CN111983672B - Multi-sector multi-beam echo intensity processing method and processing terminal - Google Patents
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Abstract
The invention relates to a multi-sector multi-beam echo intensity processing method and a processing terminal, wherein the method comprises the following steps: step 1: obtaining echo intensity data, representing a multi-sector beam mode by adopting an angle-intensity sequence according to the echo intensity data, and calculating a beam emission angle by adopting a corresponding formula; step 2: selecting modeling data according to preset conditions; and step 3: establishing a multi-sector echo intensity normalization model based on a substrate, wherein the multi-sector echo intensity normalization model comprises sector intensity curve statistics, back scattering intensity curve fitting and beam mode correction value calculation which are sequentially carried out; and 4, step 4: and performing beam mode correction on all beam spots of all measuring lines by adopting a corresponding formula. The invention carries out the echo intensity processing and the correction at the cross position of a plurality of multi-beam strips, obviously improves the effect of obtaining the multi-beam echo intensity, and obviously improves the quality of the multi-beam echo intensity and the reflection of the submarine landform.
Description
Technical Field
The invention relates to the technical field of seismic echo intensity processing, in particular to a multi-sector multi-beam echo intensity processing method and a processing terminal.
Background
The sound waves are impacted on different seabed substrates to generate different echo emphasis, so that the correlation between the echo emphasis and the seabed substrates can be established, and the seabed geomorphologic images can be constructed by classifying the seabed substrates through acoustics. Due to the beam mode of the sound wave, the echo intensity in the same Ping sector has the problem of imbalance, so that the research and perfection on the normalization of the echo intensity of the Ping sector are needed.
The existing echo intensity processing is mainly aimed at single-sector multi-beam echo intensity, and because influences such as different sector beam modes and frequency differences during multi-beam multi-sector measurement are not considered, the existing echo intensity processing is not applicable to multi-sector echo intensity data processing, so that the processed result cannot truly reflect the topography and the substrate change of the seabed. What is needed is a multi-sector echo intensity normalization method that can take into account the consistency of the reflection of sound waves and their beam patterns on the same substrate at whatever frequency to account for the consistency of substrate variations.
Disclosure of Invention
In view of the deficiencies of the prior art, it is an object of the present invention to provide a multi-sector multi-beam echo intensity processing method, which can solve the problem of multi-sector multi-echo intensity processing under the beam mode;
another object of the present invention is to provide a processing terminal, which can solve the problem of multi-sector multi-echo intensity processing under the beam mode.
The technical scheme for realizing the purpose of the invention is as follows: a multi-sector multi-beam echo intensity processing method comprises the following steps:
step 1: obtaining raw acquired echo intensity data, wherein the echo intensity data comprises echo intensity, mode information and a resulting seafloor incident angle using sound ray tracking,
according to the echo intensity data, a multi-sector beam mode is represented, the multi-sector beam mode is represented by an angle-intensity sequence, and the calculation of the beam emission angle adopts a formula (i):
in the formula (I), the compound is shown in the specification,
which represents the angle at which the beam is emitted,
representation beam connectionThe angle of the folded angle is reduced,
respectively representing the carrier roll angle at sector transmission,
indicating the carrier roll angle at beam reception,
respectively showing the installation deviation roll angle of the transmitting array,
indicating the installation deviation roll angle of the receiving array;
step 2: selecting modeling data according to preset conditions;
and step 3: establishing a multi-sector echo intensity normalization model based on the substrate according to the modeling data selected in the step 2, comprising sector intensity curve statistics, back scattering intensity curve fitting and beam mode correction value calculation which are sequentially carried out,
a. sector intensity curve statistics
Respectively counting each sector of the modeling data, wherein the interval is an angle sequence of alpha, counting the average value of the echo intensity near each angle, taking the average value of the echo intensity as the echo intensity of the current angle, and if no echo point exists in the angle range, discarding the echo intensity of the angle of the sector when calculating the mode correction value so as to obtain the intensity curve data of each sector;
b. fitting of backscattering intensity curve
Performing backscattering intensity curve fitting according to the intensity curve data of each sector obtained by statistics to obtain a fitted backscattering intensity curve, and fitting the intensity curve data of each sector by adopting a GSAB model, wherein the GSAB model is as the formula II:
in the formula (I), the compound is shown in the specification,
representing the sea floor incident angle at which the sound ray is incident on the sea floor surface,
representing a sea floor angle of incidence of
The intensity of the corresponding echo is determined,
representing the maximum amplitude of the quantized mirror region,
the maximum angle representing the angular range of the quantized mirror region,
representing the average echo intensity level of the quantized oblique incidence region,
the attenuation rate of the echo intensity along with the change of the angle is represented and is constant;
c. multi-sector beam pattern correction calculation
And (3) correcting the beam pattern by utilizing a backscattering intensity curve obtained by GSAB model parameter fitting, and calculating the beam pattern deviation value on each beam spot according to a formula III:
in the formula (I), the compound is shown in the specification,
which represents the amount of beam pattern modification,
is a non-travelling waveEcho intensity values of modeled data corrected in beam mode for seafloor incident angles of the beam
The beam emission angle is
，
Including the submarine backscatter intensity value
And
directional signal gain
，
Obtained by the calculation of a GSAB model,
in order to reduce the influence of random errors on beam pattern signals, 1-degree angle intervals are set, the beam pattern correction values of different transmitting angles of each sector are counted in an accumulation averaging mode, and
the abnormal intensity value is removed in principle,
and 4, step 4: multi-sector echo intensity normalization
And (4) correcting the beam modes of all beam spots of all measuring lines by using a formula (IV), wherein the echo intensity is converted into a relatively correct submarine backscatter intensity signal, and the formula (IV) is as follows:
parties derived from modeling data processingAmount of gain to signal
The set of the beam emission angles of other echo data under the same mode is
The sea floor incident angle is
The beam emission angle of the beam is calculated by the model
Corresponding correction amount
To obtain the true backscatter intensity of the beam
。
Further, the preset conditions are as follows:
1) respectively removing the wave beam mode of the data acquired by each measurement mode, and selecting a section of measurement line data corresponding to the same substrate as modeling data;
2) generating an intensity image according to the echo intensity data, and selecting a region with basically consistent substrate from the modeling data in the step 1) for modeling so as to ensure the reasonability of scattering intensity curve fitting;
3) selecting an area with flat terrain, avoiding using a hard substrate area with local micro-terrain, and reducing errors such as calculation of seabed incident angle, irradiation correction compensation and the like;
4) each transmitting sector selects data as much as possible to weaken the randomness of the backscattering intensity signals and improve the fitting quality of the intensity curve.
The second technical scheme for realizing the aim of the invention is as follows: a processing terminal, comprising:
a memory for storing program instructions;
a processor for executing the program instructions to perform the steps of the multi-sector multi-beam echo intensity processing method.
The invention has the beneficial effects that: the invention carries out the echo intensity processing and the correction at the cross position of a plurality of multi-beam strips, obviously improves the effect of obtaining the multi-beam echo intensity, and obviously improves the quality of the multi-beam echo intensity and the reflection of the submarine landform. Under the condition of not depending on external reference data, the problem of systematic radiation distortion which limits the use of multi-sector multi-beam sonar echo intensity at present is thoroughly solved, high-quality echo intensity information is obtained, the defects of the existing method are overcome, the real reflection of submarine landforms is realized, and the blank is filled.
Drawings
FIG. 1 is a schematic flow chart of a preferred embodiment of the present invention;
FIG. 2(a) is a waterfall plot of the intensity of a certain measuring line and multiple sectors, and FIG. 2(b) is a statistical plot of the intensity curve of each sector in FIG. 2 (a);
fig. 3(a) is a waterfall graph of the average intensity of the beam after the beam pattern is corrected, and fig. 3(b) is an intensity curve of each sector after the beam pattern is corrected;
FIG. 4 is an AR curve of each sector and a map of intensity splicing before and after beam pattern correction;
fig. 5 is a schematic diagram of a processing terminal.
Detailed description of the preferred embodiments
The invention will be further described with reference to the accompanying drawings and specific embodiments:
as shown in fig. 1 to 4, a multi-sector multi-beam echo intensity processing method includes the following steps:
step 1: raw acquired echo intensity data is obtained, wherein the echo intensity data includes echo intensity, mode information, and a resulting seafloor incident angle using sound ray tracking. The echo intensity is used for angle response curve fitting, and the mode information is used for correction value calculation of different sectors in different modes.
According to the echo intensity data, a multi-sector beam mode is represented, the multi-sector beam mode is represented by an angle-intensity sequence, and the beam emission angle is calculated by a formula (I):
in the formula (I), the compound is shown in the specification,
which represents the angle at which the beam is emitted,
which represents the angle of reception of the beam,
may be obtained directly from the originally acquired echo intensity data. In the embodiment, the collection is carried out by the ship body at the sea, so the ship body is used as a carrier,
respectively representing the carrier roll angle at sector transmission,
the carrier roll angle during beam reception is shown, the carrier starboard drop is taken as positive,
respectively showing the installation deviation roll angle of the transmitting array,
indicating a mounting deviation roll angle of the receiving array, clockwise rotation is positive.
Step 2: selecting modeling data, and selecting the data as the modeling data according to the following conditions:
1) respectively removing the wave beam mode of the data acquired by each measurement mode, and selecting a section of measurement line data corresponding to the same substrate as modeling data;
2) generating an intensity image according to the echo intensity data, and selecting a region with basically consistent ground substance from the modeling data in the step 1) for modeling by a visual discrimination or clustering method according to the intensity image so as to ensure the reasonability of scattering intensity curve fitting;
3) selecting an area with flat terrain as much as possible, avoiding using hard substrate areas (such as gravel and gravel) with local micro-terrain, and reducing errors of calculation of seabed incident angles, irradiation correction compensation and the like;
4) each transmitting sector selects data as much as possible to weaken the randomness of the backscattering intensity signals and improve the fitting quality of the intensity curve.
And step 3: establishing a multi-sector echo intensity normalization model based on the substrate according to the modeling data selected in the step 2, comprising sector intensity curve statistics, back scattering intensity curve fitting and beam mode correction value calculation which are sequentially carried out,
a. sector intensity curve statistics
Each sector of the modeling data is counted, an angle sequence of-90 ° to 90 ° and an interval of α (usually 1 °) is set, and the echo intensity average value near each angle is counted as the echo intensity of the current angle. Taking-30 degrees as an example, the average value of all echo intensities of-29.5 degrees to-30.4 degrees in the same sector is counted, that is, the statistical echo intensity value of-30 degrees in the sector is obtained, if no echo point exists in the angle range, the echo intensity of the angle in the sector is not considered in the calculation of the correction value, that is, the echo intensity of the angle in the sector is discarded. Thereby obtaining intensity curve data for each sector.
b. Fitting of backscattering intensity curve
And fitting a backscattering intensity curve according to the intensity curve data of each sector obtained by statistics to obtain a fitted backscattering intensity curve. In order to distinguish beam mode signals without any prior information, and to accurately estimate the backscatter intensity signals from the data itself by using an empirical angle response model and a curve fitting method, a GSAB (general feedback adaptive backscattering) model is used to fit the intensity curve data of each sector, and the GSAB model may refer to the following documents: fezzani R, Berger L, Analysis of a branched seafaror backscatter for a bittat classification method and case study of 158 spots in the Bay of Biscay and cellular Sea [ J ]. Marine geographic Research, 2018.
Hellequin L, Boucher J-M, Lurton X (2003) Processing of high-frequency multibeam echo sounder data for seafloor characterization. IEEE J Oceanic Eng 28(1):78–89。
The GSAB model is as the formula (II):
------②
in the formula (I), the compound is shown in the specification,
representing the sea floor incidence angle at which the sound ray is incident on the sea floor surface, can be directly derived from the echo intensity data of step 1.
Representing a sea floor angle of incidence of
The intensity of the corresponding echo is determined,
representing the maximum amplitude of the quantized mirror region, which is the region where the sound waves are incident on the sea floor where mirror emission occurs, typically every ping of sound waves in a range close to the normal incidence angle,
the maximum angle representing the angular range of the quantized mirror region,
representing the average echo intensity level of the quantized oblique incidence region,
show backThe attenuation rate of the wave intensity changing along with the angle is constant, the value of the constant is 2 in a Lambert model, and the Lambert model is a sub-model in a GSAB model.
c. Multi-sector beam pattern correction calculation
And (3) correcting the beam pattern by utilizing a backscattering intensity curve obtained by GSAB model parameter fitting, and calculating the beam pattern deviation value on each beam spot according to a formula III:
in the formula (I), the compound is shown in the specification,
which represents the amount of beam pattern modification,
is the echo intensity value of the modeling data without beam mode correction, and the submarine incidence angle corresponding to the beam is
The beam emission angle is
。
Including the submarine backscatter intensity value
And
directional signal gain
，
From GSAB modeThe model is obtained by calculation, namely according to a formula II, so that the model can be obtained by calculation
Directional beam signal gain.
In order to reduce the influence of random errors on beam mode signals, 1-degree angle intervals are set, beam mode correction values of different emission angles of each sector are counted in an accumulation averaging mode, and abnormal intensity values are removed by adopting a 2 sigma principle.
And 4, step 4: multi-sector echo intensity normalization
According to the 'measuring mode-weather number-sector number' established in the data preprocessing process and the calculated beam emission angle
The corresponding beam pattern correction value is located directly in the created beam pattern correction file. When in use
When the number of the wave beam patterns is not an integer number of degrees, the wave beam patterns of adjacent angles are adopted to correct the value to carry out linear interpolation. And finally, correcting the beam modes of all beam spots of all measuring lines by using a formula (IV), and converting the echo intensity into a relatively correct submarine backscatter intensity signal. The formula is as follows:
gain amount of each direction signal obtained by modeling data processing
The set of components, i.e. the beam pattern model, may be used for a beam pattern correction process of the echo intensity data in all the same measurement modes. The same measurement mode means that all the parameters of the transmitting sector, the transmitting gain, the receiving gain and the like are the same during measurement, that is, the beam modes are the same. Modeling data for the same measurement modeOther echo data than that, for beam emission angle
The sea floor incident angle is
The beam emission angle of the beam is calculated by the model
Corresponding correction amount
To obtain the true backscatter intensity of the beam
. Angle of incidence to the sea floor
Correlated backscatter intensity
The method can be used for subsequent research works such as analysis of submarine geological characteristics.
The method does not need prior information and is based on the non-supervised classification of the substrate of the multi-sector echo intensity data, the multi-sector echo intensity normalization model construction considering the substrate consistency is taken into consideration, meanwhile, the blank of the current method is filled, and the correct acquisition of the multi-sector multi-beam echo intensity and the real reflection of the submarine landform are realized. Compared with the prior art, the method can realize the correct acquisition of the echo intensity data in the Ping multi-sector.
As shown in fig. 2(a) and 2(b), fig. 2(a) is a multi-sector echo intensity waterfall graph, two swaths in the same measurement mode are alternately measured, and when the beam patterns of the front and rear sectors are greatly different, the right arrow indicates a "saw-tooth" texture phenomenon. Fig. 2(b) shows 2-1, 2-2, 3-1, and 3-2 respectively showing the first and second swap of the Medium measurement mode and the first and second swap of the Deep measurement mode, and counts the intensity curve of each sector with respect to the variation of the sea floor incident angle. As can be seen from fig. 2(b), the intensity values of different sectors with the same submarine incidence angle have deviation, the intensity curve in a swap appears at the sector boundary, and the variation trend of the backscattering intensity in the medium-high incidence angle region slows down and more highlights the jump effect at the sector boundary.
As shown in fig. 3(a) and fig. 3(b), fig. 3(a) is a waterfall graph of the multi-sector echo intensity processed according to the present invention, it can be seen that the sector phenomenon, the intensity deviation of the measurement mode, the "saw-tooth" texture formed by the double swath measurement lines, etc. are well corrected, and the intensity changes smoothly in the direction along the track and in the direction perpendicular to the track. The multi-sector echo intensity variation in fig. 3(b) follows the GSAB curve distribution and has a better fitting effect.
As shown in fig. 4, fig. 4 shows an AR curve for each sector and an intensity splicing map before and after beam pattern correction. (a) And (c) part represents the cross-line multi-beam echo intensity strip image and Ping upper echo sequence after correction according to the traditional method; (b) and (d) shows the corrected multi-beam echo intensity strip image and echo sequence on Ping according to the invention.
Based on the method of the invention, the echo intensity processing and the correction are carried out at the cross positions of a plurality of multi-beam strips, and as can be seen from figure 4, under a plurality of strips, the effect of obtaining the multi-beam echo intensity (image) based on the method is obviously improved, and the quality of the multi-beam echo intensity and the reflection of the submarine landform are obviously improved.
In conclusion, according to the relative correction method of the multi-sector beam pattern provided by the invention, under the condition of not depending on external reference data, the problem of systematic radiation distortion which limits the use of the multi-sector multi-beam sonar echo intensity at present is thoroughly solved, high-quality echo intensity information is obtained, the defects of the existing method are overcome, the real reflection of submarine landforms is realized, and the blank is filled.
As shown in fig. 5, the present invention also provides a processing terminal 100, which includes:
a memory 101 for storing program instructions;
a processor 102 for executing the program instructions to perform the steps of the multi-sector multi-beam echo intensity processing method.
The embodiments disclosed in this description are only an exemplification of the single-sided characteristics of the invention, and the scope of protection of the invention is not limited to these embodiments, and any other functionally equivalent embodiments fall within the scope of protection of the invention. Various other changes and modifications to the above-described embodiments and concepts will become apparent to those skilled in the art from the above description, and all such changes and modifications are intended to be included within the scope of the present invention as defined in the appended claims.
Claims (3)
1. A multi-sector multi-beam echo intensity processing method is characterized by comprising the following steps:
step 1: obtaining raw acquired echo intensity data, wherein the echo intensity data comprises echo intensity, mode information and a resulting seafloor incident angle using sound ray tracking,
according to the echo intensity data, a multi-sector beam mode is represented, the multi-sector beam mode is represented by an angle-intensity sequence, and the calculation of the beam emission angle adopts a formula (i):
θSRA-T＝θSRA-R+roll2+rollRX-(roll1+rollTX)------①
in the formula, thetaSRA-TRepresenting the beam launch angle, θSRA-RRepresenting the angle of reception of the beam, roll1Respectively representing the roll angle of the carrier during sector transmission2Indicating the carrier roll angle at beam receptionTXRespectively, the installation deviation roll angle of the emitting arrayRXIndicating the installation deviation roll angle of the receiving array;
step 2: selecting modeling data according to preset conditions;
and step 3: establishing a multi-sector echo intensity normalization model based on the substrate according to the modeling data selected in the step 2, comprising sector intensity curve statistics, back scattering intensity curve fitting and beam mode correction value calculation which are sequentially carried out,
a. sector intensity curve statistics
Respectively counting each sector of the modeling data, wherein the interval is an angle sequence of alpha, counting the average value of the echo intensity near each angle, taking the average value of the echo intensity as the echo intensity of the current angle, and if no echo point exists in the angle range, discarding the echo intensity of the angle of the sector when calculating the mode correction value so as to obtain the intensity curve data of each sector;
b. fitting of backscattering intensity curve
Performing backscattering intensity curve fitting according to the intensity curve data of each sector obtained by statistics to obtain a fitted backscattering intensity curve, and fitting the intensity curve data of each sector by adopting a GSAB model, wherein the GSAB model is as the formula II:
BS(β)＝10log[A exp(-β2/2B2)+C cosDβ]------②
wherein, beta represents the sea bottom incident angle when the sound ray is incident on the sea bed surface, BS (beta) represents the echo intensity corresponding to the sea bottom incident angle beta, A represents the maximum amplitude of the quantized mirror surface area, B represents the maximum angle of the angle range of the quantized mirror surface area, C represents the average echo intensity level of the quantized oblique incident area, D represents the attenuation rate of the echo intensity along with the change of the angle, and is a constant;
c. multi-sector beam pattern correction calculation
And (3) correcting the beam pattern by utilizing a backscattering intensity curve obtained by GSAB model parameter fitting, and calculating the beam pattern deviation value on each beam spot according to a formula III:
BP(θSRA-T)＝EL1(β，θSRA-T)-BS1(β)------③
in the formula, BP (theta)SRA-T) Indicating beam pattern deviation values, EL1(β，θSRA-T) Is the echo intensity value of the modeling data without beam mode correction, the submarine incident angle corresponding to the beam is beta, and the beam emitting angle is thetaSRA-T，EL1(β，θSRA-T) Including the submarine back scattering strength value BS1(beta) and thetaSRA-TBeam pattern deviation value BP (theta) of directionSRA-T)，BS1(beta) is calculated by a GSAB model,
setting 1 degree angle interval, counting the beam mode correction values of different emission angles of each sector by adopting an accumulation and averaging mode, eliminating abnormal intensity values by adopting a 2 sigma principle,
and 4, step 4: multi-sector echo intensity normalization
And (4) correcting the beam modes of all beam spots of all measuring lines by using a formula (IV), wherein the echo intensity is converted into a relatively correct submarine backscatter intensity signal, and the formula (IV) is as follows:
BS′(β)＝EL(β，θSRA-T)-BP(θSRA-T)------④
deviation value BP (theta) of wave beam mode in each direction obtained by processing modeling dataSRA-T) The set of the beam emission angle theta for other echo data under the same modeSRA-TThe beam with the seabed incidence angle beta is calculated by the modelSRA-TCorresponding beam pattern deviation value BP (theta)SRA-T) Thereby obtaining the true backscatter intensity BS' (β) of the beam.
2. The method according to claim 1, wherein the predetermined conditions are:
1) respectively removing the wave beam mode of the data acquired by each measurement mode, and selecting a section of measurement line data corresponding to the same substrate as modeling data;
2) generating an intensity image according to the echo intensity data, and selecting a region with basically consistent substrate from the modeling data in the step 1) for modeling so as to ensure the reasonability of fitting of a backscattering intensity curve;
3) selecting an area with flat terrain, avoiding using a hard substrate area with local micro-terrain, and reducing errors such as calculation of seabed incident angle, irradiation correction compensation and the like;
4) each transmitting sector selects data as much as possible to weaken the randomness of the backscattering intensity signals and improve the fitting quality of the intensity curve.
3. A processing terminal, characterized in that it comprises:
a memory for storing program instructions;
a processor for executing said program instructions to perform the steps of the multi-sector multi-beam echo intensity processing method according to claim 1 or 2.
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