CN110702162A - Ad hoc network marine environment multi-parameter measuring method - Google Patents
Ad hoc network marine environment multi-parameter measuring method Download PDFInfo
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Abstract
The invention provides a multi-parameter measurement method for an ad hoc network marine environment. The navigation and surveying and mapping integrated system runs in a shore-based or mother ship operation management center and controls and coordinates a plurality of measuring sensors to work. The measuring sensor comprises a multi-beam echo sounder and an acoustic Doppler current profiler and provides marine environment data acquisition. The unmanned platform is formed by integrating a surveying and mapping boat body, an autonomous obstacle avoidance unit and an intelligent control unit and serves as a mobile platform for measuring sensor networking measurement. Navigation, survey and drawing integration system realizes network deployment operation and data aftertreatment by management software module in coordination, survey and drawing operation module and the real-time concatenation module integration of multisource multi-platform survey and drawing data. The networking measurement method provided by the invention has the characteristics of high measurement efficiency, platform and sensor compatibility and high multi-instrument networking observation and multi-source data fusion level.
Description
Technical Field
The invention relates to the technical field of marine surveying and mapping, in particular to a multi-parameter measuring method for an ad hoc network marine environment.
Background
Marine surveying is the basis and leader of all maritime activities. The development of marine surveying and mapping is also more concerned in international countries while paying high attention to the development of marine safety and marine economy. For comprehensive employment, surveying and mapping business workload of a maritime survey department is always kept high in recent years, emergency surveying and mapping gradually develops to near and far sea areas, surveying and mapping tasks of island reef areas and complex sea areas are increased, and requirements for equipment of maritime surveying and mapping are higher and higher. The sea condition of the operation area is severe, so that the effective operation time of the measuring ship is seriously influenced. In order to solve the defects of the traditional operation mode and improve the measurement operation efficiency, a plurality of domestic and foreign research institutions successively put forward a plurality of solutions, such as a multispectral remote sensing technology, a microwave remote sensing technology and an airborne laser technology, for measuring the water depth of a shallow water area around an island, the methods not only have the problem of expensive equipment introduction and are not feasible for a common operation unit, but also have limited confidence range of the multispectral remote sensing depth measurement technology and cannot meet the accuracy requirement of submarine topography measurement, the microwave remote sensing depth measurement technology must have ideal ocean current and wind speed support, and the current technology is not completely mature.
Disclosure of Invention
The invention aims to provide an ad-hoc network marine environment multi-parameter measuring method, through the system, an unmanned surface vessel measuring platform synchronously executes the work of submarine topography mapping, ocean current profile measurement and water surface underwater obstacle detection in a networking mode, the unmanned surface vessel formation distribution is realized to complete the functions of multi-beam and acoustic Doppler flow velocity ocean current synchronous measurement and real-time splicing, the measured data is locally stored, a mother ship/shore-based remote command unmanned surface vessel autonomous measurement operation and the like, the existing measuring efficiency is improved, the unmanned surface vessel can be replaced by the existing measuring ship to enter a dangerous sea area and a shoal sea area to execute measuring tasks, and therefore the problems that the conventional measuring ship is low in measuring efficiency and cannot enter the dangerous sea area to operate are solved.
The invention adopts the following technical scheme:
the ad hoc network marine environment multi-parameter measuring method mainly comprises a multi-parameter intelligent sensor, an unmanned platform and a navigation and surveying and mapping integrated system, wherein the navigation and surveying and mapping integrated system runs in a mother ship/shore-based operation management center and controls and coordinates a plurality of instruments to work. The method comprises the following steps:
step 1: and performing operation planning according to the measurement task requirement, wherein the operation planning comprises the following steps: the method comprises the steps of setting a coordinate system, loading an electronic chart, configuring mother ship operation equipment, configuring unmanned ship formation, and designing and surveying and distributing survey lines.
Step 2: and configuring and issuing unmanned ship operation parameters through the fleet management system, and starting investigation operation by the mother ship and the unmanned ship.
And step 3: through the communication network deployment that establishes, the monitoring end of navigation, survey and drawing integration system is passed back in real time to mother's ship and unmanned ship survey and drawing data collection, realizes the survey and drawing result concatenation and shows.
And 4, step 4: the data recorded by the mother ship and the unmanned ship are subjected to installation deviation calibration, data editing, filtering, compensation and correction and tidal level and sound velocity profile correction on the surveying and mapping data of the multi-parameter intelligent sensor to form a final data display and report.
The invention is further set that the general framework of the navigation and surveying and mapping integrated system is composed of a planning layer, a control layer, a data layer and a display layer.
The invention further provides that the navigation and surveying integrated system comprises a monitoring end and an acquisition end, the monitoring end is in communication connection with the acquisition end, sends a survey line control command and receives feedback information of the acquisition end and transmitted acquisition data information, the acquisition end is simultaneously in communication with the monitoring end and the multi-parameter intelligent sensors, the sensors send to the monitoring end of the navigation and surveying integrated system and need to store and display data in real time, the data is called as uplink data, and the monitoring end sends the control command of the multi-parameter intelligent sensors and sets the parameter data as downlink data.
The invention further provides that data acquired by the mother ship and the unmanned ship sensor need to be subjected to data interpolation, the data interpolation adopts linear interpolation, the low-frequency data is interpolated according to the high-frequency data, when the data interpolation is carried out, firstly, inertial navigation attitude data is led in, and the coordinates and the attitudes of the central points of the multi-beam echo sounder and the ocean current profiler at each moment are obtained according to calibration parameters; then, importing original depth measurement data and ocean current profile data, and analyzing the original depth measurement data and the ocean current profile data to obtain coordinates of a measuring point under a sensor coordinate system and GPS time; and correspondingly searching the position and the posture of the sensor at the moment according to the time of each point to obtain three angles and three translation parameters in the coordinate transformation matrix.
The navigation and surveying integrated system is further set to be subjected to space fusion, five coordinate systems are defined and comprise a carrier coordinate system, a multi-beam sounder coordinate system, an acoustic Doppler flow velocity coordinate system, a station center coordinate system and a geodetic coordinate system, the multi-beam sounder coordinate system and the acoustic Doppler flow velocity coordinate system are sensor coordinate systems, the origin of coordinates of the carrier coordinate system is located at the center of mass of an inertial measurement unit, the origin of the station center coordinate system is located at the phase center of a global navigation satellite system antenna, and the geodetic coordinate system is a geocentric fixed coordinate system.
The invention is further set that when the mother ship and the unmanned ship are networked, the measurement data obtained by each unmanned platform is packed together with the attitude and position information and sent to the monitoring end in an uplink mode. And obtaining coordinates of the measuring points under a geodetic coordinate system according to the coordinate conversion model, and normalizing point position coordinates of the multi-parameter intelligent sensor to geodetic coordinates through conversion from a sensor coordinate system to a carrier coordinate system, conversion from the carrier coordinate system to a station center coordinate system and conversion from the station center coordinate system to the geodetic coordinate system.
The invention further provides that the data collected by the mother ship and the unmanned ship are subjected to point cloud data preprocessing through post-processing software, wherein the point cloud data preprocessing comprises point cloud filtering and point cloud rarefying, the point cloud filtering comprises echo signal denoising, distance denoising and time denoising, and the point cloud rarefying is used for reducing dense point cloud data so as to obtain the point cloud data meeting the requirement on the number of point clouds.
The invention is further set that a main interface of the navigation and surveying and mapping integrated system is provided with a navigation functional area and a display area, the navigation functional area comprises a survey line planning module and a chart module, and the display area comprises a measurement data display module, a navigation state display module and a surveying and mapping state display module.
The invention has the beneficial effects that:
the networking measurement provided by the invention can greatly improve the mapping efficiency, and the measurement efficiency is multiplied.
The invention realizes multi-parameter measurement and effectively increases the amount of mapping information.
The invention improves the intelligent degree of mapping, reduces the workload of data post-processing, and reduces the difficulty of data fusion caused by separate measurement of a single unit.
Drawings
FIG. 1 is a composition diagram of a multi-parameter measurement method for an ad hoc network marine environment.
Fig. 2 measures the functional relationship of the software in the control and management subsystem.
FIG. 3 is a flow chart of surveying and mapping data by using the ad hoc network marine environment multi-parameter measuring method.
FIG. 4 shows a navigation, mapping, collecting and processing flow of the ad hoc network marine environment multi-parameter measurement method.
Detailed Description
Referring to fig. 1 to 4, the ad hoc marine environment multi-parameter measurement method includes a multi-parameter intelligent sensor, an unmanned platform, and a navigation and surveying integrated system, where the multi-parameter intelligent sensor includes a multi-beam Echo Sounder (MBES) and an Acoustic Doppler Current Profiler (ADCP), the MBES is used for submarine topography measurement, and the ADCP is used for ocean current profile measurement; the unmanned platform comprises a surveying and mapping boat body, an autonomous obstacle avoidance unit, an intelligent control unit, a power unit, an energy unit and a communication unit; the navigation and surveying integrated system comprises a survey line planning module, an electronic chart, a navigation state display module, a surveying state display module and a surveying data display module.
The specific implementation comprises the following steps as shown in the attached figure 2:
step 1: and performing operation planning according to the measurement task requirement, wherein the operation planning comprises the following steps: the method comprises the steps of setting a coordinate system, loading an electronic chart, configuring mother ship operation equipment, configuring unmanned ship formation, and designing and surveying and distributing survey lines.
Step 2: and configuring and issuing unmanned ship operation parameters through the fleet management system, and starting investigation operation by the mother ship and the unmanned ship.
And step 3: through the established communication networking, the mother ship and the unmanned ship survey and drawing data are transmitted back to the survey and drawing integrated software monitoring terminal in real time, and the survey and drawing result is spliced and displayed.
And 4, step 4: the data recorded by the mother ship and the unmanned ship are subjected to installation deviation calibration, data editing, filtering, compensation correction and tidal level and sound velocity profile correction by a measuring instrument to form a final data display and report.
The overall framework of the navigation and surveying and mapping integrated system is composed of a planning layer, a control layer, a data layer and a display layer.
Navigation, survey and drawing integration system includes control end and collection end, the control end through with gather the end and carry out communication connection, send survey line control command, and the collection data information of receiving the feedback information of collection end and transmission, the collection end is simultaneously with control end and sensor establishment communication, each sensor sends navigation, survey and drawing integration system control end and need preserve and show data in real time and call as the uplink data, control end sends the control command of each sensor, set up parameter data and be down data.
Data interpolation is needed for data acquisition of the mother ship and the unmanned ship sensor, linear interpolation is adopted for data interpolation, low-frequency data are interpolated according to high-frequency data, and during data interpolation, firstly, inertial navigation attitude data are led in, and coordinates and attitudes of central points of a multi-beam depth sounder and a ocean current profiler at each moment are obtained according to calibration parameters; then, importing original depth measurement data and ocean current profile data, and analyzing the original depth measurement data and the ocean current profile data to obtain coordinates of a measuring point under a sensor coordinate system and GPS time; and correspondingly searching the position and the posture of the sensor at the moment according to the time of each point to obtain three angles and three translation parameters in the coordinate transformation matrix.
The mother ship and the unmanned ship measuring system need to be subjected to spatial fusion, five coordinate systems are defined, and the five coordinate systems comprise a carrier coordinate system, a multi-beam depth finder coordinate system, an acoustic Doppler flow velocity coordinate system, a station center coordinate system and a geodetic coordinate system, wherein the multi-beam depth finder coordinate system and the acoustic Doppler flow velocity coordinate system are sensor coordinate systems, the origin of the carrier coordinate system is located at the center of mass of an inertial measuring unit, the origin of the station center coordinate system is located at the phase center of a Global Navigation Satellite System (GNSS) antenna, and the geodetic coordinate system is a geodetic fixed coordinate system.
When the mother ship and the unmanned ship are networked, the measurement data obtained by each unmanned platform are packed together with the attitude and position information and sent to the monitoring end in an uplink mode. And obtaining coordinates of the measuring points under a geodetic coordinate system according to the coordinate conversion model, and normalizing point position coordinates of the multi-parameter intelligent sensor to geodetic coordinates through conversion from a sensor coordinate system to a carrier coordinate system, conversion from the carrier coordinate system to a station center coordinate system and conversion from the station center coordinate system to the geodetic coordinate system.
The data collected by the mother ship and the unmanned ship are subjected to point cloud data preprocessing through post-processing software, wherein the point cloud data preprocessing comprises point cloud filtering and point cloud rarefying, the point cloud filtering comprises echo signal denoising, distance denoising and time denoising, and the point cloud rarefying is used for reducing dense point cloud data so as to meet the requirement of point cloud quantity.
The main interface of navigation and surveying and mapping integrated system is provided with navigation functional area and display area, the navigation functional area comprises survey line planning module and chart module, and the display area comprises measured data display module, navigation state display module and surveying and mapping state display module.
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 (8)
1. A multi-parameter measuring method for an ad hoc network marine environment comprises a multi-parameter intelligent sensor, an unmanned platform and a navigation and surveying and mapping integrated system; the multi-parameter intelligent sensor comprises a multi-beam echosounder and an acoustic Doppler current profiler, wherein the multi-beam echosounder is used for measuring submarine topography and the acoustic Doppler current profiler is used for measuring a sea current profile; the unmanned platform comprises a surveying and mapping boat body, an autonomous obstacle avoidance unit, an intelligent control unit, a power unit, an energy unit and a communication unit; the navigation and surveying integrated system comprises a survey line planning module, an electronic chart module, a navigation state display module, a surveying state display module and a surveying data display module;
the method is characterized by comprising the following steps:
step 1, operation planning is carried out according to the measurement task requirement, and the method comprises the following steps: setting a coordinate system, loading an electronic chart, configuring mother ship operation equipment, configuring unmanned ship formation, and designing and surveying and distributing survey lines;
step 2, configuring and issuing unmanned ship operation parameters through a fleet management system, and starting investigation operation of a mother ship and the unmanned ship;
step 3, through the established communication networking, the surveying and mapping data of the mother ship and the unmanned ship are transmitted back to a monitoring end of the navigation and surveying and mapping integrated system in real time, and the splicing display of surveying and mapping results is realized;
and 4, carrying out installation deviation calibration, data editing, filtering, compensation correction and tidal level and sound velocity profile correction on the surveying and mapping data of the multi-parameter intelligent sensor by the data recorded by the mother ship and the unmanned ship to form a final data display and report.
2. The ad-hoc network marine environment multiparameter measuring method according to claim 1, wherein the general framework of the integrated navigation and surveying system is composed of a planning layer, a control layer, a data layer and a display layer.
3. The ad-hoc network marine environment multi-parameter measurement method according to claim 1, wherein the integrated navigation and surveying system comprises a monitoring end and a collecting end, the monitoring end is in communication connection with the collecting end, sends a survey line control command, and receives feedback information of the collecting end and transmitted collected data information, the collecting end simultaneously establishes communication with the monitoring end and the multi-parameter intelligent sensors, the monitoring end, which sends the sensors to the integrated navigation and surveying system, needs to store and display data in real time, is called uplink data, and the monitoring end sends the control command and sets the parameter data of the multi-parameter intelligent sensors as downlink data.
4. The ad-hoc network marine environment multi-parameter measurement method according to claim 1, wherein data collected by the mother ship and the unmanned ship sensor is subjected to data interpolation, the data interpolation adopts linear interpolation, low-frequency data is interpolated according to high-frequency data, and when the data interpolation is performed, firstly, inertial navigation attitude data is imported, and coordinates and attitudes of central points of the multi-beam echo sounder and the ocean current profiler at each moment are obtained according to calibration parameters; then, importing original depth measurement data and ocean current profile data, and analyzing the original depth measurement data and the ocean current profile data to obtain coordinates of a measuring point under a sensor coordinate system and GPS time; and correspondingly searching the position and the posture of the sensor at the moment according to the time of each point to obtain three angles and three translation parameters in the coordinate transformation matrix.
5. The ad-hoc network marine environment multiparameter measuring method according to claim 1, wherein the integrated navigation and mapping system performs spatial fusion to define five coordinate systems, including a carrier coordinate system, a multi-beam sounder coordinate system, an acoustic doppler velocity coordinate system, a station center coordinate system, and a geodetic coordinate system, wherein the multi-beam sounder coordinate system and the acoustic doppler velocity coordinate system are sensor coordinate systems, an origin of coordinates of the carrier coordinate system is located at a centroid of an inertial measurement unit, an origin of the station center coordinate system is located at a phase center of a global navigation satellite system antenna, and the geodetic coordinate system is a fixed geodetic coordinate system.
6. The ad hoc network marine environment multi-parameter measurement method according to claim 1, wherein when a mother ship is networked with unmanned ships, measurement data obtained by each unmanned platform is packed together with attitude and position information and sent upstream to the monitoring end; and obtaining the coordinates of the measuring points under the geodetic coordinate system according to a coordinate conversion model, and reducing the point position coordinates of the multi-parameter intelligent sensor to the geodetic coordinates through the conversion from the sensor coordinate system to the carrier coordinate system, the conversion from the carrier coordinate system to the station center coordinate system and the conversion from the station center coordinate system to the geodetic coordinate system.
7. The ad-hoc network marine environment multi-parameter measurement method according to claim 1, wherein data collected by the mother ship and the unmanned ship is subjected to point cloud data preprocessing by post-processing software, including point cloud filtering and point cloud rarefying, wherein the point cloud filtering includes echo signal denoising, distance denoising and time denoising, and the point cloud rarefying is to reduce dense point cloud data to obtain the point cloud number meeting requirements.
8. The ad-hoc network marine environment multi-parameter measurement method according to claim 1, wherein a main interface of the integrated navigation and surveying and mapping system is provided with a navigation functional area and a display area, the navigation functional area comprises a survey line planning module and a chart module, and the display area comprises a measurement data display module, a navigation state display module and a surveying and mapping state display module.
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| CN111323418A (en) * | 2020-02-26 | 2020-06-23 | 天津大学 | Sea surface oil stain monitoring system based on unmanned ship |
| CN113156369A (en) * | 2021-04-26 | 2021-07-23 | 哈尔滨工程大学 | Marine acoustic phase center calibration method |
| CN114114361A (en) * | 2022-01-27 | 2022-03-01 | 山东科技大学 | Offshore platform precise positioning auxiliary system based on GNSS and working method |
| CN114459437A (en) * | 2021-12-31 | 2022-05-10 | 广东省国土资源测绘院 | Method, equipment and medium for surveying and mapping oceans by cooperation of mother ship and multiple unmanned ships |
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