CN111735436A - Submarine topography data verification method based on more than 3 pieces of uniformly distributed multi-beam data - Google Patents
Submarine topography data verification method based on more than 3 pieces of uniformly distributed multi-beam data Download PDFInfo
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- CN111735436A CN111735436A CN201910971521.4A CN201910971521A CN111735436A CN 111735436 A CN111735436 A CN 111735436A CN 201910971521 A CN201910971521 A CN 201910971521A CN 111735436 A CN111735436 A CN 111735436A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
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- 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
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
Abstract
The invention discloses a submarine topography data verification method based on more than 3 pieces of uniformly distributed multi-beam data, which comprises the following steps: the system comprises an acoustic system, a transducer array, an auxiliary sensor, a data processing system, a multi-beam sonar image and a multi-beam sounding system, wherein the acoustic system is used for transmitting and receiving beams through the transducer array, the acquisition system is used for forming the beams, converting electric signals and acoustic signals, storing acquired water depth information, time information and sound intensity information in a classified manner, merging various sensor data used for navigation positioning and posture calibration sound velocity tracking measurement based on the auxiliary sensor, summarizing the measured data based on the data processing system, drawing a multi-beam sonar image reflecting the topography of the submarine topography by integrating the data, comparing the water depth data, the sound intensity data and water column data in a measurement area with the measurement data in a traditional mode based on the multi-beam sounding system, and further performing regularized comparison processing on the traditional measurement data to improve the measurement accuracy of the submarine topography.
Description
Technical Field
The invention belongs to the technical field of submarine surveying and mapping, and particularly relates to a submarine topography data calibration method based on more than 3 pieces of uniformly distributed multi-beam data.
Background
One of the types of ocean mapping is mapping work mainly for measuring the fluctuation of the sea bottom, the sea bottom topography measurement usually uses an echo depth finder and a side scan sonar which are installed on a ship to simultaneously measure the water depth and the size and the position of an underwater ground object, and can also use methods such as a multi-beam echo depth measurement system, a sea bottom photogrammetry, an airborne laser depth measurement and an ocean remote sensing depth measurement, and the like, and according to the distance from the coast, the positioning of each measuring point can use methods such as optical positioning, radio positioning, underwater acoustic positioning, satellite positioning, combined positioning and the like, when the submarine topography measurement is carried out by using a submarine, inertial positioning or positioning by using a submarine control point can be adopted, wherein the multi-beam echo depth measurement system is matched with the combined satellite positioning system, the method for processing and drawing a sea bottom three-dimensional graph in real time by a computer is developed fastest, and the sea bottom topography graph is required to be uniformly specified in, and is consistent with land topographic maps in the same region, so as to be beneficial to the connection and use of sea and land maps.
The existing submarine topography data verification method has the following problems: submarine topography data can be divided into a profiler, a depth sounder combination, a single beam, a multi-beam and a side scanning sonar method from a data source, a multi-beam depth sounding system can obtain high-precision water depth data and high-resolution backscatter intensity data, the perfect combination of the two enables the multi-beam depth sounding system to be favored by researchers in substrate classification.
Disclosure of Invention
The invention aims to provide a submarine topography data checking method based on more than 3 pieces of uniformly distributed multi-beam data, the method solves the problems that submarine topography data proposed in the background technology can be divided into a profiler, a depth finder combination, a single beam, a multi-beam and a side scanning sonar method from a data source, a multi-beam depth measurement system not only can obtain high-precision water depth data, but also can obtain high-resolution backscattering intensity data, the perfect combination of the two enables the multi-beam depth measurement system to be favored by scientific research workers in substrate classification, and the traditional measurement method has data errors in the measurement process, namely, the measured submarine topography has larger error with the actual topography due to the influence of environment variables in the measuring process, and the error can not be verified by the data of the system, so that the problem of error superposition is caused in the research of the submarine topography.
In order to achieve the purpose, the invention provides the following technical scheme:
a submarine topography data calibration method based on more than 3 pieces of uniformly distributed multi-beam data comprises the following steps: the acoustic-based system transmits and receives beams through a transducer array, the acquisition system is responsible for beam forming, conversion between electric signals and acoustic signals and stores acquired water depth information, time information and sound intensity information in various types of perfect centers, the auxiliary sensor is used for merging and processing various sensor data for navigation positioning and attitude calibration sound velocity tracking determination, the data processing system is used for summarizing measured data, a multi-beam sonar image reflecting submarine topography is drawn by comprehensive data, and the multi-beam depth sounding system is used, comparing the water depth data, the sound intensity data and the water column data in the measuring area with the measuring data in the traditional mode, based on a multi-beam wave depth measuring system, interference data generated by annular factors and equipment factors in a measuring area are brought into the whole data research, and interference-free data models in measurement are compared.
Preferably, the transmitted beam can be formed in a time domain mode and a frequency domain mode, compared with a single signal transmitted by a single beam system, the multi-beam sounding system needs to transmit a plurality of different beams simultaneously for measurement, and after receiving a sound wave signal, a receiving end converts the sound signal into an electric signal, amplifies and filters the electric signal and identifies valuable characteristic information of the electric signal, so that the topographic features of the sea bottom are indirectly reflected according to the signals.
Preferably, the water depth information, the time information and the sound intensity information of the measurement area are stored, and then data calling is performed in subsequent data analysis, and the water depth information, the time information and the sound intensity information of the measurement area are stored, and then comparison is performed when multiple groups of data are demonstrated.
Preferably, the marine sound velocity is determined by a pulse time method, an interferometry and a phase method, the measured attitude of the multiple beams of waves is corrected by pitching, rolling and heading, and spatial coordinate information under a plane rectangular coordinate is obtained by GPS positioning, so that the influence of positioning eccentricity errors caused by the attitude change of the ship body during navigation is eliminated.
Preferably, the measured data are collected, the plane coordinates and the depth of the submarine beam projection points are calculated, and the comprehensive data are used for drawing a multi-beam sonar image reflecting submarine topography, so that a basis is provided for surveying and surveying the submarine topography.
Preferably, the water depth data, the sound intensity data and the water column data measured by the multi-beam data are compared with the data measured by the traditional profiler, the combination of the depth sounder and the single-beam and side-scanning sonar method, and the multi-beam data are compared with the data measured by the profiler, the combination of the depth sounder and the single-beam and side-scanning sonar method to generate different points for marking.
Compared with the prior art, the invention provides a submarine topography data calibration method based on more than 3 pieces of uniformly distributed multi-beam data, which has the following beneficial effects:
compared with the traditional measuring method, the multi-beam backscatter intensity data-based terrain research has the advantages of high working efficiency, low cost, high reliability, seamless performance and the like, can perform comprehensive data verification on traditional terrain data, and further performs regularized comparison processing on the traditional measured data to improve the measuring precision of submarine terrain.
Detailed Description
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a technical scheme of a submarine topography data checking method based on more than 3 pieces of uniformly distributed multi-beam data, which comprises the following steps:
a submarine topography data verification method based on more than 3 pieces of uniformly distributed multi-beam data comprises the steps that beams are transmitted and received through a transducer array based on an acoustic system, the beams at a transmitting end can be formed in a time domain mode and a frequency domain mode, compared with a single signal transmitted by a single beam system, the multi-beam sounding system needs to transmit a plurality of different beams to measure at the same time, after a receiving end receives a sound wave signal, the sound signal is converted into an electric signal, valuable characteristic information is amplified, filtered and identified, and then submarine topography characteristics are indirectly reflected according to the signals.
A submarine topography data calibration method based on more than 3 pieces of uniformly distributed multi-beam data comprises the steps of taking charge of beam forming, conversion between electric signals and acoustic signals based on an acquisition system, storing acquired water depth information, time information and sound intensity information in a classified manner, storing the water depth information, the time information and the sound intensity information of a measurement area, calling data in subsequent data analysis, storing the water depth information, the time information and the sound intensity information of the measurement area, and comparing multiple groups of data when argumentation is carried out.
A submarine topography data calibration method based on more than 3 pieces of uniformly distributed multi-beam data comprises the steps of merging and processing various sensor data used for navigation positioning and attitude calibration sound velocity tracking measurement based on an auxiliary sensor, determining the ocean sound velocity through a pulse time method, an interference method and a phase method, correcting the measured attitude of a plurality of beams of waves through pitching, rolling and heading, and obtaining space coordinate information under a plane rectangular coordinate through GPS positioning to eliminate the influence of positioning eccentricity errors caused by the attitude change of a ship body during navigation.
A submarine topography data checking method based on more than 3 pieces of uniformly distributed multi-beam data comprises the steps of summarizing measured data based on a data processing system, calculating plane coordinates and depths of submarine beam projection points, drawing a multi-beam sonar image reflecting submarine topography by utilizing comprehensive data, and providing basis for surveying and surveying the submarine topography.
A submarine topography data calibration method based on more than 3 pieces of uniformly distributed multi-beam data comprises the steps of comparing water depth data, sound intensity data and water column data in a measurement area with measurement data in a traditional mode based on a multi-beam depth measurement system, comparing the water depth data, sound intensity data and water column data measured by the multi-beam data with the measurement data measured by a traditional profiler, a depth finder combination and a single-beam and side-scanning sonar method, and marking different points generated in the comparison process of the multi-beam data, the profiler, the depth finder combination and the single-beam and side-scanning sonar method data.
A submarine topography data verification method based on more than 3 pieces of uniformly distributed multi-beam data comprises the steps of bringing interference data generated by annular factors and equipment factors of a measurement area into an integral data research based on a multi-beam depth measurement system, and comparing interference and interference-free data models during measurement.
The invention has the following use process: after the system is installed, a transmitting end on a measuring ship is formed through two modes of a time domain and a frequency domain, so that a single signal transmitted by a single-beam system is compared, the multi-beam sounding system needs to transmit a plurality of different beams at the same time for measurement, after a corresponding receiving end receives a sound wave signal after measurement, the sound signal is converted into an electric signal, valuable characteristic information is amplified, filtered and identified, further, the topographic features of the sea bottom are indirectly reflected according to the signals, and the topographic features of the sea bottom displayed after measurement need to be comprehensively compared with data measured by a traditional profiler, a sounding device combination, a single beam and a side scanning sonar method, so that whether corresponding errors exist in the data measured by the traditional profiler, the sounding device combination, the single beam and the side scanning sonar method is detected.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A submarine topography data calibration method based on more than 3 pieces of uniformly distributed multi-beam data is characterized by comprising the following steps:
step 1: transmitting and receiving beams through a transducer array based on an acoustic system;
step 2: the acquisition system is responsible for beam forming, conversion between electric signals and acoustic signals and classified and complete storage of acquired water depth information, time information and sound intensity information;
and step 3: various sensor data for navigation positioning and attitude calibration sound velocity tracking determination are merged based on the auxiliary sensor;
and 4, step 4: based on a data processing system, summarizing the measured data, and drawing a multi-beam sonar image reflecting the submarine topography by integrating the data;
and 5: comparing water depth data, sound intensity data and water column data in a measuring area with the measuring data in a traditional mode based on a multi-beam wave depth measuring system;
step 6: based on a multi-beam wave depth measurement system, interference data generated by annular factors and equipment factors in a measurement area are brought into the whole data research, and interference-free data models during measurement are compared.
2. The submarine topography data verification method based on more than 3 pieces of uniformly distributed multi-beam data according to claim 1, wherein the transmitting and receiving of the beams by the transducer array based on the acoustic system comprises the following steps:
step 11: the wave beam at the transmitting end can be formed in a time domain mode and a frequency domain mode, and compared with a single signal transmitted by a single-wave beam system, the multi-wave beam sounding system needs to transmit a plurality of different wave beams simultaneously for measurement;
step 12: after receiving the sound wave signals, the receiving end converts the sound signals into electric signals, and valuable characteristic information is amplified, filtered and identified, so that the topographic features of the seabed are indirectly reflected according to the signals.
3. The method for verifying submarine topography data based on more than 3 pieces of uniformly distributed multi-beam data according to claim 1, wherein the method for verifying submarine topography data based on the collection system is responsible for beam forming, conversion between electric signals and acoustic signals and storing collected water depth information, time information and sound intensity information in a classified manner comprises the following steps:
step 21: storing water depth information, time information and sound intensity information of the determination area, and then calling data in subsequent data analysis;
and step 22, storing the water depth information, the time information and the sound intensity information of the measured area, and comparing the water depth information, the time information and the sound intensity information when multiple groups of data are demonstrated.
4. The method for verifying submarine topography data based on more than 3 pieces of uniformly distributed multi-beam data according to claim 1, wherein the combination processing of various sensor data for navigation positioning and attitude calibration sound velocity tracking determination based on auxiliary sensors comprises the following steps:
step 31: determining the ocean sound velocity through a pulse time method, an interference method and a phase method;
step 32: correcting the measured postures of the multiple beams of waves through pitching, rolling and course;
step 32: space coordinate information under a plane rectangular coordinate is obtained through GPS positioning, and the influence of positioning eccentricity errors caused by changes of the ship body posture during navigation is eliminated.
5. The submarine topography data verification method based on more than 3 pieces of uniformly distributed multi-beam data according to claim 1, comprising the steps of: and summarizing the measured data, calculating the plane coordinate and the depth of the seabed wave beam projection point, and drawing a multi-beam sonar image reflecting the seabed landform by utilizing the comprehensive data to provide a basis for surveying and inspecting the seabed landform.
6. The method for verifying submarine topography data based on more than 3 pieces of uniformly distributed multi-beam data according to claim 1, wherein based on a multi-beam sounding system, comparing water depth data, sound intensity data and water column data in a measured area with conventionally measured data comprises the following steps:
step 51: comparing the water depth data, the sound intensity data and the water column data measured by the multi-beam data with the data measured by the traditional profiler, the depth finder combination and the single-beam and side-scanning sonar method for comprehensive comparison;
step 52: and marking different points generated in the comparison process of the multi-beam data, the combination of the profiler and the depth finder, and the single-beam and side-scan sonar data.
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| CN112539886A (en) * | 2020-11-16 | 2021-03-23 | 中国海洋大学 | Submarine gas plume extraction method based on image processing mode multi-beam sonar water column data and application |
| CN113325424A (en) * | 2021-06-02 | 2021-08-31 | 上海海洋大学 | Method for estimating amount of space of artificial fish reef according to multi-beam water depth data |
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