing of Abnormal Data and rejecting is improved, simplify work flow, reduces work
The cost of industry improves the reliability of multibeam bathymetric data.
Detailed description of the invention
Fig. 1 is measuring system carrier coordinate system building schematic diagram of the present invention；
Fig. 2 is geographic coordinate system schematic diagram；
Fig. 3 is multi-beam abnormal data automatic identification algorithm flow chart.
Specific embodiment
With reference to the accompanying drawing and the preferred embodiment specific embodiment that the present invention will be described in detail.As shown in Figure 1-3, this hair
Bright to describe a kind of automatic data processing method based on multibeam sounding system, so-called depth measurement database preparation refers to more
Based on wave beam initial data, multi-beam position data, attitude data and depth measurement data are decoded, it is therefore intended that by hull
Depth measurement data under coordinate system are transformed under geographic coordinate system, to realize the data Unified Expression under geographic coordinate system, and are used
This method can carry out the detection and rejecting of abnormal data to the data after parsing automatically, improve traditional artificial abnormal data sieve
The subjectivity of choosing improves the efficiency of Probing of Abnormal Data, improves the reliability of multibeam bathymetric data.
The present invention is based on the automatic data processing methods of multibeam sounding system, by data acquisition, coordinate system building, coordinate
Three major part compositions are converted, detailed process is as follows:
Step 1, data acquisition are parsed with initial data.Data acquisition uses multi-beam measuring system, wherein main packet
Contain: GNSS receiver, posture instrument and multibeam echosounder.GNSS receiver is mainly used for obtaining the location information of surveying vessel, appearance
State instrument is used to measure the posture of surveying vessel, and multibeam echosounder passes through certain point at energy converter transmitting acoustic measurement seabed to transducing
The angle and distance of device obtain depth measurement data.The multiple-beam system raw measurement data of magnanimity is protected usually in the form of binary
It deposits, therefore first has to be decoded raw measurement data, needing decoded data mainly includes surveying vessel position data, hull
Attitude data and multibeam bathymetric data.
The bathymetric data measured under carrier coordinate system (such as Fig. 1) is mainly transformed into geography by step 2, coordinate system conversion
Under coordinate system (such as Fig. 2).In multi-beam measuring system, need for posture instrument to be placed in hull center of gravity.With posture instrument mass center
Carrier coordinate system G, X are established for originGAxis is directed toward course, ZGAxis vertically downward, YGAxis and XG、ZGAxis constitutes right-handed system.With posture
Instrument center is that origin establishes geographic coordinate system P, XPAxis is directed toward the northern meridian in ground, YPAxis is perpendicularly oriented to east, ZPAxis and XP、YPAxis is constituted
Right hand orthogonal coordinate system.In coordinate transform process, the Attitude data of posture instrument output are needed.Attitude data are main
Including the inclined h of hull first, rolling r and pitching p, in coordinate conversion, need to sit the seabed three-dimensional measured under carrier coordinate system
Mark rotates angle r, p, h around X, Y, Z axis, the depth measurement coordinate under carrier coordinate system is rotated under geographic coordinate system, corresponding rotation
Torque battle array position are as follows:
Assuming that coordinate (X of the one point A of seabed under carrier coordinate systemAG, YAG, ZAG), it is posture instrument measures at this time rolling, vertical
It shakes and head is respectively partially r, p, h, then correspond to the coordinate (X under geographic coordinate systemAP, YAP, ZAP) are as follows:
[XPG, YPG, ZPG]T=RG[XAG, YAG, ZAG]T (2)
It Probing of Abnormal Data and is rejected in step 3, using a kind of region growing algorithm (such as Fig. 3) based on three-dimensional grid,
Automatically abnormal data is detected and is rejected.This method mainly includes following three step: (a) setting sizing grid w, establishes three
Dimension space grid is simultaneously numbered each grid, and the grid value fallen into a little is set as 1, does not put the grid value setting fallen into
It is 0, and is not access by the grid ticks that all grid values are 1.(b) grid set S is establishedi, it is 1 not access with any value
Grid points as starting point carry out region growth, its 26 adjacent spatial grid is searched for, if grid points piValue is 1, then will
This point is put into SiIn, and be to have accessed by this grid ticks.If (c) SiGrowth terminates, and the grid value that all grid values are 1
It is collectively labeled as having accessed, then region increases and terminates；If SiGrowth terminates, and is 1 not access grid there are grid value, then returns
Step b, until increasing terminates.(d) the grid set S that peels off is rejectedi.The grid that peels off collection judgment criteria is as follows: peel off grid
Gather small volume；The grid density that peels off is smaller.Density p calculates as follows:
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of automatic data processing method based on multibeam sounding system, it is characterised in that: the following steps are included:
Step 1, data acquisition are parsed with initial data: acquiring data according to the measuring system designed in this method, and to original
Measurement data be decoded；
Step 2, coordinate conversion: the posture information obtained by posture instrument, to the depth measurement data obtained under carrier coordinate system G system
It is corrected, obtains depth measurement point in the position of geographic coordinate system P system.
Step 3, Probing of Abnormal Data and rejecting: it to disorder data recognition and is rejected automatically according to the algorithm designed in this method.
2. the automatic data processing method according to claim 1 based on multibeam sounding system, which is characterized in that step
In one, in bathymetric surveying, the position data that needs decoded original measurement data mainly to there is GNSS receiver to measure,
The depth measurement data that the Attitude data and multibeam echosounder that posture instrument obtains obtain.
3. the automatic data processing method according to claim 1 based on multibeam sounding system, which is characterized in that step
Coordinate transformation method is as follows in two: in multibeam sounding system, establishing carrier coordinate system G, XG by origin of posture instrument mass center
Axis is directed toward course, and vertically downward, YG axis and XG, ZG axis constitute right-handed system to ZG axis；Local ground is established by origin of posture instrument center
Coordinate system P is managed, XP axis is directed toward the northern meridian in ground, and YP axis is perpendicularly oriented to east, and ZP axis and XP, YP axis constitute right hand orthogonal coordinate system；
The major parameter of posture instrument output has first h, rolling r and pitching p partially, by posture instrument to the depth measurement data under hull coordinate system into
Depth measurement data are transformed under geographic coordinate system by row Attitude Correction.
4. the automatic data processing method according to claim 1 based on multibeam sounding system, which is characterized in that step
It Probing of Abnormal Data and is rejected in three, using the region growing algorithm based on three-dimensional grid, identifies abnormal data and by abnormal number
According to rejecting.
5. the automatic data processing method according to claim 4 based on multibeam sounding system, which is characterized in that be based on
The region growing algorithm of three-dimensional grid mainly includes following three step: (a) setting sizing grid w, establishes three-dimensional space grid and right
Each grid is numbered, and the grid value fallen into a little is set as 1, does not put the grid value fallen into and is set as 0, and by the possessive case
The grid ticks that net value is 1 is not access；(b) establish grid set Si, using any value be 1 the grid points not accessed as
Initial point carries out region growth, searches for its 26 adjacent spatial grid, if grid points pi value is 1, this point is put into Si,
And by this grid ticks be accessed；If (c) Si growth terminates, and the grid value that all grid values are 1 is collectively labeled as having accessed,
Then region increases and terminates；If Si growth terminates, and is 1 not access grid there are grid value, then return step b, until increasing
Until end；(d) the grid set Si that peels off is rejected.
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Cited By (3)
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Application publication date: 20191001 |