CN116010386A

CN116010386A - Multi-beam sounding edge data correction method, device and computer equipment

Info

Publication number: CN116010386A
Application number: CN202211595541.4A
Authority: CN
Inventors: 黄炜昭; 陈远; 黄林超; 吴新桥; 吉丽娅; 董永明; 刘成; 辛拓; 谢欢欢
Original assignee: Shenzhen Power Supply Bureau Co Ltd
Current assignee: Shenzhen Power Supply Bureau Co Ltd
Priority date: 2022-12-13
Filing date: 2022-12-13
Publication date: 2023-04-25

Abstract

The application relates to a multi-beam sounding edge data correction method, a device and computer equipment. The method comprises the following steps: acquiring multi-beam depth values corresponding to a plurality of multi-beam points and acquiring single-beam depth values corresponding to a plurality of single-beam points after the beam angle effect is corrected; determining a plurality of common points having both multi-beam depth values and single-beam depth values; establishing fitting functions among the multi-beam depth value corresponding to the common points, the depth difference value between the multi-beam depth value corresponding to the common points and the single-beam depth value and the incidence angle corresponding to the common points according to the multi-beam depth value corresponding to the common points, the depth difference value between the multi-beam depth value corresponding to the common points and the single-beam depth value, and the incidence angle corresponding to the common points; substituting the incident angle of the multi-beam point to be corrected and the multi-beam depth value into a fitting function, obtaining a depth correction corresponding to the multi-beam point to be corrected, and determining the multi-beam depth value after the multi-beam point to be corrected is corrected according to the depth correction. The method can improve the data quality of the edge part.

Description

Multi-beam sounding edge data correction method, device and computer equipment

Technical Field

The present disclosure relates to the field of depth measurement technologies, and in particular, to a method, an apparatus, and a computer device for correcting multi-beam sounding edge data.

Background

The multi-beam sounding system is an indispensable technical product in modern marine surveying, expands the traditional sounding technology from a dotted line to a surface, and has the advantages of high speed, large range, high precision and high efficiency. However, in practical sounding, since the multi-beam sounding system is formed by forming a plurality of transducer elements into a matrix, errors in a strip of sounding data are usually consistent or have a certain tendency, and the systematic errors are most significantly affected by the incident angle and depth, because the incident angle of the edge beam of the multi-beam sounding system is larger, the affected effects are serious, and the problem of poor accuracy of the edge portion of the multi-beam sounding system is caused.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a multi-beam sounding edge data correction method, apparatus and computer device that can improve the edge data accuracy of a multi-beam system.

In a first aspect, the present application provides a multi-beam sounding edge data correction method, the method comprising:

acquiring multi-beam depth values corresponding to a plurality of multi-beam points and acquiring single-beam depth values corresponding to a plurality of single-beam points after the beam angle effect is corrected;

Determining a plurality of common points having both multi-beam depth values and single-beam depth values;

establishing fitting functions among the multi-beam depth value corresponding to the common points, the depth difference value between the multi-beam depth value corresponding to the common points and the single-beam depth value and the incidence angle corresponding to the common points according to the multi-beam depth value corresponding to the common points, the depth difference value between the multi-beam depth value corresponding to the common points and the single-beam depth value, and the incidence angle corresponding to the common points;

substituting the incident angle of the multi-beam point to be corrected and the multi-beam depth value into a fitting function, obtaining a depth correction corresponding to the multi-beam point to be corrected, and determining the multi-beam depth value after the multi-beam point to be corrected is corrected according to the depth correction.

In one embodiment, obtaining the single beam depth value after the beam angle effect correction corresponding to the plurality of single beam points includes:

determining a terrain inclination angle according to the single beam depth values corresponding to the at least two single beam points;

determining a plane position correction corresponding to the current single beam point and a single beam depth value after the effect of the beam angle is corrected according to the terrain inclination angle and the half-wave beam opening angle corresponding to the current single beam point; the plane position correction is the offset of the current single beam point on the measuring line;

if the plane position correction and/or the depth correction corresponding to the current single beam point exceed the preset value, returning to execute the step of determining the terrain inclination angle according to the single beam depth values corresponding to at least two single beam points until the plane position correction and the depth correction are smaller than the preset value, and outputting the single beam depth values after the beam angle effect corresponding to the current single beam point is corrected; the depth correction is the offset of the depth measurement corresponding to the current single beam point.

In one embodiment, determining the plane position correction corresponding to the current single beam point and the single beam depth value after the beam angle effect correction according to the terrain inclination angle and the half-wave beam opening angle corresponding to the current single beam point includes:

if the half-wave beam opening angle of the single beam is smaller than the inclination angle, determining the product of the actual depth value corresponding to the current single beam point and the sine value of the half-wave beam opening angle as the plane position correction corresponding to the current single beam point;

and taking the depth measured value which is positioned before the current single beam point and corresponds to the position with the distance equal to the plane position correction from the current single beam point as the corrected depth measured value of the current single beam point.

if the half-wave beam opening angle of the single beam is larger than the inclination angle, determining the product of the actual depth value corresponding to the current single beam point and the sine value of the inclination angle as the plane position correction corresponding to the current single beam point;

and taking the depth measured value which is positioned before the current single beam point and is equal to the position corresponding to the plane correction value from the current single beam point as the single beam depth value after the effect correction of the beam angle corresponding to the single beam point.

In one embodiment, determining a plurality of common points having both multi-beam depth values and single-beam depth values includes: searching single beam points in an area with a preset radius by taking a plurality of half beam points as circle centers, and taking the single beam point closest to the multi-beam point as a common point.

In one embodiment, the fitting function between the multi-beam depth value, the depth difference value, and the incident angle corresponding to the common point is a quadratic polynomial.

In a second aspect, the present application also provides a multi-beam sounding edge data correction apparatus. The device comprises:

the acquisition module is used for acquiring multi-beam depth values corresponding to the multi-beam points and acquiring single-beam depth values after the beam angle effect corresponding to the single-beam points is corrected;

a common point search module for determining a plurality of common points having both multi-beam depth values and single-beam depth values;

the fitting module is used for establishing fitting functions among the multi-beam depth value corresponding to the common points, the depth difference value between the multi-beam depth value corresponding to the common points and the single-beam depth value and the incidence angle corresponding to the common points according to the multi-beam depth value corresponding to the common points, the depth difference value between the multi-beam depth value corresponding to the common points and the single-beam depth value, and the incidence angle corresponding to the common points;

And the correction module is used for substituting the incidence angle of the multi-beam point to be corrected and the multi-beam depth value into the fitting function, obtaining the depth correction corresponding to the multi-beam point to be corrected, and determining the multi-beam depth value after the multi-beam point to be corrected is corrected according to the depth correction.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:

In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:

According to the multi-beam sounding edge data correction method, the device and the computer equipment, on one hand, the single-beam depth value of the single-beam point is used as a control point, a plurality of common points with the multi-beam depth value and the single-beam depth value are searched, a fitting function among the multi-beam depth value corresponding to the common points, the depth difference value and the incidence angle is established according to a function fitting means, and multiple parameters are used as references, so that more accurate multi-beam single-beam point corresponding depth correction can be obtained, and the edge data precision of the multi-beam point is improved; and correcting the multi-beam deep edge data of the edge part of the multi-beam point to be corrected according to the fitting function, so that the data quality of the edge part is improved, and on the other hand, the single-beam point after the correction of the beam angle effect is adopted as a control point, so that the correction precision of the multi-beam edge data can be improved.

Drawings

FIG. 1 is a diagram of an application environment of a multi-beam sounding edge data correction method in one embodiment;

FIG. 2 is a flow chart of a multi-beam sounding edge data correction method according to one embodiment;

FIG. 3 is a flow chart of acquiring single beam depth values after beam angle effect correction corresponding to a plurality of single beam points in an embodiment;

FIG. 4 is a schematic diagram of a horizontal plane coordinate system in the single beam sounding principle in another embodiment;

FIG. 5 is a schematic diagram of the beam angle effect when the half-wave beam opening angle of a single beam is smaller than the tilt angle and the depth measurement corresponding to the current single beam point is larger than the depth measurement corresponding to the next sounding point in one embodiment;

FIG. 6 is a schematic diagram of the beam angle effect when the half-wave beam opening angle of a single beam is smaller than the tilt angle and the depth measurement corresponding to the current single beam point is smaller than the depth measurement corresponding to the next sounding point in one embodiment;

FIG. 7 is a schematic diagram of the beam angle effect when the half-wave beam opening angle of a single beam is larger than the tilt angle and the depth measurement corresponding to the current single beam point is larger than the depth measurement corresponding to the next sounding point in one embodiment;

FIG. 8 is a schematic diagram of the beam angle effect when the half-wave beam opening angle of a single beam is larger than the tilt angle and the depth measurement corresponding to the current single beam point is smaller than the depth measurement corresponding to the next sounding point in one embodiment;

FIG. 9 is a plot of the azimuth on-line for a position after a current single beam spot has been shifted forward in one embodiment;

FIG. 10 is a plot of the azimuth on-line of the position after the current single beam spot has been shifted back in one embodiment;

FIG. 11 is a block diagram of a multi-beam sounding edge data correction apparatus in one embodiment;

fig. 12 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The multi-beam sounding edge data correction method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. The terminal 102 obtains multi-beam depth values corresponding to the multi-beam points, and obtains single-beam depth values after the beam angle effect corresponding to the single-beam points is corrected; determining a plurality of common points having both multi-beam depth values and single-beam depth values; establishing fitting functions among the multi-beam depth value corresponding to the common points, the depth difference value between the multi-beam depth value corresponding to the common points and the single-beam depth value and the incidence angle corresponding to the common points according to the multi-beam depth value corresponding to the common points, the depth difference value between the multi-beam depth value corresponding to the common points and the single-beam depth value, and the incidence angle corresponding to the common points; substituting the incident angle of the multi-beam point to be corrected and the multi-beam depth value into a fitting function, obtaining a depth correction corresponding to the multi-beam point to be corrected, and determining the multi-beam depth value after the multi-beam point to be corrected is corrected according to the depth correction. The terminal communicates with the server 104 via a network. The terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices, and portable wearable devices, where the internet of things devices may be a depth gauge, a multi-beam depth gauge, and the like. The portable wearable device may be a smart watch, smart bracelet, headset, or the like. The server 104 may be implemented as a stand-alone server or as a server cluster of multiple servers.

Although the multi-beam sounding system has a large measurement range and high measurement efficiency, it has a problem that the edge portion of the multi-beam system is far less accurate than the central beam. The accuracy level of the overall measurement operation is limited by the accuracy of the edge beam, and the error of the edge beam is one of the important factors of the result distortion during sounding. In many cases, in order to consider the overall accuracy in actual measurement operation, the data of these edge beams may be directly discarded, and an efficient accuracy-changing means is employed, but this may result in a waste of expenses.

In order to solve the above problems, in this embodiment, single beam sounding data is introduced as control, and by using the characteristics of good stability and high quality of single beam data and combining with a function fitting means, the error of the multi-beam measurement system related to the incident angle is corrected, so that the multi-beam data of the edge portion can be well processed, and the data quality of the edge portion can be improved.

In one embodiment, as shown in fig. 2, a multi-beam sounding edge data correction method is provided, and the method is applied to the terminal in fig. 1 for illustration, and includes the following steps:

step 202, acquiring multi-beam depth values corresponding to the multi-beam points, and acquiring single-beam depth values after the beam angle effect corresponding to the single-beam points is corrected.

The single beam only has one beam to strike the seabed, the single beam measures the water depth value of one point (the highest point value is taken), the multi-beam has hundreds of independent beams to be emitted to the seabed, the multi-beam can emit a beam band, the water depth value of one line can be measured instantaneously, the single beam forms a measuring area of one line in the moving process along with the movement of the ship body, and the multi-beam forms a measuring area of a plane in the moving process.

The single beam sounding system has enough sounding accuracy and stability although the low efficiency range is small, and the sounding beam of the single beam system is vertical downward incidence, so that the beam more affected by the sound ray bending is smaller. Therefore, when correcting the systematic error of the multi-beam data, the single-beam point after data preprocessing can be used as a measurement control point.

Since the transducers in a multi-beam sounding system transmit sounding signals towards the sea floor in cone beams and receive echo signals that are the shortest in time, the sea floor may be tilted to some extent, so the closest point measured may not be ideally directly below. When the depth of the water area to be measured is larger, the inclination angle of the terrain is larger, and the beam opening angle of the transducer is larger, the influence caused by the beam angle effect is more remarkable. The beam angle of the single beam system is far larger than that of the multi-beam system, so that the beam angle effect of the multi-beam system can be ignored, but the single beam point is greatly influenced by the beam angle effect, if the beam angle effect of the single beam system is not corrected, single beam data is utilized, when the multi-beam measurement system error related to the incident angle is corrected according to a function fitting means, the system error of the multi-beam sounding system cannot be effectively weakened due to the fact that the single beam data has larger error. In order to solve the above problem, the embodiment adopts the single beam depth value of the single beam point after the correction of the beam angle effect to correct the problem of low accuracy of the multi-beam edge data, so as to improve the correction accuracy of the multi-beam edge data.

Optionally, as the submarine topography is a natural topography formed in the long-term and the long-term, the depth trend of the submarine topography should have a certain regularity, if the depth of a certain point is obviously different from the depth of surrounding points, whether the depth of the certain point is rough or not should be considered, so that the terminal performs data preprocessing on the single-beam depth value of the single-beam point, eliminates the rough point, and combines with a related correction model to correct the beam angle effect on the single-beam depth value of the single-beam point; and carrying out data preprocessing on the multi-beam depth values of the multi-beam points, removing coarse difference points, and matching the multi-beam depth values of the multi-beam points with the incident angle information.

Step 204, determining a plurality of common points having both multi-beam depth values and single-beam depth values.

The sampling rates of the transducers adopted by the multi-beam sounding system and the single-beam sounding system are different, so that the sampling routes and the sampling densities are different, and in order to correct the single-beam sounding system by utilizing the multi-beam sounding information, the information of a common point needs to be obtained by utilizing a resampling method. The common point may be determined using nearest neighbor assignment, mode algorithm, bilinear interpolation, cubic convolution interpolation, etc.

In some embodiments, the single beam point is searched in a region with a preset radius by taking a plurality of half beam points as circle centers, and the single beam point closest to the multi-beam point is taken as a common point.

In this embodiment, in order to make the method intuitive and reliable, the thought of the nearest allocation method is adopted, and each multi-beam point is searched by adopting an approximate searching method, and the nearest single-beam point in the searching range is considered to be the single-beam information of the common point. If no single beam spot appears in the search range of a certain multi-beam spot, the single beam spot is eliminated and the consideration range of function fitting is not included.

And 206, establishing fitting functions among the multi-beam depth value corresponding to the common points, the depth difference value and the incidence angle according to the multi-beam depth value corresponding to the common points, the depth difference value between the multi-beam depth value corresponding to the common points and the single-beam depth value, and the incidence angle corresponding to the common points.

The single beam point is regarded as a control point, the multi-beam depth value of the multi-beam point, the depth difference value between the multi-beam depth value and the single beam depth value and the polynomial function between incidence angles are obtained by utilizing the thought of fitting of different functions, and each multi-beam point is corrected, so that better sounding data is obtained, and the accuracy of the edge part is improved. In the embodiment, a fitting function among the multi-beam depth value, the depth difference value and the incident angle corresponding to the common point is established, and the multi-aspect parameters are used as references, so that more accurate depth correction corresponding to the multi-beam single-beam point can be obtained, and the accuracy of edge data of the multi-beam point is improved.

And step 208, substituting the incident angle of the multi-beam point to be corrected and the multi-beam depth value into a fitting function, obtaining a depth correction corresponding to the multi-beam point to be corrected, and determining the multi-beam depth value after the multi-beam point to be corrected according to the depth correction.

Optionally, substituting the incident angle and the multi-beam depth value of the multi-beam point to be corrected into a fitting function, obtaining a depth correction corresponding to the multi-beam point to be corrected, and determining the sum of the multi-beam depth value and the depth correction of the multi-beam point to be corrected as the multi-beam depth value after the multi-beam point to be corrected is corrected.

In the multi-beam sounding edge data correction method, on one hand, a single-beam depth value of a single-beam point is used as a control point, a plurality of common points with the multi-beam depth value and the single-beam depth value are searched, a fitting function among the multi-beam depth value, the depth difference value and the incidence angle corresponding to the common points is established according to a function fitting means, and multiple-aspect parameters are used as references, so that more accurate depth correction corresponding to the multi-beam single-beam point can be obtained, and the edge data precision of the multi-beam point is improved; and correcting the multi-beam deep edge data of the edge part of the multi-beam point to be corrected according to the fitting function, so that the data quality of the edge part is improved, and on the other hand, the single-beam point after the correction of the beam angle effect is adopted as a control point, so that the correction precision of the multi-beam edge data can be improved.

In one embodiment, the principle followed by the function fit is the least squares principle. The least squares method is to find the best result by minimizing the sum of squares of the errors. Let the fitting function be

The true function is f (x), we can let +.>

Approximating f (x) to obtain an optimal result. The fitting function is typically a function phi consisting of m linearly independent functions ₁ (x),φ ₂ (x)…,φ _m (x) Linearly combined, wherein each function is called a basis function, i.e. phi (x) =a ₁ φ ₁ (x)+a ₂ φ ₂ (x)+…+a _m φ _m (x) A. The invention relates to a method for producing a fibre-reinforced plastic composite The basic functions commonly used are of many kinds, such as sine functions, exponential functions, logarithmic functions, etc. The basis function chosen here is a polynomial function, i.e. phi (x) =a ₀ +a ₁ x+…+a _m x ^m . According to the definition of least squares, we need to determine the coefficients from known data so that the sum of squares of the errors at each point is minimized. Thus, substituting n data points into the polynomial φ (x) results in a set of contradictory equations of n equations with m+1 unknowns:

the corresponding normal equation set is: a is that ^T Aα＝A ^T y

Wherein α= (a) ₀ ,,…,a _m ) ^T ,y＝(y ₀ ,,…,y _m ) ^T ,

Sum of squares error of depth correction value

Obtaining a minimum value, and thus obtaining a least squares fitting polynomial of given known data: />

Calculation of A ^T A and A ^T After each element in y, alpha can be solved, so that each coefficient in the polynomial is obtained, and function fitting is realized.

Further, using the principle of function fitting, the sounding difference dh between the multiple beams and the single beam is set as a function value phi (x), the incident angle alpha of each common point of the multiple beams and the single beam is set as an independent variable x, and the multiple beams are used for the control of the multiple beamThe multi-beam depth value of (2) is an independent variable y, and the polynomial is a second order polynomial, namely dh=a is solved by the least squares principle ₀ +a ₁ x+a ₂ y+a ₃ x ² +a ₄ y ² +a ₅ Coefficient terms in xy. After the polynomial is obtained, the depth correction value of each multi-beam sounding point can be obtained by utilizing the incident angle of the multi-beam sounding point, so that correction can be carried out.

In this embodiment, a fitting function between the multi-beam depth value, the depth difference value and the incident angle corresponding to the common point is established, and multiple parameters are used as references, so that a more accurate depth correction corresponding to the multi-beam single-beam point can be obtained, and the accuracy of edge data of the multi-beam point is improved.

In one embodiment, as shown in fig. 3, obtaining the single beam depth values after the beam angle effect corresponding to the plurality of single beam points is corrected includes:

step 302, determining the terrain inclination angle according to the single beam depth values corresponding to at least two single beam points.

As shown in fig. 4, the terrain inclination angle is calculated by using the single beam point pair a and the single beam point pair B shown in fig. 4, and a specific mathematical formula is as follows:

wherein Dis _i Representing the distance between the ith point and the (i+1) th single beam point of the corresponding seabed on the measuring line; (X) _i ，Y _i ) Is the two-dimensional coordinates of the point a on a two-dimensional coordinate system (i.e., the XOY plane in fig. 4); (X) _i+1 ，Y _i+1 ) Is the two-dimensional coordinates of the point B on the two-dimensional coordinate system (i.e., the XOY plane in fig. 4); d (D) _i For the single beam depth value corresponding to the point A, D _i+1 The single beam depth value corresponding to the point B; alpha represents the angle of inclination of the seafloor terrain at point i.

It should be noted that: theoretically, the terrain inclination angle can be determined based on the tangential value of the horizontal coordinate difference value and the vertical coordinate difference value between two single beam points. Taking a plane including a measuring line and perpendicular to a two-dimensional coordinate system as a cross section, a cross section diagram shown in fig. 5 is obtained, wherein a ray OM shown in fig. 5 represents the measuring line, a ray direction represents the heading, a ray OZ shown in fig. 5 represents the depth, a depth measurement value used for calculation in this embodiment should BE a depth value parallel to a Z axis theoretically, that is, a line segment AD and a line segment BE should participate in calculating a terrain inclination angle, but in actual measurement, if the sea floor terrain is inclined, a depth measurement value corresponding to a single beam point a is the length of a line segment AC in fig. 5, but the line segment AC is not parallel to a Z axis shown in fig. 5, and therefore, a determined terrain inclination angle has a large error based on a depth difference value and a linear distance between two single beam points. In order to reduce the error of the terrain inclination angle, in the first time of calculating the terrain inclination angle, the embodiment adopts a single beam depth value corresponding to a single beam point, and the follow-up falling process adopts a corrected depth measured value and corrected two-dimensional coordinates to calculate the terrain inclination angle.

Optionally, the terminal determines a distance between the abscissas corresponding to the two single beam points and a distance between the ordinates, and determines the inclination angle of the sea floor according to a ratio of the distance between the abscissas to the distance between the ordinates.

Step 304, determining a plane position correction corresponding to the current single beam point and a single beam depth value after the beam angle effect correction according to the terrain inclination angle and the half-wave beam opening angle corresponding to the current single beam point; the plane position correction is the offset of the current single beam point on the line.

The method comprises the steps of measuring the depth value of a single beam of a current single beam point and positioning accuracy of the current single beam point in a horizontal plane coordinate system under the influence of a beam angle effect, so that in order to improve the influence of the beam angle effect, according to the relationship classification discussion of the terrain inclination angle and the half-wave beam opening angle, different correction strategies are adopted for different terrain trends, and the plane position correction and the depth correction of each sounding point are obtained.

Step 306, if the plane position correction and/or the depth correction corresponding to the current single beam point exceeds the preset value, returning to execute the step of determining the terrain inclination angle according to the single beam depth values corresponding to at least two single beam points until the plane position correction and the depth correction are smaller than the preset value, and outputting the single beam depth value after the beam angle effect corresponding to the current single beam point is corrected; the depth correction is the offset of the depth measurement corresponding to the current single beam point.

If the plane position correction and/or the depth correction do not exceed the preset values, the two-dimensional coordinates after the current single beam point correction are directly output.

Because the traditional single-beam angle effect correction method generally only uses the measured depth value of the single beam, the depth and the plane position which participate in the inclination angle calculation are not corrected by the beam angle effect, the measured terrain inclination angle has larger deviation from the actual situation, so that the plane position correction has larger error, and the accuracy of the two-dimensional coordinates of the current single-beam point is further affected. Because, to solve the above problem, in this embodiment, the plane position correction and the depth correction are used as iteration conditions, and the rough terrain inclination angle is iteratively corrected through multiple iterations to obtain the terrain inclination angle closer to the actual situation, and based on the terrain inclination angle closer to the actual situation, a more accurate single-beam depth value can be calculated, so that a more accurate two-dimensional coordinate of the current single-beam point can be obtained, and the beam angle effect correction effect is superior to that of the traditional method.

In this embodiment, the terrain inclination angle closer to the real situation is obtained through multiple iterations, the most accurate plane position correction corresponding to the current single-beam point and the single-beam depth value after the beam angle effect is corrected are obtained, and the more accurate two-dimensional coordinates of the current single-beam point are obtained, so that the influence of the beam angle effect is effectively weakened.

In one embodiment, when calculating the plane position correction value and the depth correction value, since the submarine position corresponding to the submarine reflection signal finally received by the transducer is affected by the beam opening angle and the terrain inclination angle, the classification discussion is performed according to the magnitude relation between the terrain inclination angle where the current single beam point is located and the half-wave beam opening angle: when the landform inclination angle is larger than the half-wave beam opening angle of the single beam, the landform inclination angle is involved in correction calculation; when the half-wave beam opening angle of the single beam is larger than the terrain inclination angle, the half-wave beam opening angle participates in correction calculation. Meanwhile, the topography trend can influence the positive and negative conditions of the plane position correction value, classification discussion is also needed, and when the depth gradually becomes shallow along the advancing direction of the measuring line, the corrected depth measuring point shifts forwards along the measuring line; when the depth gradually becomes deeper along the advancing direction of the measuring line, the corrected depth measuring point will shift backward along the measuring line. Therefore, according to the landform inclination angle and the half-wave beam opening angle corresponding to the current single-beam point, determining the plane position correction corresponding to the current single-beam point and the single-beam depth value after the beam angle effect correction, the following four conditions exist:

In the first case, if the half-wave beam opening angle of the single beam is smaller than the inclination angle and the depth measured value corresponding to the current single beam point is larger than the depth measured value corresponding to the next sounding point, determining the product of the actual measured depth value corresponding to the current single beam point and the sine value of the half-wave beam opening angle as the plane position correction corresponding to the current single beam point; taking a depth measured value which is positioned in front of the current single beam point and corresponds to the position of which the distance from the current single beam point is equal to the plane position correction value as a corrected depth measured value of the current single beam point; and determining the difference value between the corrected depth measured value of the current single beam point and the depth measured value corresponding to the current single beam point as the depth correction of the current single beam point.

When the half-wave beam opening angle of the single beam is smaller than the inclination angle and the depth measured value corresponding to the current single beam point is larger than the depth measured value corresponding to the next sounding point, as shown in fig. 5, the corresponding beam angle effect schematic diagram is that the measured depth value corresponding to the current single beam point is a line segment AC, the product of the measured depth value corresponding to the current single beam point and the sine value of the half-wave beam opening angle is determined as the plane position correction corresponding to the current single beam point, the plane position correction is Δx in fig. 5, and because the depth measured value corresponding to the current single beam point is larger than the depth measured value corresponding to the next sounding point, namely the sounding point is gradually shallower along the survey line, the corrected sounding point should shift forward along the survey line, namely the depth measured value corresponding to the position which is located before the current single beam point and is equal to the plane position correction from the current single beam point is used as the corrected depth measured value of the current single beam point.

It should be noted that: in this embodiment, the direction indicated by "before the current single beam spot" is: and taking the current single beam point as a base point, and the current single beam point and the direction of the measuring line are in the same direction. Thus, the plane position correction and the corrected depth measurement are expressed as:

Δx＝R(x)*|sinα|；

D(x+Δx)＝cosα*(x)；

as shown in fig. 5, the depth measurement point a corrected by the plane position correction is shifted forward to the point F.

In the second case, if the half-wave beam opening angle of the single beam is smaller than the inclination angle and the depth measured value corresponding to the current single beam point is smaller than the depth measured value corresponding to the next sounding point, determining the product of the actual measured depth value corresponding to the current single beam point and the sine value of the half-wave beam opening angle as the plane position correction corresponding to the current single beam point; taking a depth measured value which is positioned behind the current single beam point and corresponds to the position of which the distance from the current single beam point is equal to the plane position correction value as a corrected depth measured value of the current single beam point; and determining the difference value between the corrected depth measured value of the current single beam point and the depth measured value corresponding to the current single beam point as the depth correction of the current single beam point.

When the half-wave beam opening angle of the single beam is smaller than the inclination angle and the depth measured value corresponding to the current single beam point is smaller than the depth measured value corresponding to the next sounding point, as shown in fig. 6, the corresponding beam angle effect schematic diagram is that the measured depth value corresponding to the current single beam point is a line segment AC, the product of the measured depth value corresponding to the current single beam point and the sine value of the half-wave beam opening angle is determined as the plane position correction corresponding to the current single beam point, the plane position correction is Δx in fig. 6, and because the depth measured value corresponding to the current single beam point is smaller than the depth measured value corresponding to the next sounding point, namely, the sounding point is gradually deepened along the measuring line, the corrected sounding point should shift backwards along the measuring line, namely, the depth measured value corresponding to the position which is located behind the current single beam point and is equal to the plane position correction from the current single beam point is used as the corrected depth measured value of the current single beam point.

It should be noted that: in this embodiment, the direction indicated by "after the current single beam spot" is: and taking the current single beam point as a base point, and the direction opposite to the direction of the measuring line. Thus, the plane position correction and the corrected depth measurement are expressed as:

Δx＝R(x)*|sinα|；

D(x-Δx)＝cosα*(x)；

as shown in fig. 6, the depth measurement point a corrected by the plane position correction is shifted back to the point G.

In the third case, if the half-wave beam opening angle of the single beam is larger than the inclination angle and the depth measured value corresponding to the current single beam point is larger than the depth measured value corresponding to the next sounding point, determining the product of the actual measured depth value corresponding to the current single beam point and the sine value of the inclination angle as the plane position correction corresponding to the current single beam point; the depth measured value which is positioned in front of the current single beam point and is corresponding to the position with the distance equal to the plane correction from the current single beam point is used as the corrected depth measured value of the current single beam point; and determining the difference value between the corrected depth measured value of the current single beam point and the depth measured value corresponding to the current single beam point as the depth correction of the current single beam point.

When the half-wave beam opening angle of the single beam is larger than the inclination angle and the depth measured value corresponding to the current single beam point is larger than the depth measured value corresponding to the next sounding point, as shown in fig. 7, the corresponding beam angle effect schematic diagram is shown in fig. 7, the actual measured depth value corresponding to the current single beam point is a line segment AC, the product of the actual measured depth value corresponding to the current single beam point and the sine value of the inclination angle is determined as the plane position correction corresponding to the current single beam point, the plane position correction is Δx in fig. 7, and because the depth measured value corresponding to the current single beam point is larger than the depth measured value corresponding to the next sounding point, namely the sounding point is gradually shallower along the survey line, the corrected sounding point should shift forward along the survey line, namely the depth measured value corresponding to the position which is located before the current single beam point and is equal to the plane position correction from the current single beam point is used as the corrected depth measured value of the current single beam point.

Thus, the plane position correction and the corrected depth measurement are expressed as:

Δx＝R(x)*|sinθ|；

D(x+Δx)＝cosθ*R(x)；

as shown in fig. 7, the depth measurement point a corrected by the plane position correction is shifted back to the point F.

In the fourth case, if the half-wave beam opening angle of the single beam is larger than the inclination angle and the depth measured value corresponding to the current single beam point is smaller than the depth measured value corresponding to the next sounding point, determining the product of the actual measured depth value corresponding to the current single beam point and the sine value of the inclination angle as the plane position correction corresponding to the current single beam point; taking a depth measured value which is positioned behind the current single beam point and corresponds to the position with the distance from the current single beam point equal to the plane correction value as a corrected depth measured value of the current single beam point; and determining the difference value between the corrected depth measured value of the current single beam point and the depth measured value corresponding to the current single beam point as the depth correction of the current single beam point.

When the half-wave beam opening angle of the single beam is larger than the inclination angle and the depth measured value corresponding to the current single beam point is smaller than the depth measured value corresponding to the next sounding point, as shown in fig. 8, the corresponding beam angle effect schematic diagram is shown in fig. 8, the actual measured depth value corresponding to the current single beam point is a line segment AC, the product of the actual measured depth value corresponding to the current single beam point and the sine value of the inclination angle is determined as the plane position correction corresponding to the current single beam point, the plane position correction is Δx in fig. 8, and because the depth measured value corresponding to the current single beam point is smaller than the depth measured value corresponding to the next sounding point, namely, the sounding point gradually deepens along the measuring line, the corrected sounding point should shift backwards along the measuring line, namely, the depth measured value corresponding to the position which is located behind the current single beam point and is equal to the plane position correction distance from the current single beam point is used as the corrected depth measured value of the current single beam point.

Δx＝R(x)*|sinθ|；

D(x-Δx)＝cosθ*R(x)；

as shown in fig. 8, the depth measurement point a corrected by the plane position correction is shifted back to the point G.

According to the method, the classification discussion is carried out according to the magnitude relation between the landform inclination angle where the current single beam point is located and the half-wave beam opening angle and the landform trend where the current single beam point is located, so that corresponding correction strategies under four scenes are obtained, and according to the correction strategies, the plane position correction more in line with the actual situation can be obtained, so that the accuracy of the two-dimensional coordinates of the landform inclination angle and the sounding point is improved.

In one embodiment, since the terrain trend affects the accuracy of the two-dimensional coordinates after the current single beam point correction, in this embodiment, the plane position correction value is used to combine with the adjacent sounding points on the survey line, and the classification discussion is performed according to the terrain trend to obtain: when the depth gradually becomes shallow along the advancing direction of the measuring line, the corrected depth measuring point is shifted forwards along the measuring line; when the depth gradually becomes deeper along the advancing direction of the measuring line, the corrected depth measuring point will shift backward along the measuring line. Therefore, the two-dimensional coordinates after the current single beam point correction are divided into two cases:

In the first case, if the depth measured value corresponding to the current single beam point is greater than the depth measured value corresponding to the next sounding point, determining a transverse axis adjustment amount and a longitudinal axis adjustment amount according to the product of the horizontal coordinate difference value and the vertical coordinate difference value between the next sounding point and the current single beam point in a horizontal plane coordinate system and the ratio of the plane position correction to the linear distance from the current single beam point to the next sounding point; and taking the sum of the abscissa of the current single beam point and the adjustment quantity of the horizontal axis as the abscissa after the current single beam point is corrected, and taking the sum of the ordinate of the current single beam point and the adjustment quantity of the vertical axis as the ordinate after the current single beam point is corrected.

It can be seen from the above embodiment that, when the depth measurement value corresponding to the current single beam point is smaller than the depth measurement value corresponding to the next sounding point, the corrected sounding point will be shifted forward along the survey line, the azimuth of the position of the current single beam point after forward shifting on the survey line is shown in fig. 9, the sounding point B is the next sounding point of the sounding point a, and the point F is the position of the current single beam point a after correction, so as to obtain the two-dimensional coordinates of the current single beam point after correction, that is, the two-dimensional coordinates of the point F on the horizontal plane coordinate system (XOY plane), in this embodiment, the lateral axis adjustment and the longitudinal axis adjustment of the current single beam point are obtained by adopting the triangle similarity principle. Specifically, from the above embodiments, it is known that: the length of the line segment AF is equal to the plane position correction, namely Deltax, and the length of the line segment AB is obtained by adopting the following formula:

Δabi is similar to Δafh, and the lengths of line segment AI and line segment BI can be determined from the ratio of line segment AF to line segment AB, and from the difference in horizontal coordinate and the difference in vertical coordinate between the two-dimensional coordinates of depth point a and depth point B, which are known, and are obtained according to the principle of triangle similarity:

wherein, the liquid crystal display device comprises a liquid crystal display device,

for the horizontal axis adjustment amount, ++>

And (X, Y) is the two-dimensional coordinate of the current single beam point A after the beam angle correction.

In the second case, if the depth measured value corresponding to the current single beam point is smaller than the depth measured value corresponding to the next sounding point, determining a transverse axis adjustment amount and a longitudinal axis adjustment amount according to the product of the horizontal coordinate difference value and the vertical coordinate difference value between the current single beam point and the horizontal coordinate system of the last sounding point and the ratio of the plane position correction to the linear distance from the current single beam point to the last sounding point; and taking the difference value between the abscissa of the current single beam point and the adjustment quantity of the horizontal axis as the abscissa after the current single beam point is corrected, and taking the difference value between the ordinate of the current single beam point and the adjustment quantity of the vertical axis as the ordinate after the current single beam point is corrected.

It can be seen from the above embodiment that, when the depth measurement value corresponding to the current single beam point is greater than the depth measurement value corresponding to the next sounding point, the corrected sounding point will be shifted backward along the survey line, the azimuth of the position of the current single beam point after being shifted backward on the survey line is shown in fig. 10, the sounding point J is the next sounding point of the sounding point a, and the point G is the position of the current single beam point a after being corrected, so as to obtain the two-dimensional coordinates of the current single beam point after being corrected, that is, the two-dimensional coordinates of the point G on the horizontal plane coordinate system (XOY plane), in this embodiment, the horizontal axis adjustment amount and the vertical axis adjustment amount of the current single beam point are obtained by adopting the triangle similarity principle. Specifically, from the above embodiments, it is known that: the length of the line segment AG is equal to the plane position correction, i.e., Δx, and the length of the line segment AJ is obtained using the following formula:

The delta AGL is similar to the delta AJK, the lengths of the line segments GL and AL can be determined according to the ratio of the known line segments AG to the line segments AJ and the difference value of the horizontal coordinate and the vertical coordinate between the two-dimensional coordinates of the sounding points A and J, and the lengths can be obtained according to the principle of triangle similarity:

for the horizontal axis adjustment amount, ++>

According to the embodiment, the classification discussion is carried out according to the plane position correction value and the topography trend, so that when the depth gradually becomes shallow along the advancing direction of the measuring line and the depth gradually becomes deep along the advancing direction of the measuring line, the corresponding two-dimensional coordinate correction strategy of the current single beam point is obtained, the two-dimensional coordinate after the current single beam point is corrected is more accurate, and the calculation precision of the low-performance dip angle is improved.

In one embodiment, a method for correcting multi-beam sounding edge data is provided, which comprises the following steps:

step 1, acquiring multi-beam depth values corresponding to a plurality of multi-beam points;

and 2, determining the terrain inclination angle according to the single beam depth values corresponding to the at least two single beam points.

Step 3, judging the relation between the inclination angle and the half-wave beam opening angle of the single beam and the relation between the depth measured value corresponding to the current single beam point and the depth measured value corresponding to the next sounding point, and executing step 4 if the half-wave beam opening angle of the single beam is smaller than the inclination angle and the depth measured value corresponding to the current single beam point is larger than the depth measured value corresponding to the next sounding point; if the half-wave beam opening angle of the single beam is smaller than the inclination angle and the depth measured value corresponding to the current single beam point is smaller than the depth measured value corresponding to the next sounding point, executing the step 5; if the half-wave beam opening angle of the single beam is larger than the inclination angle and the depth measured value corresponding to the current single beam point is larger than the depth measured value corresponding to the next sounding point, executing the step 6; and if the half-wave beam opening angle of the single beam is larger than the inclination angle and the depth measured value corresponding to the current single beam point is smaller than the depth measured value corresponding to the next sounding point, executing the step 7.

Step 4, determining the product of the measured depth value corresponding to the current single beam point and the sine value of the half-wave beam opening angle as the plane position correction corresponding to the current single beam point; taking a depth measured value which is positioned in front of the current single beam point and corresponds to the position of which the distance from the current single beam point is equal to the plane position correction value as a corrected depth measured value of the current single beam point; and determining the difference between the corrected depth measurement value of the current single beam point and the depth measurement value corresponding to the current single beam point as the depth correction value of the current single beam point, and executing the step 8.

Step 5, determining the product of the measured depth value corresponding to the current single beam point and the sine value of the half-wave beam opening angle as the plane position correction corresponding to the current single beam point; taking a depth measured value which is positioned behind the current single beam point and corresponds to the position of which the distance from the current single beam point is equal to the plane position correction value as a corrected depth measured value of the current single beam point; and determining the difference between the corrected depth measurement value of the current single beam point and the depth measurement value corresponding to the current single beam point as the depth correction value of the current single beam point, and executing the step 9.

Step 6, determining the product of the actual measured depth value corresponding to the current single beam point and the sine value of the inclination angle as the plane position correction corresponding to the current single beam point; the depth measured value which is positioned in front of the current single beam point and is corresponding to the position with the distance equal to the plane correction from the current single beam point is used as the corrected depth measured value of the current single beam point; and determining the difference between the corrected depth measurement value of the current single beam point and the depth measurement value corresponding to the current single beam point as the depth correction value of the current single beam point, and executing the step 8.

Step 7, determining the product of the actual measured depth value corresponding to the current single beam point and the sine value of the inclination angle as the plane position correction corresponding to the current single beam point; taking a depth measured value which is positioned behind the current single beam point and corresponds to the position with the distance from the current single beam point equal to the plane correction value as a corrected depth measured value of the current single beam point; and determining the difference between the corrected depth measurement value of the current single beam point and the depth measurement value corresponding to the current single beam point as the depth correction value of the current single beam point, and executing the step 9.

Step 8, determining a horizontal axis adjustment amount and a vertical axis adjustment amount according to the product of the horizontal coordinate difference value and the vertical coordinate difference value between the next sounding point and the current single beam point in a horizontal plane coordinate system and the ratio of the plane position correction to the linear distance from the current single beam point to the next sounding point; and (2) taking the sum of the abscissa of the current single-beam point and the adjustment quantity of the horizontal axis as the abscissa after the current single-beam point is corrected, and taking the sum of the ordinate of the current single-beam point and the adjustment quantity of the vertical axis as the ordinate after the current single-beam point is corrected, and executing the step (10).

Step 9, determining a horizontal axis adjustment amount and a vertical axis adjustment amount according to the product of a horizontal coordinate difference value and a vertical coordinate difference value between the current single beam point and the last sounding point in a horizontal plane coordinate system and the ratio of the plane position correction to the linear distance from the current single beam point to the last sounding point; and (3) taking the difference value between the abscissa of the current single beam point and the adjustment quantity of the horizontal axis as the abscissa after the correction of the current single beam point, and taking the difference value between the ordinate of the current single beam point and the adjustment quantity of the vertical axis as the ordinate after the correction of the current single beam point, and executing the step (10).

Step 10, judging whether the plane position correction and/or the depth correction exceeds a preset value, and if the plane position correction and/or the depth correction exceeds the preset value, executing step 11; if the plane position correction and the depth correction do not exceed the preset values, step 12 is performed.

And 11, returning to the step of determining the terrain inclination angle according to the single beam depth values corresponding to at least two single beam points until the plane position correction and the depth correction are smaller than preset values, and outputting the single beam depth values after the beam angle effect corresponding to the current single beam points is corrected.

And step 12, outputting a single beam depth value corresponding to the current single beam point.

Step 13, determining a plurality of common points having both multi-beam depth values and single-beam depth values.

And 14, establishing fitting functions among the multi-beam depth value corresponding to the common points, the depth difference value and the incidence angle according to the multi-beam depth value corresponding to the common points, the depth difference value between the multi-beam depth value corresponding to the common points and the single-beam depth value and the incidence angle corresponding to the common points.

And 15, substituting the incident angle of the multi-beam point to be corrected and the multi-beam depth value into a fitting function, obtaining the depth correction corresponding to the multi-beam point to be corrected, and determining the multi-beam depth value after the multi-beam point to be corrected according to the depth correction.

According to the embodiment, the single beam depth value corrected by the beam angle effect is used for correcting the problem of low accuracy of the multi-beam edge data, so that the correction accuracy of the multi-beam edge data can be improved.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a multi-beam sounding edge data correction apparatus for implementing the above-mentioned multi-beam sounding edge data correction method. The implementation of the solution provided by the device is similar to that described in the above method, so the specific limitations in the embodiments of the device for correcting multi-beam sounding edge data provided below can be referred to as the limitations of the method for correcting multi-beam sounding edge data hereinabove, and are not repeated here.

In one embodiment, as shown in fig. 11, there is provided a multi-beam sounding edge data correction apparatus, comprising:

the acquiring module 100 is configured to acquire multi-beam depth values corresponding to a plurality of multi-beam points, and acquire single-beam depth values after beam angle effects corresponding to a plurality of single-beam points are corrected;

a common point search module 200 for determining a plurality of common points having both multi-beam depth values and single-beam depth values;

the fitting module 300 is configured to establish a fitting function among the multi-beam depth value corresponding to each common point, the depth difference value between the multi-beam depth value corresponding to each common point and the single-beam depth value, and the incident angle corresponding to each common point according to the multi-beam depth value corresponding to each common point, the depth difference value between the multi-beam depth value corresponding to each common point and the single-beam depth value, and the incident angle corresponding to each common point;

And the correction module 400 is configured to substitute the incident angle of the multi-beam point to be corrected and the multi-beam depth value into a fitting function, obtain a depth correction corresponding to the multi-beam point to be corrected, and determine the multi-beam depth value after the multi-beam point to be corrected is corrected according to the depth correction.

In one embodiment, the acquisition module 100 is further configured to: determining a terrain inclination angle according to the single beam depth values corresponding to the at least two single beam points;

In one embodiment, the acquisition module 100 is further configured to: if the half-wave beam opening angle of the single beam is smaller than the inclination angle, determining the product of the actual depth value corresponding to the current single beam point and the sine value of the half-wave beam opening angle as the plane position correction corresponding to the current single beam point;

In one embodiment, the acquisition module 100 is further configured to: if the half-wave beam opening angle of the single beam is larger than the inclination angle, determining the product of the actual depth value corresponding to the current single beam point and the sine value of the inclination angle as the plane position correction corresponding to the current single beam point;

In one embodiment, the common point search module 200 is further configured to: searching single beam points in an area with a preset radius by taking a plurality of half beam points as circle centers, and taking the single beam point closest to the multi-beam point as a common point.

In one embodiment, the fitting function between the multi-beam depth value, the depth difference value, and the angle of incidence corresponding to the common point is a quadratic polynomial.

The above-mentioned various modules in the multi-beam sounding edge data correction apparatus may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 12. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a multi-beam sounding edge data correction method. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structure shown in fig. 12 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims

1. A multi-beam sounding edge data correction method, the method comprising:

Substituting the incidence angle of the multi-beam point to be corrected and the multi-beam depth value into the fitting function, obtaining the depth correction corresponding to the multi-beam point to be corrected, and determining the multi-beam depth value after the multi-beam point to be corrected is corrected according to the depth correction.

2. The method of claim 1, wherein the obtaining the corrected single beam depth values for the beam angle effects corresponding to the plurality of single beam points comprises:

determining a plane position correction corresponding to the current single beam point and a single beam depth value after the beam angle effect is corrected according to the terrain inclination angle and a half-wave beam opening angle corresponding to the current single beam point; the plane position correction is the offset of the current single beam point on a measuring line;

if the plane position correction and/or the depth correction corresponding to the current single beam point exceed/exceed the preset value, returning to execute the step of determining the terrain inclination angle according to the single beam depth values corresponding to at least two single beam points until the plane position correction and the depth correction are smaller than the preset value, and outputting the single beam depth value after the beam angle effect corresponding to the current single beam point is corrected; and the depth correction is the offset of the depth measured value corresponding to the current single beam point.

3. The method according to claim 2, wherein the determining the plane position correction corresponding to the current single beam point and the beam angle effect corrected single beam depth value according to the terrain inclination angle and the half-wave beam opening angle corresponding to the current single beam point includes:

if the half-wave beam opening angle of the single beam is smaller than the inclination angle, determining the product of the actual depth value corresponding to the current single beam point and the sine value of the half-wave beam opening angle as a plane position correction corresponding to the current single beam point;

and taking a depth measured value which is positioned in front of the current single-beam point and corresponds to the position with the distance from the current single-beam point equal to the plane position correction as a corrected depth measured value of the current single-beam point.

4. The method according to claim 2, wherein the determining the plane position correction corresponding to the current single beam point and the beam angle effect corrected single beam depth value according to the terrain inclination angle and the half-wave beam opening angle corresponding to the current single beam point includes:

And taking the depth measured value which is positioned in front of the current single-beam point and is corresponding to the position with the distance equal to the plane correction value from the current single-beam point as the single-beam depth value after the effect correction of the beam angle corresponding to the single-beam point.

5. The method of claim 1, wherein the determining a plurality of common points having both multi-beam depth values and single-beam depth values comprises: searching single beam points in an area with the plurality of beam points as circle centers and a preset radius, and taking the single beam point closest to the multi-beam point as a common point.

6. The method of claim 1, wherein the fitting function between the multi-beam depth value, the depth difference value, and the angle of incidence for the common point is a quadratic polynomial.

7. A multi-beam sounding edge data correction apparatus, the apparatus comprising:

and the correction module is used for substituting the incidence angle of the multi-beam point to be corrected and the multi-beam depth value into the fitting function, obtaining the depth correction corresponding to the multi-beam point to be corrected, and determining the multi-beam depth value after the multi-beam point to be corrected according to the depth correction.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.

9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.