CN114047515A - Unmanned ship-based side-scan sonar system and side-scan sonar equipment data processing method - Google Patents
Unmanned ship-based side-scan sonar system and side-scan sonar equipment data processing method Download PDFInfo
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- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- 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
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Abstract
The disclosure provides a side-scan sonar system based on an unmanned ship and a side-scan sonar equipment data processing method, and belongs to the technical field of ships. The system comprises: the system comprises a shipborne side subsystem and a shore side subsystem; the shipborne side subsystem comprises: the system comprises an unmanned ship, unmanned ship control equipment, side scan sonar equipment, auxiliary sensors and an onboard data processing server, wherein the unmanned ship is carried on the unmanned ship; the bank side subsystem is used for sending the navigation survey line to the shipborne side subsystem; the unmanned ship control equipment is used for controlling the unmanned ship to run according to the navigation survey line; the side scan sonar equipment is used for measuring the submarine target to obtain collected data; the auxiliary sensor is used for positioning the unmanned ship and acquiring the attitude of the unmanned ship to obtain positioning and attitude information; and the shipborne data processing server is used for converting the coordinate of the submarine target according to the positioning and attitude information, converting the relative coordinate of the sonar equipment on the opposite side of the submarine target in the acquired data into the coordinate under the world coordinate system and storing the coordinate.
Description
Technical Field
The disclosure relates to the technical field of ships, in particular to a side-scan sonar system based on an unmanned ship and a side-scan sonar equipment data processing method.
Background
The side scan sonar technology is used for detecting submarine geomorphology and underwater objects by using an echo sounding principle, a continuous two-dimensional submarine sonogram with a certain width can be obtained, and the side scan sonar is used for measuring the geomorphology of important ports, navigation channels and sea areas, so that data such as submarine sediment images, geomorphology scouring change, structure displacement evolution and the like can be obtained, and data support is provided for activities such as submarine salvage, navigation channel dredging, infrastructure underwater part maintenance and the like.
When the side scan sonar technology is used for Positioning a submarine target, generally, coordinates of a Global Positioning System (GPS) in the center of a transmitting-receiving transducer are used as an original point, and the coordinate position of the submarine target is measured according to the time difference of signal transmission and reception of the side scan sonar.
Disclosure of Invention
The embodiment of the disclosure provides a side-scan sonar system based on an unmanned ship and a side-scan sonar equipment data processing method. The technical scheme is as follows:
in one aspect, an unmanned ship-based side-scan sonar system is provided, comprising a shipborne side subsystem and a shore side subsystem;
the shipborne side subsystem comprises: the system comprises an unmanned ship, unmanned ship control equipment, side scan sonar equipment, an auxiliary sensor and a ship-borne data processing server, wherein the unmanned ship is carried on the unmanned ship;
the shore side subsystem is used for sending the navigation survey line to the shipborne side subsystem;
the unmanned ship control equipment is used for controlling the unmanned ship to run according to the navigation survey line;
the side scan sonar equipment is used for measuring a submarine target to obtain collected data;
the auxiliary sensor is used for positioning the unmanned ship and acquiring the attitude of the unmanned ship to obtain positioning and attitude information;
and the shipborne data processing server is used for converting the seabed target coordinate according to the positioning and attitude information, converting the relative coordinate of the seabed target object in the acquired data relative to the side scan sonar equipment into the coordinate under a world coordinate system and storing the coordinate.
Optionally, the onboard data processing server is configured to:
acquiring real-time longitude, latitude, sea bottom surface height, real-time hull pitching, rolling and yaw angles of a transmitting-receiving transducer in the side scan sonar equipment from the positioning and attitude information to obtain a position matrix of the transmitting-receiving transducer in a world coordinate system;
calculating an attitude transformation matrix by using a coordinate transformation algorithm based on the position matrix;
establishing a rectangular coordinate system by taking the receiving and transmitting transducer as an origin, taking the course direction of the unmanned ship as a y axis, taking the horizontal vertical course direction as an x axis, and taking the vertical x and y axis directions as z axes, and determining the position of the submarine target in the rectangular coordinate system;
correcting the coordinate of the submarine target object by using the attitude transformation matrix to obtain a corrected coordinate of the submarine target in the rectangular coordinate system;
converting the position of the seabed target under world coordinates based on the corrected coordinates;
calculating angle information of the submarine target in the world coordinate based on the position of the submarine target in the world coordinate.
Optionally, the shipborne side subsystem further comprises:
and the shipborne electrical control equipment is used for receiving the power-on and power-off instruction sent by the shore side subsystem and controlling the real-time online power-on and power-off of the load according to the preset power supply priority of the load.
Optionally, the shipborne side subsystem further comprises:
and the video monitoring equipment is used for monitoring the high-definition video of the unmanned ship and the surrounding environment and sending the generated video to the bank side subsystem.
Optionally, the shipborne side subsystem further comprises a first microwave broadband radio station, the shore side subsystem comprises a second microwave broadband radio station, and the first microwave broadband radio station is wirelessly connected with the second microwave broadband radio station.
Optionally, the shore side subsystem is further configured to receive the acquired data and the positioning and posture information after the coordinate conversion, which are sent by the shipborne side subsystem, and perform post-processing on the acquired data and the positioning and posture information after the coordinate conversion.
In one aspect, a side scan sonar equipment data processing method is provided, and the method comprises the following steps:
acquiring acquisition data obtained by measuring a submarine target by side-scan sonar equipment;
acquiring positioning and attitude information obtained by an auxiliary sensor for positioning and attitude acquisition of the unmanned ship;
and converting the coordinate of the submarine target according to the positioning and attitude information, converting the relative coordinate of the submarine target relative to the side-scan sonar equipment in the acquired data into the coordinate under a world coordinate system, and storing the coordinate.
Optionally, the converting the coordinates of the submarine target according to the positioning and attitude information, and converting the relative coordinates of the submarine target in the collected data with respect to the side-scan sonar equipment into coordinates in a world coordinate system, includes:
acquiring real-time longitude, latitude, sea bottom surface height, real-time hull pitching, rolling and yaw angles of a transmitting-receiving transducer in the side scan sonar equipment from the positioning and attitude information to obtain a position matrix of the transmitting-receiving transducer in a world coordinate system;
calculating an attitude transformation matrix by using a coordinate transformation algorithm based on the position matrix;
establishing a rectangular coordinate system by taking the receiving and transmitting transducer as an origin, taking the course direction of the unmanned ship as a y axis, taking the horizontal vertical course direction as an x axis, and taking the vertical x and y axis directions as z axes, and determining the position of the submarine target in the rectangular coordinate system;
correcting the coordinate of the submarine target object by using the attitude transformation matrix to obtain a corrected coordinate of the submarine target in the rectangular coordinate system;
converting the position of the seabed target under world coordinates based on the corrected coordinates;
calculating angle information of the submarine target in the world coordinate based on the position of the submarine target in the world coordinate.
In one aspect, an electronic device is provided, which comprises a processor and a memory, wherein the memory stores at least one program code, and the program code is loaded by the processor and executed to realize the aforementioned side scan sonar device data processing method.
In one aspect, a computer-readable storage medium is provided, which stores at least one program code, which is loaded and executed by the processor to implement the aforementioned side scan sonar equipment data processing method.
The beneficial effects brought by the technical scheme provided by the embodiment of the disclosure at least comprise:
according to the scheme provided by the embodiment of the disclosure, the navigation survey line is sent to the shipborne side subsystem through the shore side subsystem, so that the unmanned ship control equipment can control the unmanned ship to run according to the navigation survey line, unmanned detection is realized, navigation of the unmanned ship is controlled in a wireless remote mode, cost of a side scan sonar underwater detection task is reduced, and detection work efficiency is greatly improved; the method comprises the steps of measuring a submarine target through side-scan sonar equipment to obtain collected data, converting a submarine target coordinate by using positioning and attitude information, converting a relative coordinate of the submarine target in the collected data relative to the side-scan sonar equipment into a coordinate under a world coordinate system, and storing the coordinate, so that the influence of wind and wave tide on the unmanned ship in the working process is avoided, the change of ship body attitudes such as pitching, rolling and yawing influences the positioning accuracy of the submarine target, the high-accuracy positioning of the underwater target is realized, and the problem of poor image position accuracy of submarine landform features is solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
FIG. 1 is a schematic structural view of an unmanned ship based side scan sonar system according to an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic structural view of an unmanned ship based side scan sonar system according to an exemplary embodiment of the present disclosure;
FIG. 3 is a flowchart of a side scan sonar equipment data processing method according to an exemplary embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of an unmanned ship-based side scan sonar system according to an exemplary embodiment of the present disclosure. Referring to fig. 1, the unmanned ship-based side scan sonar system includes an onboard side subsystem 100 and a shore side subsystem 200. The shipborne subsystem 100 and the shore subsystem 200 are wirelessly connected, and data and information are transmitted by wireless communication.
Fig. 2 is a schematic structural view of an unmanned ship-based side scan sonar system according to an exemplary embodiment of the present disclosure. Referring to fig. 2, the shipboard side subsystem 100 includes: an unmanned ship 101, and unmanned ship control equipment 102, side scan sonar equipment 103, auxiliary sensors 104, and an onboard data processing server 105 mounted on the unmanned ship 101. The shipborne data processing server 105 is also connected with the side scan sonar equipment 103 and the auxiliary sensor 104 respectively.
The shore side subsystem 200 is used for sending a sailing survey line to the shipborne side subsystem 100;
the unmanned ship control device 102 is configured to control the unmanned ship to run according to the sailing survey line;
the side scan sonar equipment 103 is used for measuring a submarine target to obtain collected data;
the auxiliary sensor 104 is used for positioning the unmanned ship and acquiring the attitude of the unmanned ship to obtain positioning and attitude information;
and the shipborne data processing server 105 is used for converting the coordinate of the seabed target according to the positioning and attitude information, converting the relative coordinate of the seabed target object in the acquired data relative to the side scan sonar equipment into the coordinate under a world coordinate system, and storing the coordinate.
According to the scheme provided by the embodiment of the disclosure, the navigation survey line is sent to the shipborne side subsystem through the shore side subsystem, so that the unmanned ship control equipment can control the unmanned ship to run according to the navigation survey line, unmanned detection is realized, navigation of the unmanned ship is controlled in a wireless remote mode, cost of a side scan sonar underwater detection task is reduced, and detection work efficiency is greatly improved; the method comprises the steps of measuring a submarine target through side-scan sonar equipment to obtain collected data, converting a submarine target coordinate by using positioning and attitude information, converting a relative coordinate of the submarine target in the collected data relative to the side-scan sonar equipment into a coordinate under a world coordinate system, and storing the coordinate, so that the influence of wind and wave tide on the unmanned ship in the working process is avoided, the change of ship body attitudes such as pitching, rolling and yawing influences the positioning accuracy of the submarine target, the high-accuracy positioning of the underwater target is realized, and the problem of poor image position accuracy of submarine landform features is solved.
In one implementation manner of the embodiment of the present disclosure, the onboard data processing server 105 is configured to perform coordinate transformation according to the following steps:
the method comprises the steps of firstly, acquiring real-time longitude and latitude, sea-bottom surface height, real-time hull pitching, rolling and yaw angles of a receiving and transmitting transducer in the side-scan sonar equipment from the positioning and attitude information to obtain a position matrix of the receiving and transmitting transducer in a world coordinate system.
In the disclosed embodiment, the auxiliary sensors 104 may include inertial navigation devices, onboard Real-time kinematic (RTK) devices, altitude sensors, etc. for measuring positioning and attitude information.
Wherein, real-time longitude and latitude of the receiving and transmitting transducer of the side scan sonar acquired by the ship-borne RTK equipment are respectively x0、y0The height of the receiving and transmitting transducer from the sea bottom surface is acquired according to a built-in height sensor of the receiving and transmitting transducer, the inertial navigation equipment is utilized to acquire the real-time pitching, rolling and yaw angles of the ship body which are respectively alpha, beta and gamma, and the position matrix of the side scan sonar receiving and transmitting transducer in a world coordinate system is comprehensively obtained: [ x ] of0 y0 h αβγ]。
And secondly, calculating a posture conversion matrix by using a coordinate conversion algorithm based on the position matrix.
The attitude transformation matrix T is calculated according to the following formula:
and thirdly, establishing a rectangular coordinate system by taking the receiving and transmitting transducer as an origin, taking the course direction of the unmanned ship as a y axis, taking the horizontal vertical course direction as an x axis, taking the vertical x and y axis directions as z axes, and establishing the position of the seabed target in the rectangular coordinate system.
Illustratively, a rectangular coordinate system OXYZ is established by taking a side-scan sonar transmitting-receiving transducer as an origin, taking the heading direction of the unmanned ship as a y axis, taking the horizontal vertical heading direction as an x axis, taking the vertical x and y axis directions as z axes, and the position of the seabed target in the OXYZ is determined as follows:
P1＝[x1 y1 h1 α1 β1 γ1]。
wherein x is1Is the horizontal distance between the submarine target on the X axis and the side scan sonar transmitting-receiving transducer, y1For the horizontal distance between the submarine target object on the Y axis and the side-scan sonar transmitting-receiving transducer, the Y is known according to the side-scan sonar slant-distance imaging principle1＝0，h1For side scan of the height of the sonar transmitting and receiving transducer from the seabed ground, h1＝h，α1、β1、γ1The included angles of the seabed target object and the x, y and z axes of the coordinate system OXYZ are respectively, the slant distance L can be automatically solved by a side scan sonar through the time difference of sound velocity and sonar signals to and from a transmitting-receiving transducer, L, x1、h1The relationship between them is:
and fourthly, correcting the coordinate of the submarine target object by using the attitude transformation matrix to obtain the corrected coordinate of the submarine target in the rectangular coordinate system.
And correcting the coordinate of the submarine target object by using the attitude transformation matrix T to obtain the corrected coordinate of the submarine target in an OXYZ coordinate system:
wherein, x'1、y’1Is the horizontal distance h 'between the corrected x-axis and y-axis submarine targets and the transmitting-receiving transducer'1To correct the height of the receiving and transmitting transducer to the sea floor.
And fifthly, converting the position of the seabed target under world coordinates based on the corrected coordinates.
The position of the seabed target under the world coordinates is converted according to the following formula:
wherein x is2、y2Longitude, latitude, h of the seabed target2Is the height of the transceiver transducer to the sea floor level;
and sixthly, calculating the angle information of the seabed target in the world coordinate based on the position of the seabed target in the world coordinate.
Calculating the angle information of the submarine target under the world coordinates according to the following formula:
wherein alpha is2、β2、γ2The included angles between the seabed target object and the x, y and z axes of the world coordinate system are respectively, the value range is (-pi, pi), and the accurate position information of the seabed target under the world coordinate system is obtained as follows:
[x2 y2 h2 α2 β2 γ2]。
referring again to fig. 2, the shore-side subsystem 200 includes a shore-based processing server 201, a shore-based switch 202, and a microwave broadband station (i.e., a second microwave broadband station 203 in fig. 2), wherein the shore-based processing server 201 is connected through the shore-based switch 202 and the second microwave broadband station 203.
Among them, shore-based processing server 201 is installed with shore-based unmanned ship control software, shore-based detection equipment integrated control software, detection data back-end processing software, and side scan sonar post-processing software. The shore-based unmanned ship control software completes navigation control of the unmanned ship, remote power up and down of the unmanned ship during loading, and display of monitoring information of the unmanned ship and a side scan sonar system; the shore-based detection equipment integrated control software mainly completes parameter configuration and control of detection equipment and an auxiliary sensor; the detection data back-end processing software acquires the collected data compressed and stored by the shipborne front-end data processing software through the ship-shore wireless broadband link, and then decompresses and stores the collected data; and the side-scan sonar post-processing software completes the off-line import and data analysis of the acquired data. These software needs to cooperate with onboard equipment to perform the functions described above.
Wherein the shore-based switch 202 is used for ethernet interconnection interworking between shore-based system devices (e.g., the shore-based processing server 201 and the second microwave broadband station 203); the second microwave broadband station 203 is used to establish a ship-shore wireless broadband link.
Referring again to fig. 2, the on-board side subsystem 100 also includes an on-board electrical control device 106. The onboard electrical control device 106 is connected to the unmanned ship onboard device 102, the side scan sonar device 103, the auxiliary sensor 104, and the onboard data processing server 105, respectively.
The shipborne electrical control equipment 106 is used for receiving a power-on/power-off instruction sent by the shore side subsystem and controlling the real-time online power-on/power-off of the load according to the preset power supply priority of the load.
Exemplarily, shore-based unmanned ship control software sends a power supply opening instruction to unmanned ship control equipment through a ship shore wireless broadband link, and the power supply opening instruction is distributed to shipborne electrical control equipment by the unmanned ship control equipment, and the shipborne electrical control equipment sequentially opens power supplies of all loads (all electrical equipment on a shipborne side) according to the preset power supply priority of the loads; based on the load remote power-on and power-off function, the power supply of the equipment is turned on and off in sequence according to the preset power-on and power-off priority of the shore-based remote control shipborne equipment, the online service time of the equipment is flexibly controlled, and the power utilization safety of the equipment is protected.
Referring again to fig. 2, the onboard side subsystem further includes a video monitoring device 107, and the video monitoring device 107 is connected with the onboard electrical control device 106.
The video monitoring device 107 is used for monitoring high-definition videos of the unmanned ship and the surrounding environment and sending the generated videos to the bank side subsystem.
Video monitoring software is installed in the shore subsystem, and a video picture acquired by the video monitoring equipment 107 is used for remote monitoring. Therefore, high-definition monitoring videos of the unmanned ship and the surrounding environment are transmitted back to the shore base in real time based on the video monitoring system, and shore base operators can perform intuitive judgment on the unmanned ship and side-scan sonar detection operation through remote monitoring.
Referring again to fig. 2, the on-board subsystem 100 further comprises a first microwave broadband station 108, and the first microwave broadband station 201 is wirelessly connected to the second microwave broadband station 203. The first microwave broadband station 108 is also connected to the onboard electrical control device 106, the onboard data processing server 105, and the video monitoring device 107, respectively.
The high-bandwidth wireless link based on the microwave broadband radio station, the shipborne front-end data processing software and the detection data rear-end processing software realize real-time return of detection data to a shore base, provide online data analysis for operators, check availability of acquired data in advance for detection task internal processing, and facilitate timely adjustment of detection strategies to acquire data again.
In an implementation manner of the embodiment of the present disclosure, the shore side subsystem 200 is further configured to receive the acquired data and the positioning and posture information after the coordinate conversion, which are sent by the shipborne side subsystem, and perform post-processing on the acquired data and the positioning and posture information after the coordinate conversion.
Illustratively, the side-scan sonar equipment performs submarine geomorphology measurement, collected data are transmitted to the shipborne data processing server 105, the shipborne data processing server 105 performs submarine target coordinate conversion according to positioning and attitude information through a coordinate conversion algorithm module built in side-scan sonar data collection software, relative coordinates of a submarine target relative to a side-scan sonar transceiver transducer are converted into coordinates under a world coordinate system and then are stored locally, and the shipborne data processing server 105 performs compression and local storage of the side-scan sonar equipment and auxiliary sensor collected data through shipborne front-end data processing software.
The shore-based processing server 201 acquires the collected data compressed and stored by the shipborne front-end data processing software through the shore wireless broadband link by detecting the data back-end processing software, and then decompresses and stores the data. The shore-based processing server 201 imports data such as side-scan sonar acquisition data and unmanned ship attitude, course, positioning, ship speed, sound velocity and the like acquired by an auxiliary sensor through side-scan sonar post-processing software, and writes the data into a side-scan sonar XTF (eXtended Triton Format) file for post-processing.
Illustratively, post-processing refers to importing the XTF file into side-scan sonar data post-processing software (e.g., SonarWiz software) for parameter adjustment and correction, then generating a side-scan sonar image, and editing the generated side-scan sonar image.
The parameter adjustment and calibration includes, but is not limited to, signal gain control, beam angle correction, and de-striping.
The editing of the generated side-scan sonar image includes, but is not limited to, editing modes such as image enhancement, target extraction and measurement, and report generation.
In an implementation manner of the embodiment of the present disclosure, the shore-based processing server 201 starts a chart function through shore-based unmanned ship control software, and receives a navigation survey line planned by an operator on the chart according to a detection task, and the shore-based processing server 201 sends the navigation survey line to the unmanned ship control device through a shore wireless broadband link; the shore-based processing server 201 sends a navigation instruction to the unmanned ship through the ship shore wireless broadband link, and starts the unmanned ship to carry out navigation detection along a preset navigation survey line; the video monitoring device 107 returns high-definition video monitoring information of the unmanned ship and the surrounding environment through the wireless broadband link, so that an operator can remotely control the unmanned ship.
In an implementation manner of the embodiment of the present disclosure, the shore-based processing server 201 controls the unmanned ship to hover through shore-based unmanned ship control software and unmanned ship control equipment, and the shore-based processing server 201 controls the acoustic velocity profiler to collect acoustic velocity data by lowering the acoustic velocity profiler collecting rack through shore-based detection equipment integrated control software, and recovers the acoustic velocity profiler after the acoustic velocity data is collected.
Unmanned ship accuse equipment collects and shows unmanned ship important monitoring information, and bank base processing server 201 obtains and shows the important monitoring information of side scan sonar through bank base check out test set integrated control software, provides bank base operating personnel and carries out unmanned ship and side scan sonar detection operation decision-making.
Optionally, the shore-based processing server 201 further performs parameter configuration on the inertial navigation device, the onboard RTK, and the side scan sonar through the shore-based detection device integrated control software, configuration success information is returned after the above-mentioned device configuration is successful, and the shore-based processing server 201 starts the side scan sonar through the detection device integrated control software.
Fig. 3 is a flowchart illustrating a side scan sonar equipment data processing method according to an exemplary embodiment of the present disclosure. As shown in fig. 3, the method may be performed by the aforementioned onboard data processing server, and the method includes:
s301, acquiring acquisition data obtained by measuring a submarine target by using side-scan sonar equipment;
s302, acquiring positioning and attitude information of the unmanned ship by an auxiliary sensor;
and S303, converting the coordinate of the seabed target according to the positioning and attitude information, converting the relative coordinate of the seabed target object in the acquired data relative to the side-scan sonar equipment into the coordinate under a world coordinate system, and storing the coordinate.
According to the scheme provided by the embodiment of the disclosure, the navigation survey line is sent to the shipborne side subsystem through the shore side subsystem, so that the unmanned ship control equipment can control the unmanned ship to run according to the navigation survey line, unmanned detection is realized, navigation of the unmanned ship is controlled in a wireless remote mode, cost of a side scan sonar underwater detection task is reduced, and detection work efficiency is greatly improved; the method comprises the steps of measuring a submarine target through side-scan sonar equipment to obtain collected data, converting a submarine target coordinate by using positioning and attitude information, converting a relative coordinate of the submarine target in the collected data relative to the side-scan sonar equipment into a coordinate under a world coordinate system, and storing the coordinate, so that the influence of wind and wave tide on the unmanned ship in the working process is avoided, the change of ship body attitudes such as pitching, rolling and yawing influences the positioning accuracy of the submarine target, the high-accuracy positioning of the underwater target is realized, and the problem of poor image position accuracy of submarine landform features is solved.
Optionally, the converting the coordinates of the submarine target according to the positioning and attitude information, and converting the relative coordinates of the submarine target in the collected data with respect to the side-scan sonar equipment into coordinates in a world coordinate system, includes:
the method comprises the steps of firstly, acquiring real-time longitude and latitude, sea-bottom surface height, real-time hull pitching, rolling and yaw angles of a receiving and transmitting transducer in the side-scan sonar equipment from the positioning and attitude information to obtain a position matrix of the receiving and transmitting transducer in a world coordinate system.
In the disclosed embodiment, the auxiliary sensors 104 may include inertial navigation devices, onboard Real-time kinematic (RTK) devices, altitude sensors, etc. for measuring positioning and attitude information.
Wherein, real-time longitude and latitude of the receiving and transmitting transducer of the side scan sonar acquired by the ship-borne RTK equipment are respectively x0、y0The height of the receiving and transmitting transducer from the sea bottom surface is acquired according to a built-in height sensor of the receiving and transmitting transducer, the inertial navigation equipment is utilized to acquire the real-time pitching, rolling and yaw angles of the ship body which are respectively alpha, beta and gamma, and the position matrix of the side scan sonar receiving and transmitting transducer in a world coordinate system is comprehensively obtained: [ x ] of0 y0 h α β γ]。
And secondly, calculating a posture conversion matrix by using a coordinate conversion algorithm based on the position matrix.
The attitude transformation matrix T is calculated according to the following formula:
and thirdly, establishing a rectangular coordinate system by taking the receiving and transmitting transducer as an origin, taking the course direction of the unmanned ship as a y axis, taking the horizontal vertical course direction as an x axis, taking the vertical x and y axis directions as z axes, and establishing the position of the seabed target in the rectangular coordinate system.
Illustratively, a rectangular coordinate system OXYZ is established by taking a side-scan sonar transmitting-receiving transducer as an origin, taking the heading direction of the unmanned ship as a y axis, taking the horizontal vertical heading direction as an x axis, taking the vertical x and y axis directions as z axes, and the position of the seabed target in the OXYZ is determined as follows:
P1＝[x1 y1 h1 α1 β1 γ1]。
wherein x is1Is the horizontal distance between the submarine target on the X axis and the side scan sonar transmitting-receiving transducer, y1For the horizontal distance between the submarine target object on the Y axis and the side-scan sonar transmitting-receiving transducer, the Y is known according to the side-scan sonar slant-distance imaging principle1＝0，h1For side scan of the height of the sonar transmitting and receiving transducer from the seabed ground, h1＝h，α1、β1、γ1The included angles of the seabed target object and the x, y and z axes of the coordinate system OXYZ are respectively, the slant distance L can be automatically solved by a side scan sonar through the time difference of sound velocity and sonar signals to and from a transmitting-receiving transducer, L, x1、h1The relationship between them is:
and fourthly, correcting the coordinate of the submarine target object by using the attitude transformation matrix to obtain the corrected coordinate of the submarine target in the rectangular coordinate system.
And correcting the coordinate of the submarine target object by using the attitude transformation matrix T to obtain the corrected coordinate of the submarine target in an OXYZ coordinate system:
wherein, x'1、y’1Is the horizontal distance h 'between the corrected x-axis and y-axis submarine targets and the transmitting-receiving transducer'1To correct the height of the receiving and transmitting transducer to the sea floor.
And fifthly, converting the position of the seabed target under world coordinates based on the corrected coordinates.
The position of the seabed target under the world coordinates is converted according to the following formula:
wherein x is2、y2Longitude, latitude, h of the seabed target2Is the height of the transceiver transducer to the sea floor level;
and sixthly, calculating the angle information of the seabed target in the world coordinate based on the position of the seabed target in the world coordinate.
Calculating the angle information of the submarine target under the world coordinates according to the following formula:
wherein alpha is2、β2、γ2The included angles between the seabed target object and the x, y and z axes of the world coordinate system are respectively, the value range is (-pi, pi), and the accurate position information of the seabed target under the world coordinate system is obtained as follows:
[x2 y2 h2 α2 β2 γ2]。
the embodiment of the disclosure also provides an electronic device, which may be the onboard data processing server. The electronic device may comprise a processor and a memory, said memory storing at least one program code, said program code being loaded and executed by said processor to implement the method as described above.
Fig. 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present disclosure. Referring to fig. 4, the electronic device 400 includes a Central Processing Unit (CPU) 401, a system Memory 404 including a Random Access Memory (RAM) 402 and a Read-Only Memory (ROM) 403, and a system bus 405 connecting the system Memory 404 and the CPU 401. The electronic device 400 also includes a basic Input/Output system (I/O system) 406, which facilitates the transfer of information between devices within the computer, and a mass storage device 407 for storing an operating system 413, application programs 414, and other program modules 415.
The basic input/output system 406 includes a display 408 for displaying information and an input device 409 such as a mouse, keyboard, etc. for user input of information. Wherein a display 408 and an input device 409 are connected to the central processing unit 401 through an input output controller 410 connected to the system bus 405. The basic input/output system 406 may also include an input/output controller 410 for receiving and processing input from a number of other devices, such as a keyboard, mouse, or electronic stylus. Similarly, input/output controller 410 may also provide output to a display screen, a printer, or other type of output device.
The mass storage device 407 is connected to the central processing unit 401 through a mass storage controller (not shown) connected to the system bus 405. The mass storage device 407 and its associated computer-readable media provide non-volatile storage for the electronic device 400. That is, the mass storage device 407 may include a computer-readable medium (not shown) such as a hard disk or CD-ROM drive.
Without loss of generality, computer readable media may comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, Erasable Programmable Read Only Memory (EPROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash Memory or other solid state Memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD), or other optical, magnetic, tape, magnetic disk, or other magnetic storage devices. Of course, those skilled in the art will appreciate that computer storage media is not limited to the foregoing. The system memory 404 and mass storage device 407 described above may be collectively referred to as memory.
According to various embodiments of the present disclosure, the electronic device 400 may also operate as a remote computer connected to a network through a network, such as the Internet. That is, the electronic device 400 may be connected to the network 412 through the network interface unit 411 connected to the system bus 405, or may be connected to other types of networks or remote computer systems (not shown) using the network interface unit 411.
The memory further includes one or more programs, and the one or more programs are stored in the memory and configured to be executed by the CPU. The CPU 401 implements the aforementioned side-scan sonar equipment data processing method by executing the one or more programs.
Those skilled in the art will appreciate that the configuration shown in fig. 4 does not constitute a limitation of the electronic device 400, and may include more or fewer components than those shown, or combine certain components, or employ a different arrangement of components.
The disclosed embodiments also provide a computer readable storage medium storing at least one program code, the program code being loaded and executed by the processor to implement the method as described above. For example, the computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
The disclosed embodiments also provide a computer program product having at least one program code stored therein, which is loaded and executed by the processor to implement the method as described above.
It should be understood that reference to "a plurality" in this disclosure means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the preceding and following associated objects are in an "or" relationship.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disk, or the like.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. A side-scan sonar system based on an unmanned ship is characterized by comprising a ship-mounted side subsystem and a shore side subsystem;
the shipborne side subsystem comprises: the system comprises an unmanned ship, unmanned ship control equipment, side scan sonar equipment, an auxiliary sensor and a ship-borne data processing server, wherein the unmanned ship is carried on the unmanned ship;
the shore side subsystem is used for sending the navigation survey line to the shipborne side subsystem;
the unmanned ship control equipment is used for controlling the unmanned ship to run according to the navigation survey line;
the side scan sonar equipment is used for measuring a submarine target to obtain collected data;
the auxiliary sensor is used for positioning the unmanned ship and acquiring the attitude of the unmanned ship to obtain positioning and attitude information;
and the shipborne data processing server is used for converting the coordinate of the seabed target according to the positioning and attitude information, converting the relative coordinate of the seabed target object in the acquired data relative to the side scan sonar equipment into the coordinate under a world coordinate system and storing the coordinate.
2. The unmanned-vessel-based side-scan sonar system according to claim 1, wherein the onboard data processing server is configured to:
acquiring real-time longitude, latitude, sea bottom surface height, real-time hull pitching, rolling and yaw angles of a transmitting-receiving transducer in the side scan sonar equipment from the positioning and attitude information to obtain a position matrix of the transmitting-receiving transducer in a world coordinate system;
calculating an attitude transformation matrix by using a coordinate transformation algorithm based on the position matrix;
establishing a rectangular coordinate system by taking the receiving and transmitting transducer as an origin, taking the course direction of the unmanned ship as a y axis, taking the horizontal vertical course direction as an x axis, and taking the vertical x and y axis directions as z axes, and determining the position of the submarine target in the rectangular coordinate system;
correcting the coordinate of the submarine target object by using the attitude transformation matrix to obtain a corrected coordinate of the submarine target in the rectangular coordinate system;
converting the position of the seabed target under world coordinates based on the corrected coordinates;
calculating angle information of the submarine target in the world coordinate based on the position of the submarine target in the world coordinate.
3. The unmanned-vessel-based side-scan sonar system according to claim 1 or 2, wherein the on-board side subsystem further comprises:
and the shipborne electrical control equipment is used for receiving the power-on and power-off instruction sent by the shore side subsystem and controlling the real-time online power-on and power-off of the load according to the preset power supply priority of the load.
4. The unmanned-vessel-based side-scan sonar system according to claim 1 or 2, wherein the on-board side subsystem further comprises:
and the video monitoring equipment is used for monitoring the high-definition video of the unmanned ship and the surrounding environment and sending the generated video to the bank side subsystem.
5. The unmanned-vessel-based side-scan sonar system of claim 1 or 2, wherein the on-board side subsystem further comprises a first microwave broadband station, wherein the shore side subsystem comprises a second microwave broadband station, and wherein the first microwave broadband station and the second microwave broadband station are wirelessly connected.
6. The side-scan sonar system based on the unmanned ship according to claim 1 or 2, wherein the shore side subsystem is further configured to receive the coordinate-converted acquired data and the positioning and attitude information sent by the shipborne side subsystem, and perform post-processing on the coordinate-converted acquired data and the positioning and attitude information.
7. A side scan sonar equipment data processing method is characterized by comprising the following steps:
acquiring acquisition data obtained by measuring a submarine target by side-scan sonar equipment;
acquiring positioning and attitude information obtained by an auxiliary sensor for positioning and attitude acquisition of the unmanned ship;
and converting the coordinate of the seabed target according to the positioning and attitude information, converting the relative coordinate of the seabed target object relative to the side-scan sonar equipment in the acquired data into the coordinate under a world coordinate system, and storing the coordinate.
8. The side-scan sonar equipment data processing method according to claim 7, wherein the converting the sea-bottom object coordinates according to the positioning and attitude information, and the converting the relative coordinates of the sea-bottom object in the collected data with respect to the side-scan sonar equipment into coordinates in a world coordinate system includes:
acquiring real-time longitude, latitude, sea bottom surface height, real-time hull pitching, rolling and yaw angles of a transmitting-receiving transducer in the side scan sonar equipment from the positioning and attitude information to obtain a position matrix of the transmitting-receiving transducer in a world coordinate system;
calculating an attitude transformation matrix by using a coordinate transformation algorithm based on the position matrix;
establishing a rectangular coordinate system by taking the receiving and transmitting transducer as an origin, taking the course direction of the unmanned ship as a y axis, taking the horizontal vertical course direction as an x axis, and taking the vertical x and y axis directions as z axes, and determining the position of the submarine target in the rectangular coordinate system;
correcting the coordinate of the submarine target object by using the attitude transformation matrix to obtain a corrected coordinate of the submarine target in the rectangular coordinate system;
converting the position of the seabed target under world coordinates based on the corrected coordinates;
calculating angle information of the submarine target in the world coordinate based on the position of the submarine target in the world coordinate.
9. An electronic device, comprising a processor and a memory, the memory storing at least one program code, the program code being loaded and executed by the processor to implement the method according to claim 7 or 8.
10. A computer-readable storage medium, characterized in that it stores at least one program code, which is loaded and executed by a processor to implement the method according to claim 7 or 8.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115327548A (en) * | 2022-10-11 | 2022-11-11 | 江苏航运职业技术学院 | Channel scale detection and ship navigation monitoring system based on sonar technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115327548A (en) * | 2022-10-11 | 2022-11-11 | 江苏航运职业技术学院 | Channel scale detection and ship navigation monitoring system based on sonar technology |
| CN115327548B (en) * | 2022-10-11 | 2022-12-30 | 江苏航运职业技术学院 | Channel scale detection and ship navigation monitoring system based on sonar technology |
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