CN114397664B - Water depth correction method considering instantaneous attitude coupling effect of transducer - Google Patents

Water depth correction method considering instantaneous attitude coupling effect of transducer Download PDF

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CN114397664B
CN114397664B CN202210299982.3A CN202210299982A CN114397664B CN 114397664 B CN114397664 B CN 114397664B CN 202210299982 A CN202210299982 A CN 202210299982A CN 114397664 B CN114397664 B CN 114397664B
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point
transducer
angle
relative
calculating
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CN114397664A (en
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吴敬文
刘传杰
杜亚南
陈建民
盛青
王露
付五洲
唐敏炯
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Changjiang Estuary Cultural Water Resources Survey Bureau Of Hydrology Bureau Of Changjiang Water Resources Commission Changjiang Estuary Environmental Monitoring Center Of Hydrology Bureau Of Changjiang Water Resources Commission
Bureau of Hydrology Changjiang Water Resources Commission
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Changjiang Estuary Cultural Water Resources Survey Bureau Of Hydrology Bureau Of Changjiang Water Resources Commission Changjiang Estuary Environmental Monitoring Center Of Hydrology Bureau Of Changjiang Water Resources Commission
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention relates to a water depth correction method considering the instantaneous attitude coupling effect of a transducer, which calculates the width of a beam footprint of the transducer of a depth finder with different beam angles and calculates a central calibration point in a sound wave propagation range
Figure 633372DEST_PATH_IMAGE001
Determining the slope of the local water bottom topography in the line-finding direction
Figure 714460DEST_PATH_IMAGE002
Calculating the beam angle and the roll angle of the beam on the opposite side of the water bottom under the coupling effect of the instantaneous attitude of the transducer
Figure 392566DEST_PATH_IMAGE003
And relative pitch angle
Figure 623827DEST_PATH_IMAGE004
To determine the actual shortest echo point
Figure 648153DEST_PATH_IMAGE005
The included angle with the vertical direction; calculating the actual shortest echo point
Figure 572246DEST_PATH_IMAGE005
Relative to the central calibration point
Figure 65545DEST_PATH_IMAGE001
Displacement in hull coordinate system
Figure 100497DEST_PATH_IMAGE006
(ii) a The method aims at single beams with different emission anglesThe sounding system has universality and is easy to realize by adopting computer programming without increasing the complexity of a calculation step; by adopting the method to process data, the measurement precision and reliability of the steep slope area of the underwater topography can be obviously improved.

Description

Water depth correction method considering instantaneous attitude coupling effect of transducer
Technical Field
The invention relates to the field of water depth measurement, in particular to a water depth correction method considering the instantaneous attitude coupling effect of a transducer.
Background
The bathymetric survey is the basic content of ocean mapping and is the basic basis for making an underwater topographic map, accurate bathymetric survey data directly influence the topographic map precision and are vital to navigation safety, engineering design, construction and workload measurement, and common bathymetric equipment is an echo sounder.
In the process of measuring the water depth, the posture of the transducer of the depth finder is changed at every moment under the influence of factors such as water flow, waves and the like, so that the sound waves emitted by the transducer are generally not vertically emitted to the water bottom, but are emitted to the water bottom at a certain angle, are reflected in a certain area of the water bottom and then are received by the transducer of the depth finder, and the time and the distance of sound wave propagation are calculated. Ideally, the sound wave emitted by the transducer is a narrow beam, the narrower the beam angle, the better, and in fact, limited to the manufacturing process, the transducer always has a beam angle θ, so that the sound wave always covers the bottom of the river bed in a certain area, what is received and digitized into water depth by the transducer is the sound wave on the shortest path received first, and the actual position and water depth of the reflection point of the sound wave are related to the beam angle of the transducer, the terrain slope of the position of the reflection point, and the instantaneous attitude of the transducer. How to weaken the influence of the coupling of the beam angle and the attitude to the maximum extent so as to obtain the accurate measuring point position and water depth is always a difficult problem, when the water bottom is uneven, the problem becomes more complex, and in a steep slope area, if the factors are not considered, the measuring precision is seriously influenced. From the present, the general water depth data processing software only considers one factor, and the precision and the reliability of the data processing are limited. Therefore, it is necessary and significant to research a water depth correction method considering the coupling effect between the beam footprint width and the beam angle and the instantaneous attitude of the transducer under the condition that the water bottom has a certain slope.
Disclosure of Invention
The invention aims to provide a water depth correction method considering the instantaneous attitude coupling effect of the transducer aiming at the defects of the prior art, which can weaken the influence of the beam angle and the water bottom gradient of the transducer to a greater extent and improve the accuracy and reliability of water depth measurement, particularly the water depth measurement of a water area on a steep slope.
In order to realize the purpose, the invention adopts the following technical scheme:
the invention provides a water depth correction method considering the instantaneous attitude coupling effect of a transducer, which comprises the following steps of:
s1, calculating the widths of beam footprints of the transducers of the depth sounder with different beam angles, wherein the widths of the beam footprints are as follows:
Figure 129376DEST_PATH_IMAGE001
（1）
wherein, the first and the second end of the pipe are connected with each other,
Figure 577675DEST_PATH_IMAGE002
the sound wave emission angle is a fixed value;
Figure 528051DEST_PATH_IMAGE003
is the center of the transducer
Figure 454418DEST_PATH_IMAGE004
To the central calibration point
Figure 675315DEST_PATH_IMAGE005
The distance of (d);
s2, calculating the central calibration point in the sound wave propagation range
Figure 435461DEST_PATH_IMAGE006
Coordinates of (2)
Figure 233653DEST_PATH_IMAGE007
Determining the positions of front and rear two points for calculating the local water bottom gradient;
the center calibration point
Figure 839077DEST_PATH_IMAGE008
Coordinates of (2)
Figure 39115DEST_PATH_IMAGE009
Is calculated as:
Figure 766899DEST_PATH_IMAGE010
（2）
Figure 223026DEST_PATH_IMAGE011
（3）
Figure 366563DEST_PATH_IMAGE012
（4）
Figure 421106DEST_PATH_IMAGE013
（5）
Figure 257475DEST_PATH_IMAGE014
（6）
Figure 233522DEST_PATH_IMAGE015
（7）
wherein the content of the first and second substances,
Figure 39804DEST_PATH_IMAGE003
is the center of the transducer
Figure 355378DEST_PATH_IMAGE004
To the central calibration point
Figure 424966DEST_PATH_IMAGE005
Distance of (2), central calibration point
Figure 685046DEST_PATH_IMAGE005
The indicated water depth value;
Figure 668920DEST_PATH_IMAGE016
as phase centre of GNSS
Figure 698056DEST_PATH_IMAGE017
To the center of the transducer
Figure 672965DEST_PATH_IMAGE018
The distance of (d);
Figure 30128DEST_PATH_IMAGE019
and
Figure 850317DEST_PATH_IMAGE020
respectively as a central calibration point
Figure 468380DEST_PATH_IMAGE005
Instantaneous pitch and roll angles of;
Figure 333566DEST_PATH_IMAGE021
the included angle between the axis of the ship body and the longitudinal axis of the measuring coordinate system is formed;
Figure 302659DEST_PATH_IMAGE022
and
Figure 395380DEST_PATH_IMAGE023
respectively as a central calibration point
Figure 399108DEST_PATH_IMAGE005
The north and east coordinates of the instantaneous GNSS phase center;
Figure 919082DEST_PATH_IMAGE024
centering the point
Figure 578734DEST_PATH_IMAGE005
Longitudinal displacement relative to a hull coordinate system;
Figure 334200DEST_PATH_IMAGE025
centering the point
Figure 67801DEST_PATH_IMAGE005
Displacement in the transverse direction relative to the hull coordinate system;
Figure 883310DEST_PATH_IMAGE026
centering the point
Figure 30258DEST_PATH_IMAGE005
Displacement in the longitudinal direction relative to the measurement coordinate system;
Figure 963316DEST_PATH_IMAGE027
centering the point
Figure 941637DEST_PATH_IMAGE005
A displacement transverse to the measurement coordinate system;
s3, determining the gradient of the local water bottom terrain in the line measuring direction
Figure 537834DEST_PATH_IMAGE028
；
S4, calculating the beam angle and the roll angle of the beam on the opposite side of the water bottom under the instantaneous attitude coupling effect of the transducer
Figure 703236DEST_PATH_IMAGE029
And relative pitch angle
Figure 472609DEST_PATH_IMAGE030
To determine the actual shortest echo point
Figure 180802DEST_PATH_IMAGE031
The included angle with the vertical direction;
s5, calculating the actual shortest echo point
Figure 275797DEST_PATH_IMAGE031
Relative to the central calibration point
Figure 194074DEST_PATH_IMAGE005
Displacement in hull coordinate system
Figure 468936DEST_PATH_IMAGE032
、
Figure 156269DEST_PATH_IMAGE033
；
S6, calculating the actual shortest echo point
Figure 359848DEST_PATH_IMAGE031
Relative to the central calibration point
Figure 703105DEST_PATH_IMAGE005
Relative offset in a measurement coordinate system
Figure 407756DEST_PATH_IMAGE034
；
S7, calculating the actual shortest echo point
Figure 90541DEST_PATH_IMAGE031
Coordinates in a measurement coordinate system
Figure 589656DEST_PATH_IMAGE035
And corrected water depth
Figure 420208DEST_PATH_IMAGE036
。
Further, according to the central calibration point
Figure 538337DEST_PATH_IMAGE005
Coordinates of (2)
Figure 200262DEST_PATH_IMAGE037
And width of beam footprint
Figure 73541DEST_PATH_IMAGE038
With said centre to mark the point
Figure 562028DEST_PATH_IMAGE005
Of (2)
Figure 608482DEST_PATH_IMAGE039
As the center of circle, in
Figure 328176DEST_PATH_IMAGE040
To the radius, search for the depth sampling point
Figure 44459DEST_PATH_IMAGE041
The measuring points at the front and the back and the measuring points with the advancing direction close to the searching edge are recorded as
Figure 911921DEST_PATH_IMAGE042
And the measuring point with the tail direction closest to the searching edge is recorded as
Figure 699749DEST_PATH_IMAGE043
，
Figure 946053DEST_PATH_IMAGE044
And
Figure 223451DEST_PATH_IMAGE045
the water depth is respectively
Figure 250313DEST_PATH_IMAGE046
、
Figure 513935DEST_PATH_IMAGE047
，
Figure 4959DEST_PATH_IMAGE042
And
Figure 390941DEST_PATH_IMAGE043
the distance between them is recorded as
Figure 347177DEST_PATH_IMAGE048
(ii) a Then the process of the first step is carried out,
Figure 539124DEST_PATH_IMAGE049
（8）
wherein the content of the first and second substances,
Figure 494441DEST_PATH_IMAGE050
the slope of the local water bottom topography;
Figure 316904DEST_PATH_IMAGE050
the value of (a) is between-90 degrees and 90 degrees; -90 degrees represents a downhill slope; 90 degrees represents an uphill slope.
Further, the opposite sides are chamfered
Figure 380675DEST_PATH_IMAGE051
And relative pitch angle
Figure 986100DEST_PATH_IMAGE052
Comprises the following steps:
is provided with
Figure 123820DEST_PATH_IMAGE053
，
Wherein the content of the first and second substances,
Figure 179501DEST_PATH_IMAGE054
the difference between the instantaneous pitch angle and the water bottom pitch angle;
if it is
Figure 340355DEST_PATH_IMAGE055
Then the actual shortest echo point
Figure 811787DEST_PATH_IMAGE056
The rear edge of the wave beam is arranged in the axial direction, and the relative pitch angle is formed
Figure 866331DEST_PATH_IMAGE057
；
If it is
Figure 466814DEST_PATH_IMAGE058
Then the actual shortest echo point
Figure 177281DEST_PATH_IMAGE056
The front edge of the beam in the axial direction, relative pitch angle
Figure 249143DEST_PATH_IMAGE059
；
If it is
Figure 634305DEST_PATH_IMAGE061
Then the actual shortest echo point
Figure 894385DEST_PATH_IMAGE056
Not at the beam edge but at a position in the beam, at which time the relative pitch angle
Figure 645303DEST_PATH_IMAGE062
；
If it is
Figure 674439DEST_PATH_IMAGE063
Opposite side roll angle
Figure 914927DEST_PATH_IMAGE064
；
Wherein the content of the first and second substances,
Figure 537670DEST_PATH_IMAGE065
is a roll angle representing a certain moment in the transducer measuring process;
if it is
Figure 951334DEST_PATH_IMAGE066
Opposite side roll angle
Figure 208877DEST_PATH_IMAGE067
；
If it is
Figure 682584DEST_PATH_IMAGE068
Opposite side roll angle
Figure 792622DEST_PATH_IMAGE069
；
According to the relative pitch angle
Figure 744398DEST_PATH_IMAGE070
And the opposite side corner rounding
Figure 623492DEST_PATH_IMAGE071
Recalculating the position offset value:
Figure 205783DEST_PATH_IMAGE072
（9）。
Further, the actual shortest echo point
Figure 662172DEST_PATH_IMAGE056
The coordinates and measured water depth values of (a) are respectively:
Figure 293005DEST_PATH_IMAGE074
（10）。
the beneficial effects of the invention are as follows: the method has universality aiming at single-beam sounding systems with different emission angles, is easy to realize by adopting computer programming, and does not increase the complexity of calculation steps;
by adopting the method to process data, the measurement precision and reliability of the steep slope area of the underwater topography can be obviously improved.
Drawings
FIG. 1 is a schematic diagram of a water depth modification method that accounts for transducer transient attitude coupling effects;
fig. 2 is a schematic diagram of a measurement area according to a first embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Referring to fig. 1, in which,
Figure 416819DEST_PATH_IMAGE075
is the transducer acoustic center;
Figure 551435DEST_PATH_IMAGE076
is a positioning center of the GPS,
Figure 541126DEST_PATH_IMAGE077
、
Figure 710070DEST_PATH_IMAGE078
、
Figure 626073DEST_PATH_IMAGE079
three points are collinear;
Figure 612484DEST_PATH_IMAGE080
in the direction of the plumb line;
Figure 184411DEST_PATH_IMAGE081
is the center line in the sound wave propagation range;
Figure 281680DEST_PATH_IMAGE082
is the beam angle;
Figure 52190DEST_PATH_IMAGE083
measuring the pitch angle of the ship;
Figure 84868DEST_PATH_IMAGE084
is a local terrain slope;
Figure 268724DEST_PATH_IMAGE085
the shortest acoustic wave reflection point is the shortest acoustic wave reflection point under the condition of not considering the coupling effect of the beam angle and the attitude;
Figure 107367DEST_PATH_IMAGE086
The actual shortest acoustic wave reflection point under the condition of considering the coupling effect of the beam angle and the attitude;
Figure 174461DEST_PATH_IMAGE087
、
Figure 768254DEST_PATH_IMAGE088
the beam edge without considering the coupling effect of the beam angle and the attitude;
Figure 783614DEST_PATH_IMAGE089
、
Figure 691527DEST_PATH_IMAGE090
is the actual beam edge;
Figure 233367DEST_PATH_IMAGE091
、
Figure 607848DEST_PATH_IMAGE092
a series of acoustic reflection points on the survey line;
Figure 500717DEST_PATH_IMAGE093
、
Figure 353267DEST_PATH_IMAGE094
respectively, near a certain acoustic reflection point near the beam edge.
The sound wave of the depth finder is emitted from the transducer of the depth finder as a bundle of light waves of a flashlight, the propagation of the sound wave is limited in a certain angle (a so-called beam angle) area, when the sound wave reaches the water bottom, the sound wave covers a certain range of circular or elliptical areas, the area is a so-called beam footprint, the shape of the beam footprint is related to the physical structure of the transducer, the sound wave in the beam footprint is like countless light with the beam width of zero, the sound wave is reflected when meeting obstacles, all the reflected sound waves are received by the transducer, the time of the transducer transmitting the sound wave to the transducer in the reflection process is combined with the actual propagation speed of the sound wave in the water body to measure the propagation path length, the sound wave with the shortest path is firstly reflected by the water bottom and received by the transducer, and the depth gauge records the propagation path length of the sound wave which arrives firstly. When the sound waves are emitted vertically and reflected vertically, the path length is the actual water depth.
The above are only ideal conditions, and due to the influence of factors such as installation of the transducer, attitude change of the survey vessel, waves and the like, sound waves emitted by the depth finder are not emitted downwards vertically in most cases, and the bottom of a river bed also often has a certain gradient, as shown in fig. 1, when the transducer emits the sound waves vertically, the sound waves are limited to be in the range of
Figure 15192DEST_PATH_IMAGE095
And with
Figure 59110DEST_PATH_IMAGE096
Regional propagation of (A), (B)
Figure 376958DEST_PATH_IMAGE097
And
Figure 157833DEST_PATH_IMAGE098
is at an included angle of
Figure 815210DEST_PATH_IMAGE099
So-called beam angle), is reflected and received from the nearest point N when the water bottom is horizontal, the measured distance
Figure 656127DEST_PATH_IMAGE100
I.e. water depth, due to pitch angle
Figure 461272DEST_PATH_IMAGE101
Existence of (discussion of fore heading pitch angle)
Figure 921203DEST_PATH_IMAGE101
Influence on sound wave propagation), the region where the sound wave actually propagates is limited to
Figure 557721DEST_PATH_IMAGE102
And
Figure 444906DEST_PATH_IMAGE103
in between, the point where the sound wave is actually reflected first due to the unevenness of the bottom of the river bed is
Figure 268505DEST_PATH_IMAGE104
The core of the invention is how to reasonably calculate the point of reflection
Figure 860023DEST_PATH_IMAGE104
The coordinates of (a).
As can be seen from fig. 1, G is the center of the positioning device GPS,
Figure 459370DEST_PATH_IMAGE105
、
Figure 642089DEST_PATH_IMAGE106
、
Figure 359510DEST_PATH_IMAGE107
three points are collinear, and the actual shortest echo point is calculated
Figure 285877DEST_PATH_IMAGE108
The position of (2) is determined according to the GPS and the beam footprint center of the positioning device
Figure 569091DEST_PATH_IMAGE109
Calculating out points according to the relative relationship of
Figure 63658DEST_PATH_IMAGE109
Then according to the position of
Figure 861849DEST_PATH_IMAGE110
And
Figure 467274DEST_PATH_IMAGE109
relative relation of points, indirectly calculating
Figure 667311DEST_PATH_IMAGE111
The coordinates of (a).
A water depth correction method considering the instantaneous attitude coupling effect of a transducer comprises the following steps:
S1, calculating the width of the beam footprint of the transducer of the depth sounder with different beam angles, wherein the width of the beam footprint is as follows:
Figure 660675DEST_PATH_IMAGE001
（1）
wherein, the first and the second end of the pipe are connected with each other,
Figure 320064DEST_PATH_IMAGE002
the sound wave emission angle is a fixed value;
Figure 57076DEST_PATH_IMAGE003
is the center of the transducer
Figure 111620DEST_PATH_IMAGE004
To the central calibration point
Figure 947989DEST_PATH_IMAGE005
The distance of (d);
s2, calculating the central calibration point in the sound wave propagation range
Figure 720773DEST_PATH_IMAGE006
Coordinates of (2)
Figure 995896DEST_PATH_IMAGE007
Determining the positions of front and rear two points for calculating the local water bottom gradient;
the center calibration point
Figure 45892DEST_PATH_IMAGE008
Coordinates of (2)
Figure 177796DEST_PATH_IMAGE009
Is calculated as:
Figure 375559DEST_PATH_IMAGE010
（2）
Figure 392057DEST_PATH_IMAGE011
（3）
Figure 421193DEST_PATH_IMAGE012
（4）
Figure 661681DEST_PATH_IMAGE013
（5）
Figure 800537DEST_PATH_IMAGE014
（6）
Figure 479780DEST_PATH_IMAGE015
（7）
wherein the content of the first and second substances,
Figure 566684DEST_PATH_IMAGE003
is the center of the transducer
Figure 650178DEST_PATH_IMAGE004
To the central calibration point
Figure 884850DEST_PATH_IMAGE005
Distance of (2), central calibration point
Figure 305467DEST_PATH_IMAGE005
The indicated water depth value;
Figure 918982DEST_PATH_IMAGE016
as phase centre of GNSS
Figure 829170DEST_PATH_IMAGE017
To the center of the transducer
Figure 160925DEST_PATH_IMAGE018
The distance of (d);
Figure 119654DEST_PATH_IMAGE019
and
Figure 243468DEST_PATH_IMAGE020
respectively as a central calibration point
Figure 432878DEST_PATH_IMAGE005
Instantaneous pitch and roll angles;
Figure 314246DEST_PATH_IMAGE021
the included angle between the axis of the ship body and the longitudinal axis of the measuring coordinate system is formed;
Figure 138983DEST_PATH_IMAGE022
and
Figure 727090DEST_PATH_IMAGE023
respectively as a central calibration point
Figure 916763DEST_PATH_IMAGE005
In the momentNorth and east coordinates of a time GNSS phase center;
Figure 347745DEST_PATH_IMAGE024
centering the point
Figure 585959DEST_PATH_IMAGE005
Longitudinal displacement relative to a hull coordinate system;
Figure 356469DEST_PATH_IMAGE025
centering the point
Figure 513781DEST_PATH_IMAGE005
Displacement in the transverse direction relative to the hull coordinate system;
Figure 307424DEST_PATH_IMAGE026
centering the point
Figure 411647DEST_PATH_IMAGE005
Displacement in the longitudinal direction relative to the measurement coordinate system;
Figure 98980DEST_PATH_IMAGE027
centering the point
Figure 801094DEST_PATH_IMAGE005
A displacement transverse to the measurement coordinate system;
s3, determining the gradient of the local water bottom terrain in the line measuring direction
Figure 206668DEST_PATH_IMAGE028
；
S4, calculating the opposite side roll angle of the wave beam relative to the water bottom under the coupling effect of the wave beam angle and the instantaneous attitude of the transducer
Figure 521106DEST_PATH_IMAGE029
And relative pitch angle
Figure 266208DEST_PATH_IMAGE030
To determine the actual shortest echo point
Figure 765322DEST_PATH_IMAGE031
The included angle with the vertical direction;
s5, calculating the actual shortest echo point
Figure 267979DEST_PATH_IMAGE031
Relative to the central calibration point
Figure 776321DEST_PATH_IMAGE005
Displacement in hull coordinate system
Figure 313612DEST_PATH_IMAGE032
、
Figure 186890DEST_PATH_IMAGE033
；
S6, calculating the actual shortest echo point
Figure 35898DEST_PATH_IMAGE031
Relative to the central calibration point
Figure 721832DEST_PATH_IMAGE005
Relative offset in a measurement coordinate system
Figure 441526DEST_PATH_IMAGE034
；
S7, calculating the actual shortest echo point
Figure 548022DEST_PATH_IMAGE031
Coordinates in a measurement coordinate system
Figure 759692DEST_PATH_IMAGE035
And corrected water depth
Figure 547519DEST_PATH_IMAGE036
。
According to the central calibration point
Figure 918458DEST_PATH_IMAGE005
Coordinates of (2)
Figure 71222DEST_PATH_IMAGE037
And width of beam footprint
Figure 160400DEST_PATH_IMAGE038
With said centre to mark a point
Figure 486340DEST_PATH_IMAGE005
Coordinates of (2)
Figure 852730DEST_PATH_IMAGE039
As the center of a circle
Figure 35450DEST_PATH_IMAGE040
To the radius, search for the depth sampling point
Figure 726106DEST_PATH_IMAGE041
The measuring points at the front and the back and the measuring points with the advancing direction close to the searching edge are recorded as
Figure 918053DEST_PATH_IMAGE042
And the measuring point with the tail direction closest to the searching edge is recorded as
Figure 138950DEST_PATH_IMAGE043
，
Figure 492571DEST_PATH_IMAGE044
And
Figure 166129DEST_PATH_IMAGE045
the water depth is respectively
Figure 99450DEST_PATH_IMAGE046
、
Figure 565066DEST_PATH_IMAGE047
，
Figure 964954DEST_PATH_IMAGE042
And
Figure 453705DEST_PATH_IMAGE043
the distance between them is recorded as
Figure 987454DEST_PATH_IMAGE048
(ii) a Then the process of the first step is carried out,
Figure 212637DEST_PATH_IMAGE112
（8）
wherein the content of the first and second substances,
Figure 783427DEST_PATH_IMAGE050
the slope of the local water bottom topography;
Figure 759473DEST_PATH_IMAGE050
the value of (a) is between-90 degrees and 90 degrees; -90 degrees represents a downhill slope; 90 degrees represents an uphill slope.
The relative side roll angle
Figure 831334DEST_PATH_IMAGE051
And relative pitch angle
Figure 881330DEST_PATH_IMAGE052
Comprises the following steps:
is provided with
Figure 216496DEST_PATH_IMAGE053
，
Wherein the content of the first and second substances,
Figure 210997DEST_PATH_IMAGE054
the difference between the instantaneous pitch angle and the water bottom pitch angle;
if it is
Figure 961915DEST_PATH_IMAGE055
Then the actual shortest echo point
Figure 725472DEST_PATH_IMAGE056
The rear edge of the beam in the axial direction, at the moment, the relative pitch angle
Figure 198916DEST_PATH_IMAGE057
；
If it is
Figure 556079DEST_PATH_IMAGE058
Then the actual shortest echo point
Figure 173006DEST_PATH_IMAGE056
The front edge of the beam in the axial direction, at the time of relative pitch angle
Figure 322227DEST_PATH_IMAGE059
；
If it is
Figure 843655DEST_PATH_IMAGE061
Then the actual shortest echo point
Figure 61010DEST_PATH_IMAGE056
Not at the beam edge but at a position in the beam, at this time, relative elevation angle
Figure 940104DEST_PATH_IMAGE062
；
Relative side roll angle
Figure 584712DEST_PATH_IMAGE113
Determination of and relative pitch angle
Figure 244364DEST_PATH_IMAGE114
The judgment of (1) is slightly different because for the survey line, the gradient can be calculated according to the continuous survey point data in the survey line direction, and in the direction perpendicular to the survey line, the gradient is calculated by no continuous survey point, but according to the characteristic that the survey line is arranged perpendicular to the equal depth line, the transverse terrain gradient can be regarded as zero, so the following judgment is made:
if it is
Figure 373732DEST_PATH_IMAGE063
Opposite side roll angle
Figure 497545DEST_PATH_IMAGE064
；
Wherein the content of the first and second substances,
Figure 250738DEST_PATH_IMAGE065
is a roll angle representing a certain moment in the transducer measuring process;
if it is
Figure 335368DEST_PATH_IMAGE066
Opposite side roll angle
Figure 894526DEST_PATH_IMAGE067
；
If it is
Figure 810529DEST_PATH_IMAGE068
Opposite side roll angle
Figure 672306DEST_PATH_IMAGE069
；
According to the relative pitch angle
Figure 103287DEST_PATH_IMAGE070
And the opposite side corner rounding
Figure 403819DEST_PATH_IMAGE071
Recalculating the position offset value:
Figure 112012DEST_PATH_IMAGE115
（9）。
the actual shortest echo point
Figure 534903DEST_PATH_IMAGE056
The coordinates and the measured water depth values of (a) are respectively:
Figure 390863DEST_PATH_IMAGE073
（10）。
example one
And (3) carrying out data processing and calculation on the measurement of one steep slope section of the single-beam depth finder with a certain beam angle of 3 degrees.
The measurement area shown in fig. 2 is a steep underwater slope, the water depth changes abruptly from 14m to about 36m, the cross section is concave, and the slope changes from 25 ° to 45 °.
In fig. 2, seven survey lines are arranged in total, calibration is performed every 2s time interval during measurement, and "calibration" during water depth measurement is that a specific mark is made in a recording file at a time when a certain condition is met, the condition can be that a distance interval is met or a time interval is met, in this test, the calibration is performed when the adopted time interval is 2s, actual measurement data recording is continuous, and all water depth measurement data, positioning data and attitude data are recorded at extremely short time intervals (generally within 0.1 s).
The actual distance interval of calibration data obtained according to 2s time interval is unequal, the distance between front and back calibration points is 6.66 m-9.83 m, but the actually recorded measurement data interval is far smaller than the actual distance interval, and the nearest adjacent measurement data interval is smaller than 1 m.
The 10 calibration data on this line were selected for computational analysis, and as shown in table 1, the water depth correction for each calibration point was calculated according to the procedure described above.
Step 1: calculating the footprint width of the beam at each calibration position on the water bottom
Figure 659865DEST_PATH_IMAGE116
See the tenth column of table 1;
and 2, step: according to the GNSS center coordinate, the distance between the GNSS and the center of the energy converter, the water depth and other data, the center calibration point in the sound wave propagation range is calculated
Figure 612778DEST_PATH_IMAGE117
Of (2)
Figure 816357DEST_PATH_IMAGE118
；
And 3, step 3: point-to-centre scaling
Figure 159614DEST_PATH_IMAGE119
The width of the beam footprint, and the nearest fore-and-aft measurement data of the beam edge to calculate the central calibration point
Figure 864264DEST_PATH_IMAGE119
The calculation results are shown in column 12 of table 1;
and 4, step 4: according to the instantaneous pitch angle at each calibration time
Figure 281470DEST_PATH_IMAGE120
And roll angle
Figure 983847DEST_PATH_IMAGE121
Relative relation with the water bottom local gradient, and calculating the relative pitch angle of each calibration point position
Figure 876717DEST_PATH_IMAGE122
And opposite side roll angle
Figure 994846DEST_PATH_IMAGE123
See columns 2 and 3 of table 2;
and 5: calculating the actual shortest echo point of each calibration point at the water bottom
Figure 594454DEST_PATH_IMAGE124
Point of calibration relative to center
Figure 264470DEST_PATH_IMAGE125
Displacement in hull coordinate system
Figure 18537DEST_PATH_IMAGE126
North displacement in the measuring coordinate system
Figure 268253DEST_PATH_IMAGE127
East displacement of
Figure 519106DEST_PATH_IMAGE128
And water depth correction value
Figure 500968DEST_PATH_IMAGE129
The calculation results are shown in the 7 th column, the 8 th column and the 9 th column of the table 2;
step 7, calculating the actual shortest echo point
Figure 102851DEST_PATH_IMAGE130
Coordinates in a measurement coordinate system
Figure 890678DEST_PATH_IMAGE131
And corrected water depth
Figure 402562DEST_PATH_IMAGE132
The final calculation of the actual sounding point position and the water depth recorded by the depth finder is completed,
Position correction values (relative to the central calibration point) are listed in the table
Figure 414380DEST_PATH_IMAGE133
Position) and a water depth correction value (relative to the original water depth value).
In order to visually represent the difference between the water depth correction method determined by the present invention and the result without considering the coupling effect of the beam footprint and the beam angle and the instantaneous attitude, the calculation result without considering the coupling effect is shown in table 2, and in table 2, columns 4, 5 and 6, it can be seen from comparison that although the difference of the water depth correction is small and can be basically ignored, the position correction difference of the actual calibration point is more than 1m at most, and in the slope region between the slopes of 25 ° and 45 °, the measurement error due to the calculation deviation of the position of the actual calibration point is not negligible.
Table 1: measured data of measuring points
Figure 706822DEST_PATH_IMAGE134
TABLE 2 survey point correction calculation
Figure DEST_PATH_IMAGE135
The above-mentioned embodiments only express the implementation manner of the present invention, and the description thereof is specific and detailed, but not to be understood as the limitation of the patent scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims (1)

1. A water depth correction method considering the instantaneous attitude coupling effect of a transducer is characterized by comprising the following steps:
s1, calculating the width of the beam footprint of the transducer of the depth sounder with different beam angles, wherein the width of the beam footprint is as follows:
Figure 676861DEST_PATH_IMAGE001
（1）
wherein, the first and the second end of the pipe are connected with each other,
Figure 125160DEST_PATH_IMAGE002
the sound wave emission angle is a fixed value;
Figure 170476DEST_PATH_IMAGE003
is the center of the transducer
Figure 972210DEST_PATH_IMAGE004
To the central calibration point
Figure 317741DEST_PATH_IMAGE005
The distance of (a);
s2, calculating the central calibration point in the sound wave propagation range
Figure 546728DEST_PATH_IMAGE006
Of (2)
Figure 79341DEST_PATH_IMAGE007
Determining the positions of front and rear two points for calculating the local water bottom gradient;
the center calibration point
Figure 183300DEST_PATH_IMAGE008
Coordinates of (2)
Figure 117758DEST_PATH_IMAGE009
Is calculated as:
Figure 642281DEST_PATH_IMAGE010
（2）
Figure 537556DEST_PATH_IMAGE011
（3）
Figure 805726DEST_PATH_IMAGE012
（4）
Figure 594690DEST_PATH_IMAGE013
（5）
Figure 165480DEST_PATH_IMAGE014
（6）
Figure 938264DEST_PATH_IMAGE015
（7）
wherein the content of the first and second substances,
Figure 478967DEST_PATH_IMAGE003
is the center of the transducer
Figure 263383DEST_PATH_IMAGE004
To the central calibration point
Figure 129708DEST_PATH_IMAGE005
Distance of (2), central calibration point
Figure 763689DEST_PATH_IMAGE005
The indicated water depth value;
Figure 108083DEST_PATH_IMAGE016
as phase centre of GNSS
Figure 137219DEST_PATH_IMAGE017
To the center of the transducer
Figure 49811DEST_PATH_IMAGE018
The distance of (d);
Figure 266029DEST_PATH_IMAGE019
and
Figure 679693DEST_PATH_IMAGE020
respectively as a central calibration point
Figure 173122DEST_PATH_IMAGE005
Instantaneous pitch and roll angles;
Figure 381250DEST_PATH_IMAGE021
the included angle between the axis of the ship body and the longitudinal axis of the measuring coordinate system is formed;
Figure 350343DEST_PATH_IMAGE022
and
Figure 911905DEST_PATH_IMAGE023
respectively as a central calibration point
Figure 915633DEST_PATH_IMAGE005
The north and east coordinates of the instantaneous GNSS phase center;
Figure 294662DEST_PATH_IMAGE024
centering the point
Figure 859373DEST_PATH_IMAGE005
Longitudinal displacement relative to a hull coordinate system;
Figure 614840DEST_PATH_IMAGE025
centering the point
Figure 941916DEST_PATH_IMAGE005
Displacement in the transverse direction relative to the hull coordinate system;
Figure 367212DEST_PATH_IMAGE026
centering the point
Figure 310897DEST_PATH_IMAGE005
Displacement in the longitudinal direction relative to the measurement coordinate system;
Figure 745421DEST_PATH_IMAGE027
Centering the point
Figure 192583DEST_PATH_IMAGE005
Displacement transversely with respect to the measurement coordinate system;
s3, determining the gradient of the local water bottom terrain in the line measuring direction
Figure 647835DEST_PATH_IMAGE028
；
S4 calculating beam angle and transducer instantaneous attitude coupleThe combined effect of the roll angle of the beam on the opposite side of the water bottom
Figure 954182DEST_PATH_IMAGE029
And relative pitch angle
Figure 785872DEST_PATH_IMAGE030
To determine the actual shortest echo point
Figure 353120DEST_PATH_IMAGE031
The included angle with the vertical direction;
s5, calculating the actual shortest echo point
Figure 624613DEST_PATH_IMAGE031
Relative to the central calibration point
Figure 277311DEST_PATH_IMAGE005
Displacement in hull coordinate system
Figure 178271DEST_PATH_IMAGE032
、
Figure 209812DEST_PATH_IMAGE033
；
S6, calculating the actual shortest echo point
Figure 272446DEST_PATH_IMAGE031
Relative to the central calibration point
Figure 412440DEST_PATH_IMAGE005
Relative offset in a measurement coordinate system
Figure 726878DEST_PATH_IMAGE034
；
S7, calculating the actual shortest echo point
Figure 3139DEST_PATH_IMAGE031
Coordinates in a measurement coordinate system
Figure 502253DEST_PATH_IMAGE035
And corrected water depth
Figure 739331DEST_PATH_IMAGE036
；
S3 specifically includes: according to the central calibration point
Figure 982093DEST_PATH_IMAGE005
Coordinates of (2)
Figure 112860DEST_PATH_IMAGE037
And width of beam footprint
Figure 891198DEST_PATH_IMAGE038
With said centre to mark a point
Figure 5785DEST_PATH_IMAGE005
Coordinates of (2)
Figure 521080DEST_PATH_IMAGE039
As the center of a circle
Figure 912878DEST_PATH_IMAGE040
To the radius, search for the depth sampling point
Figure 753795DEST_PATH_IMAGE041
The measuring points at the front and the back and the measuring points with the advancing direction close to the searching edge are recorded as
Figure 231044DEST_PATH_IMAGE042
And the measuring point with the tail direction closest to the searching edge is recorded as
Figure 550030DEST_PATH_IMAGE043
，
Figure 796334DEST_PATH_IMAGE044
And
Figure 542573DEST_PATH_IMAGE045
the water depth is respectively
Figure 100594DEST_PATH_IMAGE046
、
Figure 862751DEST_PATH_IMAGE047
，
Figure 822617DEST_PATH_IMAGE042
And
Figure 5336DEST_PATH_IMAGE043
the distance between them is recorded as
Figure 191598DEST_PATH_IMAGE048
；
Then the process of the first step is carried out,
Figure 117966DEST_PATH_IMAGE049
（8）
wherein the content of the first and second substances,
Figure 932338DEST_PATH_IMAGE050
the slope of the local water bottom topography;
Figure 161325DEST_PATH_IMAGE050
the value of (a) is between-90 degrees and 90 degrees; -90 degrees represents a downhill slope; 90 degrees represents an uphill slope;
The relative side roll angle
Figure 959517DEST_PATH_IMAGE051
And relative pitch angle
Figure 423996DEST_PATH_IMAGE052
Comprises the following steps:
is provided with
Figure 233821DEST_PATH_IMAGE053
，
Wherein the content of the first and second substances,
Figure 758343DEST_PATH_IMAGE054
the difference between the instantaneous pitch angle and the water bottom pitch angle;
if it is
Figure 778251DEST_PATH_IMAGE055
Then the actual shortest echo point
Figure 420323DEST_PATH_IMAGE056
The rear edge of the wave beam is arranged in the axial direction, and the relative pitch angle is formed
Figure 209288DEST_PATH_IMAGE057
；
If it is
Figure 904711DEST_PATH_IMAGE058
，
The actual shortest echo point
Figure 287282DEST_PATH_IMAGE056
In the axial direction is the beam front edge,
at this time, the process of the present invention,
relative pitch angle
Figure 93564DEST_PATH_IMAGE059
；
If it is
Figure 9884DEST_PATH_IMAGE061
Then the actual shortest echo point
Figure 145331DEST_PATH_IMAGE056
Not at the beam edge but at a position in the beam, at which time the relative pitch angle
Figure 489724DEST_PATH_IMAGE062
；
If it is
Figure 518860DEST_PATH_IMAGE063
Opposite side roll angle
Figure 681987DEST_PATH_IMAGE064
；
Wherein the content of the first and second substances,
Figure 163784DEST_PATH_IMAGE065
is a roll angle representing a certain moment in the transducer measuring process;
if it is
Figure 577447DEST_PATH_IMAGE066
Opposite side roll angle
Figure 70877DEST_PATH_IMAGE067
；
If it is
Figure 544583DEST_PATH_IMAGE068
Opposite side roll angle
Figure 248097DEST_PATH_IMAGE069
；
According to the relative pitch angle
Figure 75239DEST_PATH_IMAGE070
And the opposite side corner rounding
Figure 813388DEST_PATH_IMAGE071
Recalculating the position offset value:
Figure 67783DEST_PATH_IMAGE072
（9）；
the actual shortest echo point
Figure 258593DEST_PATH_IMAGE056
The coordinates and the measured water depth values of (a) are respectively:
Figure 14059DEST_PATH_IMAGE073
（10）。
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