CN111880184A - Seabed target positioning method and system applied to shipborne side scan sonar - Google Patents
Seabed target positioning method and system applied to shipborne side scan sonar Download PDFInfo
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- CN111880184A CN111880184A CN202010769552.4A CN202010769552A CN111880184A CN 111880184 A CN111880184 A CN 111880184A CN 202010769552 A CN202010769552 A CN 202010769552A CN 111880184 A CN111880184 A CN 111880184A
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Abstract
The invention provides a method and a system for positioning a submarine target by using a shipborne side scan sonar, which comprise the following steps: acquiring position information of a sonar source; calculating an attitude correction coordinate transformation matrix T; determining the position information of the submarine target relative to the sonar source, and determining the relative position of the submarine target relative to the sonar source; correcting the relative position information of the submarine target by using the attitude correction coordinate transformation matrix T to obtain the accurate position information of the submarine target in a geodetic coordinate system; and the sonar image display module receives the accurate position information, converts the accurate position information into image information and outputs the image information to obtain a complete submarine target image. The method and the system provided by the invention can correct the submarine target position parameter information which is acquired by a sonar source GPS module in a sonar source position information acquisition module and is not provided with a course angle, a roll angle and a pitch angle through the posture correction coordinate transformation matrix T, so that the submarine target position information is more accurate.
Description
Technical Field
The invention belongs to the technical field of sonar seabed target positioning, and particularly relates to a seabed target positioning method and system applied to shipborne side scan sonar.
Background
Ocean mapping is the basis for all ocean activities and developments. With the continuous development of the ocean mapping technology, the side scan sonar is the main mode of the current underwater target detection and is an important tool for detecting the submarine topography and landform. The side scan sonar transmits sound wave pulses to the seabed, receives reflected sound wave signals and draws sonar images according to the intensity of the reflected signals.
The conventional side scan sonar is used for positioning the submarine target by taking the GPS position as the center, a ship body coordinate system is respectively established along the longitudinal axis and the transverse axis of a ship, and the specific position of the underwater target is calculated according to the echo time reflected by the underwater target. But the hull is defined primarily by heading, roll and pitch angles at sea.
In the prior art, the scanning range of a shipborne side scan sonar is influenced by the attitude change of a ship body during navigation, so that the positioning precision of an underwater target is greatly influenced, and the coordinate of a submarine target has deviation.
Disclosure of Invention
Aiming at the defects, the invention provides a method and a system for correcting the position parameter information of the submarine target without a course angle, a roll angle and a pitch angle, which is acquired by a sonar source GPS module in a sonar source position information acquisition module, by using a side-scan sonar with a posture correction matrix calculation module through posture correction, and assisting the submarine target relative position information acquired by a submarine target relative position information module to further obtain the accurate position information of the submarine target under a geodetic coordinate system, converting the position information into image information through a sonar image display module, and outputting the submarine target of which the complete submarine target image is obtained.
The invention provides the following technical scheme: a submarine target positioning method applying a shipborne side scan sonar comprises the following steps:
s1: longitude parameter x of side scan sonar obtained by sonar source position information acquisition module1Latitude parameter y1A hull attitude parameter roll angle alpha, a hull attitude parameter pitch angle beta, a hull attitude parameter course angle gamma and a sonar to seabed height parameter H1Obtaining position information of a sonar source:
X1＝[x1y1H1β γ α]；
s2: adopting an attitude correction matrix calculation module to calculate an attitude correction coordinate transformation matrix T:
s3: adopt seabed target relative position information acquisition module to confirm seabed target for the positional information of sonar source to the sonar source is the original point, and Y axle points to hull direction of motion, and X axle perpendicular to Y axle points to sonar source right side, confirms the Z axle according to the right-hand rule, establishes sonar source coordinate system, confirms seabed target relative position for the sonar source:
wherein, the x2The y is the horizontal distance of the seabed target relative to the sonar source on the X axis2Is the horizontal distance of the seabed target relative to the sonar source on the Y axis, Y20, said
Respectively the included angles of the X axis, the Y axis and the Z axis of the submarine target and the sonar source coordinate system, wherein H is the distance between the submarine target and the sonar source coordinate system2For side-scanning the height of the sonar to the sea floor level, H2＝H1；
S4: correcting the relative position information of the submarine target obtained in the step S3 by adopting a submarine target positioning module and utilizing the posture correction coordinate transformation matrix T obtained in the step S2 to obtain a submarine targetPrecise position information marked under geodetic coordinate system
Said x3As the longitude parameter of the sea-bottom target on the X axis under the geodetic coordinate system, the y3Is latitude parameter of the seabed target on the Y axis under the geodetic coordinate system, the H3Height of the sonar source to sea floor level, H3＝H1Said
Respectively forming included angles between the submarine target and an X axis, a Y axis and a Z axis of a geodetic coordinate system;
s5: and the sonar image display module receives the position information of the submarine target under the geodetic coordinate system, which is obtained by the submarine target positioning module, converts the position information into image information and outputs the image information to obtain a complete submarine target image.
Further, the step of S4 includes the steps of:
s41: using the posture correction coordinate transformation matrix T obtained in the step S2 to the x obtained in the step S32、y2、H2And (3) information correction:
wherein said x2'、y2Respectively correcting the horizontal distance from the sea bottom target to the sonar source on the X axis and the Y axis in the sonar source coordinate system after the posture correction matrix is corrected, and H2' is the height from the sonar source to the seabed plane after the posture correction matrix is corrected;
s42: calculating the position information of the submarine target in the geodetic coordinate system by using the parameters obtained in the step S41:
s43: calculating the angle parameters of the submarine target in a geodetic coordinate system:
the formula atan2 (beta, alpha) is calculated
The return value of (a) is between (-pi, pi) and is the azimuth angle from the origin of the coordinate system to the point (alpha, beta).
Further, in the step S3
And R is the inclined distance of the side scan sonar.
Further, in the step of S3
Has the following relationship:
the application also provides a system adopting the method for positioning the submarine target by using the shipborne side scan sonar, which comprises a sonar source position information acquisition module, an attitude correction matrix positioning module, a submarine target relative position information acquisition module, a submarine target positioning module and a sonar image display module.
Furthermore, the sonar source position information acquisition module is respectively in communication connection with the posture correction matrix positioning module and the seabed target relative position information acquisition module.
Furthermore, the posture correction matrix positioning module and the seabed target relative position information acquisition module are both in communication connection with the seabed target positioning module, and the seabed target positioning module receives the posture correction information of the posture correction matrix positioning module and the seabed target relative position information of the seabed target relative position acquisition module.
Further, sonar source position information acquisition module includes sonar source GPS orientation module, attitude sensor and sounding equipment appearance.
The invention has the beneficial effects that:
1. the method comprises the steps of obtaining side scan data by using a side scan sonar, further obtaining a sonar image, converting the sonar image into a seabed target relative position information obtaining module, further correcting the seabed target position information through a posture correction matrix, obtaining accurate position information of the seabed target, and marking the accurate position information in a sonar image to obtain a complete seabed image.
2. The method and the system claimed by the application combine the seabed target coordinate parameters, the water depth distance and the hull attitude parameters including the course angle, the roll angle and the pitch angle obtained by the sonar source GPS positioning module, and correct and convert the position information of the seabed target obtained by the sonar source GPS positioning module relative to the sonar, thereby obtaining more accurate seabed target position information.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
FIG. 1 is a schematic flow chart of a method for positioning a submarine target by using a shipborne side-scan sonar according to the present invention;
FIG. 2 is a side view of an electrocoagulation reaction unit container provided by the present invention;
FIG. 3 is a schematic block diagram of a positioning system for a submarine target using a shipborne side-scan sonar according to the present invention;
fig. 4 is a schematic structural diagram of a sonar source location information acquisition module provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
As shown in fig. 1, a method for positioning a submarine target by using a shipborne side scan sonar includes the following steps:
s1: longitude parameter x of side scan sonar obtained by sonar source position information acquisition module1Latitude parameter y1A hull attitude parameter roll angle alpha, a hull attitude parameter pitch angle beta, a hull attitude parameter course angle gamma and a sonar to seabed height parameter H1Obtaining position information of a sonar source:
X1＝[x1y1H1β γ α]；
s2: adopting an attitude correction matrix calculation module to calculate an attitude correction coordinate transformation matrix T:
s3: adopt seabed target relative position information acquisition module to confirm the position information of seabed target for the sonar source to the sonar source is the original point, and Y axle points to hull direction of motion, and X axle perpendicular to Y axle points to sonar source right side, confirms the Z axle according to the right-hand rule, establishes sonar source coordinate system, confirms the relative position of seabed target for the sonar source:
wherein x is2Is the horizontal distance of the seabed target relative to the sonar source on the X axis,
r is side scan sonar inclination distanceFrom, y2Is the horizontal distance of the seabed target relative to the sonar source on the Y axis, Y2＝0，
Respectively is the included angle of the X axis, the Y axis and the Z axis of the submarine target and the sonar source coordinate system, H2For side-scanning the height of the sonar to the sea floor level, H2＝H1，
Has the following relationship:
s4: correcting the relative position information of the submarine target obtained in the step S3 by adopting a submarine target positioning module and utilizing the posture correction coordinate transformation matrix T obtained in the step S2 to obtain the accurate position information of the submarine target in a geodetic coordinate system
x3As a longitude parameter, y, of the sea-bottom target on the X-axis in the geodetic coordinate system3Is latitude parameter H of the seabed target on the Y axis under the geodetic coordinate system3Height from sonar source to sea floor level, H3＝H1，
Respectively forming included angles of an X axis, a Y axis and a Z axis of the submarine target and a geodetic coordinate system;
specifically, the following steps are shown:
s41: using the posture correction coordinate transformation matrix T obtained in the step S2 to x obtained in the step S32、y2、H2And (3) information correction:
wherein x2'、y2Respectively correcting the horizontal distance from the sea bottom target to the sonar source on the X axis and the Y axis in the sonar source coordinate system after the posture correction matrix is corrected, and H2' is the height from the sonar source to the seabed plane after the posture correction matrix is corrected;
s42: and calculating the position information of the seabed target under the geodetic coordinate system by using the parameters obtained in the step of S41:
s43: calculating the angle parameters of the submarine target in a geodetic coordinate system:
the formula atan2 (beta, alpha) is calculated
The return value of (a) is between (-pi, pi) and is the azimuth angle from the origin of the coordinate system to the point (alpha, beta).
After position information of the submarine target under the geodetic coordinate system is obtained through attitude correction, the following steps are continued:
s5: and the sonar image display module receives the position information of the submarine target under the geodetic coordinate system, which is obtained by the submarine target positioning module, converts the position information into image information and outputs the image information to obtain a complete submarine target image.
As shown in FIG. 2, the schematic diagram of the side-scan sonar detection principle is that the detection pulse emitted by the system has a wide beam angle in the direction perpendicular to the track
While the horizontal beam angle theta in the track direction is small, as shown in the figureThe scanning range and the blind area of the side scan sonar can be visually seen.
According to the seabed target positioning method applying the shipborne side scan sonar, provided by the invention, the included angles between the attitude parameters of the seabed target and the X axis, the Y axis and the Z axis of a sonar source coordinate system can be increased, the seabed target positioning module corrects the attitude parameters and the target positioning parameters of the sonar source GPS positioning module by using the correction matrix calculated by the attitude correction matrix positioning module to obtain the accurate position information of the seabed target relative to a geodetic coordinate system, not only the types of the parameters for positioning the seabed target are increased, but also the attitude correction matrix is corrected, the accurate positioning of the seabed target can be further obtained, the positioning conforms to the geodetic coordinate system, can be used together with other data belonging to the geodetic coordinate system, and cannot involve the calculation error caused by the difference of data measurement environment and time space caused by data conversion, the final data obtained is inaccurate; or in order to achieve the final data accuracy and further to make the seabed target position information of the composite sonar source coordinate system and other geodetic coordinate system data accord with the fitting consistency, the calculation time caused by the calculation of a large amount of data is long, the steps are complicated, and errors are easily caused in the calculation process.
As shown in fig. 3, the system for the method for positioning the submarine target using the shipborne side scan sonar according to the present invention includes a sonar source position information acquisition module, an attitude correction matrix positioning module, a submarine target relative position information acquisition module, a submarine target positioning module, and a sonar image display module.
The sonar source position information acquisition module is in communication connection with the posture correction matrix positioning module and the seabed target relative position information acquisition module respectively.
The attitude correction matrix positioning module and the seabed target relative position information acquisition module are in communication connection with the seabed target positioning module, and the seabed target positioning module receives attitude correction information of the attitude correction matrix positioning module and seabed target relative position information of the seabed target relative position acquisition module.
As shown in fig. 4, sonar source position information acquisition module includes sonar source GPS positioning module, attitude sensor and sounding equipment.
The sonar source position information acquisition module acquires position information parameters of a submarine target belonging to a sonar source coordinate system through a sonar source GPS positioning module, acquires attitude parameters of the submarine target through an attitude sensor, further acquires included angles of the submarine target and an X axis, a Y axis and a Z axis of the sonar source coordinate system through a submarine target relative position information acquisition module, and adjusts the positions of the sonar source position information acquisition module, such as the measurement depth through a detection equipment instrument.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (8)
1. A submarine target positioning method applying a shipborne side scan sonar is characterized by comprising the following steps:
s1: longitude parameter x of side scan sonar obtained by sonar source position information acquisition module1Latitude parameter y1A hull attitude parameter roll angle alpha, a hull attitude parameter pitch angle beta, a hull attitude parameter course angle gamma and a sonar to seabed height parameter H1Obtaining position information of a sonar source:
X1＝[x1y1H1β γ α]；
s2: adopting an attitude correction matrix calculation module to calculate an attitude correction coordinate transformation matrix T:
s3: adopt seabed target relative position information acquisition module to confirm seabed target for the positional information of sonar source to the sonar source is the original point, and Y axle points to hull direction of motion, and X axle perpendicular to Y axle points to sonar source right side, confirms the Z axle according to the right-hand rule, establishes sonar source coordinate system, confirms seabed target relative position for the sonar source:
wherein, the x2The y is the horizontal distance of the seabed target relative to the sonar source on the X axis2Is the horizontal distance of the seabed target relative to the sonar source on the Y axis, Y20, said
Respectively the included angles of the X axis, the Y axis and the Z axis of the submarine target and the sonar source coordinate system, wherein H is the distance between the submarine target and the sonar source coordinate system2For side-scanning the height of the sonar to the sea floor level, H2＝H1；
S4: correcting the relative position information of the submarine target obtained in the step S3 by adopting a submarine target positioning module and utilizing the posture correction coordinate transformation matrix T obtained in the step S2 to obtain the accurate position information of the submarine target in a geodetic coordinate system
Said x3As the longitude parameter of the sea-bottom target on the X axis under the geodetic coordinate system, the y3Is latitude parameter of the seabed target on the Y axis under the geodetic coordinate system, the H3Height of the sonar source to sea floor level, H3＝H1Said
Respectively forming included angles between the submarine target and an X axis, a Y axis and a Z axis of a geodetic coordinate system;
s5: and the sonar image display module receives the position information of the submarine target under the geodetic coordinate system, which is obtained by the submarine target positioning module, converts the position information into image information and outputs the image information to obtain a complete submarine target image.
2. The method for positioning the seabed target by using the shipborne side scan sonar according to claim 1, wherein the step S4 comprises the following steps:
s41: using the posture correction coordinate transformation matrix T obtained in the step S2 to the x obtained in the step S32、y2、H2And (3) information correction:
wherein said x2′、y2Respectively correcting the horizontal distance from the sea bottom target to the sonar source on the X axis and the Y axis in the sonar source coordinate system after the posture correction matrix is corrected, and H2' is the height from the sonar source to the seabed plane after the posture correction matrix is corrected;
s42: calculating the position information of the submarine target in the geodetic coordinate system by using the parameters obtained in the step S41:
s43: calculating the angle parameters of the submarine target in a geodetic coordinate system:
atan2 (. beta.,. alpha.) for calculation
The return value of (a) is between (-pi, pi) and is the azimuth angle from the origin of the coordinate system to the point (alpha, beta).
3. The method according to claim 1, wherein step S3 is executed by using a sonar device
And R is the inclined distance of the side scan sonar.
4. The method for locating a submarine target according to claim 1, wherein step S3 is performed by using a ship-mounted side-scan sonar
Has the following relationship:
atan2 (. beta.,. alpha.) for calculation
The return value of (a) is between (-pi, pi) and is the azimuth angle from the origin of the coordinate system to the point (alpha, beta).
5. A system adopting the method for positioning the submarine target by using the shipborne side scan sonar according to any one of claims 1 to 4, which is characterized by comprising a sonar source position information acquisition module, an attitude correction matrix positioning module, a submarine target relative position information acquisition module, a submarine target positioning module and a sonar image display module.
6. The system according to claim 5, wherein the sonar source location information acquisition module is in communication connection with the attitude correction matrix positioning module and the seafloor target relative location information acquisition module, respectively.
7. The system according to claim 5, wherein the attitude correction matrix positioning module and the seafloor target relative position information acquisition module are both in communication connection with the seafloor target positioning module, and the seafloor target positioning module receives attitude correction information of the attitude correction matrix positioning module and seafloor target relative position information of the seafloor target relative position acquisition module.
8. The system of claim 5, wherein the sonar source location information acquisition module comprises a sonar source GPS positioning module, an attitude sensor and a sounding device.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113379710A (en) * | 2021-06-18 | 2021-09-10 | 上海大学 | Underwater target sonar accurate measurement system and method |
| CN113970745A (en) * | 2021-09-14 | 2022-01-25 | 武汉长江航道救助打捞局 | Information fusion-based method and system for correcting instantaneous course of side-scan sonar |
| CN114199234A (en) * | 2021-11-18 | 2022-03-18 | 湖南国天电子科技有限公司 | Fault-tolerant underwater inertia combined navigation device and method |
| CN114646949A (en) * | 2022-03-11 | 2022-06-21 | 大连海洋大学 | Standard ball position self-adaptive control method for split beam sonar correction |
| CN116164754A (en) * | 2023-04-25 | 2023-05-26 | 中国电子科技集团公司第五十四研究所 | Cloud deck virtualization method based on unmanned aerial vehicle motion state |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113379710A (en) * | 2021-06-18 | 2021-09-10 | 上海大学 | Underwater target sonar accurate measurement system and method |
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| CN113970745A (en) * | 2021-09-14 | 2022-01-25 | 武汉长江航道救助打捞局 | Information fusion-based method and system for correcting instantaneous course of side-scan sonar |
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| CN116164754A (en) * | 2023-04-25 | 2023-05-26 | 中国电子科技集团公司第五十四研究所 | Cloud deck virtualization method based on unmanned aerial vehicle motion state |
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Application publication date: 20201103 |