CN116643313A - Three-dimensional image real-time display method for shallow stratum profile data - Google Patents
Three-dimensional image real-time display method for shallow stratum profile data Download PDFInfo
- Publication number
- CN116643313A CN116643313A CN202310583906.XA CN202310583906A CN116643313A CN 116643313 A CN116643313 A CN 116643313A CN 202310583906 A CN202310583906 A CN 202310583906A CN 116643313 A CN116643313 A CN 116643313A
- Authority
- CN
- China
- Prior art keywords
- profile data
- shallow
- dimensional
- shallow stratum
- color
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000013507 mapping Methods 0.000 claims abstract description 23
- 238000005259 measurement Methods 0.000 claims abstract description 19
- 238000012545 processing Methods 0.000 claims abstract description 5
- 238000012937 correction Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000009792 diffusion process Methods 0.000 claims description 2
- 238000001914 filtration Methods 0.000 claims description 2
- 238000005070 sampling Methods 0.000 claims description 2
- 230000009466 transformation Effects 0.000 claims description 2
- 239000000758 substrate Substances 0.000 abstract description 6
- 239000003086 colorant Substances 0.000 description 5
- 238000012876 topography Methods 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000011835 investigation Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/28—Processing seismic data, e.g. analysis, for interpretation, for correction
- G01V1/30—Analysis
- G01V1/301—Analysis for determining seismic cross-sections or geostructures
-
- 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
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Acoustics & Sound (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Environmental & Geological Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Oceanography (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention discloses a three-dimensional image real-time display method of shallow stratum profile data, which comprises the following steps: transmitting an acoustic wave signal to a target to be detected, and acquiring the acoustic wave signal reflected by the target to be detected to obtain an echo signal of a single frame; and carrying out signal processing according to the echo signals to obtain shallow stratum profile data, and carrying out beam mapping on the shallow stratum profile data so as to map the shallow stratum profile data into a three-dimensional coordinate system, thereby obtaining drawing data of a three-dimensional acquisition image, and further updating the three-dimensional acquisition image under the current frame in real time. According to the shallow stratum profile equipment based on the emission phased array principle, the shallow stratum profile data of the area are rapidly acquired through continuous scanning of different angles of the bottom, and the three-dimensional seabed substrate image of the current measurement area is formed in real time, so that measurement staff can evaluate the situation of the current measurement area conveniently. The measurement efficiency is higher than that of the conventional shallow stratum profile equipment, and stratum data which cannot be measured by the multi-beam sounding equipment and the side scanning equipment can be measured.
Description
Technical Field
The invention belongs to the field of underwater detection, and particularly relates to a three-dimensional image real-time display method for shallow stratum profile data.
Background
The ocean contains rich strategic resources and energy, and part of developed countries have mentioned the development of deep sea technology to the height of national strategy, and the international deep sea high and new technology is developed day by day. Submarine topography and substrate exploration are the basis for marine environment investigation, marine engineering design, resource development and other works.
In underwater acoustic measurement, the multi-beam depth sounding sonar and side-scan sonar equipment can only measure the topography of the seabed, while the shallow stratum profile sonar can not only measure the seabed, but also collect data in the range of a few meters to hundreds of meters below the seabed, and can be used for marine engineering survey, marine resource investigation, detection of seabed substrate, seabed buried targets and the like.
The multi-beam sounding system, the side scanning system and the shallow stratum profiler are the necessary acoustic detection devices in the modern marine foundation survey, and the main functions of the multi-beam sounding system, the side scanning system and the shallow stratum profiler are to detect the submarine topography and the substrate layering, however, the sounding device and the side scanning device of the multi-beam principle can only obtain the three-dimensional result of the submarine topography. The conventional shallow stratum profile equipment can only form a two-dimensional image result, if the measurement data is required to be converted into three-dimensional data from the two-dimensional data, the shallow stratum profile equipment is required to collect a large amount of two-dimensional data by densely arranging the measuring lines in the slice region, and the effective three-dimensional data result in the slice region can be formed through stacking the data. Such three-dimensional image results require a stacking of two-dimensional data, and thus three-dimensional imaging work is often done in a setting that cannot be generated in real time.
Disclosure of Invention
The technical aim of the invention is to provide a three-dimensional image real-time display method for shallow stratum section data, which aims to solve the problems of acquisition limitation and low acquisition efficiency.
In order to solve the problems, the technical scheme of the invention is as follows:
a three-dimensional image real-time display method of shallow stratum section data comprises the following steps:
transmitting an acoustic wave signal to a target to be detected, and acquiring the acoustic wave signal reflected by the target to be detected to obtain an echo signal of a single frame;
carrying out signal processing according to the echo signals to obtain shallow stratum profile data, and carrying out beam mapping on the shallow stratum profile data so as to map the shallow stratum profile data into a three-dimensional coordinate system to obtain drawing data of a three-dimensional acquisition image, and further updating the three-dimensional acquisition image under the current frame in real time;
wherein the drawing data includes a coordinate array and a color array.
Further preferably, before the acoustic wave signal is emitted to the target to be measured, the emission direction is deflected according to the current posture of the shallow layer profiler and the expected measurement angle, and the acoustic wave signal is emitted to the target to be measured.
The method specifically carries out filtering and sampling processing on the echo signals obtained by acquisition.
Specifically, the three-dimensional coordinate system is in three directions of XYZ, wherein the Y direction represents the depth direction, the X direction represents the north-south direction of the projection of the longitude and latitude coordinates into the XOZ plane rectangular coordinate system, and the Z direction represents the east-west direction of the projection of the longitude and latitude coordinates into the XOZ plane rectangular coordinate system.
It is further preferable that sound velocity correction is also required before beam mapping is performed to correct the measurement depth in the Y direction.
The specific steps of executing beam mapping are as follows:
performing GPS coordinate mapping, namely corresponding the shallow stratum profile data of each frame to corresponding GPS coordinate information, and projecting the GPS coordinate information into an XOZ plane rectangular coordinate system to further obtain X, Z coordinate information of the shallow stratum profile data of each frame in a three-dimensional coordinate system;
and performing beam diffusion mapping, expanding echo signals into a space beam shape according to the shallow stratum profile data, and obtaining a coordinate array corresponding to three directions of a three-dimensional coordinate system XYZ by combining GPS coordinate information.
Further preferably, the method further comprises color mapping, specifically converting the signal intensity equal ratio based on the shallow stratum profile data into values ranging from 0 to 255, and converting the values ranging from 0 to 255 in the data into corresponding colors in a color chart library, so as to obtain a color array.
Wherein, the maximum value after the geometric transformation of the shallow stratum section data is assumed to be S max Minimum value is S min The conversion formula for converting to the corresponding color in the color chart library is:
C i ＝(Si*256)/(S max -S min )
wherein C is i Si is the value currently required to be calculated for the color level in the color chart library.
By adopting the technical scheme, the invention has the following advantages and positive effects compared with the prior art:
the shallow stratum profile equipment based on the emission phased array principle rapidly acquires shallow stratum profile data of an area through continuous scanning of different angles of the bottom, forms a three-dimensional seabed substrate image of a current measurement patch area in real time, effectively provides detailed and effective data result display effects for marine engineering exploration and marine resource investigation in real time, facilitates measurement staff to evaluate the condition of the current measurement patch area, and provides basis for subsequent measurement work and related engineering expansion.
According to the invention, the stratum structure result in the slice area can be obtained through scanning measurement by single navigation of the shallow stratum profile equipment based on the emission phased array principle, meanwhile, a three-dimensional image can be generated in real time in the measurement process, and finally, the three-dimensional image display of the area is formed. The measurement efficiency is higher than that of the conventional shallow stratum profile equipment, and stratum data which cannot be measured by the multi-beam sounding equipment and the side scanning equipment can be measured.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
FIG. 1 is a flow chart of a method for displaying three-dimensional images of shallow formation profile data in real time according to the present invention;
fig. 2 is a schematic diagram of a two-dimensional waterfall after mapping of shallow formation profile data according to the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
For the sake of simplicity of the drawing, the parts relevant to the present invention are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
The invention provides a three-dimensional image real-time display method for shallow stratum section data, which is further described in detail below with reference to the accompanying drawings and specific embodiments. Advantages and features of the invention will become more apparent from the following description and from the claims.
Examples
Referring to fig. 1, the present embodiment provides a method for displaying three-dimensional images of shallow formation profile data in real time.
First, the first step in implementing this embodiment is to deflect the emission direction based on the current attitude of the shallow profiler and the desired measurement angle. Thus, the object to be detected which can be buried, a pipeline or a substrate can be accurately detected at a desired position. And then transmitting an acoustic wave signal to the target to be detected, and acquiring the acoustic wave signal reflected by the target to be detected to obtain an echo signal of each single frame.
And then, carrying out signal processing on the echo signals to obtain shallow stratum profile data. In order to ensure signal quality and image display efficiency, the echo signals need to be filtered and sampled.
Next, beam mapping is performed on the shallow layer profile data, thereby mapping into a three-dimensional coordinate system, which is XYZ three-direction coordinates, wherein the Y-direction represents the depth direction, the X-direction represents the north-south direction of the projection of the longitude and latitude coordinates into the XOZ plane rectangular coordinate system, and the Z-direction represents the east-west direction of the projection of the longitude and latitude coordinates into the XOZ plane rectangular coordinate system. And the drawing data comprises a coordinate array and a color array, so that the three-dimensional acquisition image under the current frame is updated in real time.
Preferably, sound velocity correction is also required before beam mapping is performed to correct the measurement depth in the Y direction. The surface sound velocity or sound velocity profile may be measured by an on-board self-contained sound velocity meter device. Due to the influence of temperature, salinity and pressure, the propagation speed of sound in the ocean is different at different depths. According to the acoustic ranging principle, different sound speeds can lead to different ranging results, so that in order to obtain more accurate measuring results, sound speed correction is needed, and the depth correction of the measuring results, namely the measuring depth in the Y direction, is realized.
Then, the specific steps of performing beam mapping are:
and performing GPS coordinate mapping, and corresponding the shallow stratum profile data of each frame to the corresponding GPS coordinate information. Because the shallow stratum profiler is a device which is carried on a measuring ship for carrying out navigation measurement, namely, the shallow stratum profile data is measured in the course of ship navigation, when a three-dimensional graph is drawn, a corresponding GPS coordinate position is acquired through a GPS measuring instrument when each echo signal is received, and the GPS coordinate information is combined with the shallow stratum profile data to acquire a complete and correct measuring result. After the GPS coordinate information is obtained, the GPS coordinate information is projected into an XOZ plane rectangular coordinate system, and further coordinate information about the X, Z direction of the shallow stratum profile data of each frame in a three-dimensional coordinate system is obtained.
Next, beam spread mapping is performed, and since the mapping of shallow profile data is typically in the form of a two-dimensional waterfall graph, as shown in fig. 2, and acoustic signals are emitted from the acoustic sensor, the beam angle becomes larger as the walking path increases. Therefore, the echo signals are expanded into spatial beam shapes according to the shallow stratum profile data, and the beam stereo shape of each received signal can be calculated according to the acoustic correlation theory. And (3) calculating and then combining the GPS coordinate information to obtain a coordinate array of the shallow stratum profile data in three directions of a three-dimensional coordinate system XYZ.
Preferably, referring to fig. 1 and 2, a color map is also included in the present embodiment to enable visualization of different colors for the resulting three-dimensional model. As shown in fig. 2, the horizontal axis in fig. 2 is beam count, the vertical axis is depth, and the intensity of the echo signal is mapped by color. Namely, the rightmost side is a depth scale, the left side is a color library (color map) with a color gradient vertical bar, and the middle is a two-dimensional waterfall diagram display. The uppermost white color of the Colormap corresponds to the minimum echo energy, the lowermost red color of the Colormap corresponds to the maximum echo energy, the colors are graded, the total of 0-255 steps are adopted, and each color corresponds to one energy level. The signal intensity of the shallow stratum profile data is converted into values in the range of 0-255 in an equal ratio mode, namely 256 energy levels, and then the values of 0-255 in the data are converted into corresponding colors in a color chart library, so that a color array, namely colors corresponding to points of a three-dimensional model, is obtained. In order to ensure the image display effect, any color chart in the color chart library can be selected for mapping, and the expected color chart can be modified according to the existing color chart in a self-defining mode. Selecting a proper color map can help the image achieve better color mapping effect, such as clearer stratum and clearer target.
Wherein, it is assumed that the shallow stratum section data is equal to the ratioMaximum value after conversion is S max Minimum value is S min The conversion formula for converting to the corresponding color in the color chart library is:
C i ＝(Si*256)/(S max -S min )
wherein C is i Si is the value currently required to be calculated for the color level in the color chart library.
And finally, updating the drawing data of the memory of the display card, refreshing the image display, and displaying the three-dimensional model.
Refreshing the image display. Updating the drawing data in the memory of the display card, i.e. refreshing the image display
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is within the scope of the appended claims and their equivalents to fall within the scope of the invention.
Claims (8)
1. A three-dimensional image real-time display method of shallow stratum profile data is characterized by comprising the following steps:
transmitting an acoustic wave signal to a target to be detected, and acquiring the acoustic wave signal reflected by the target to be detected to obtain an echo signal of a single frame;
performing signal processing according to the echo signals to obtain shallow stratum profile data, and performing beam mapping on the shallow stratum profile data so as to map the shallow stratum profile data into a three-dimensional coordinate system to obtain drawing data of a three-dimensional acquisition image, thereby updating the three-dimensional acquisition image under the current frame in real time;
wherein the drawing data includes a coordinate array and a color array.
2. The method for displaying three-dimensional images of shallow profile data according to claim 1, wherein before the acoustic wave signal is transmitted to the target to be measured, the transmitting direction is deflected according to the posture of the current shallow profile instrument and the expected measuring angle, and the acoustic wave signal is transmitted to the target to be measured.
3. The method for displaying three-dimensional images of shallow stratum profile data according to claim 1, wherein the echo signals obtained through acquisition are specifically subjected to filtering and sampling.
4. The method for displaying three-dimensional images of shallow profile data according to claim 1, wherein the three-dimensional coordinate system is XYZ three directions, wherein Y direction represents a depth direction, X direction represents a north-south direction of projection of longitude and latitude coordinates into an XOZ plane rectangular coordinate system, and Z direction represents an east-west direction of projection of longitude and latitude coordinates into the XOZ plane rectangular coordinate system.
5. The method of real-time displaying a three-dimensional image of shallow profile data according to claim 4, wherein a sound velocity correction is further required before performing beam mapping to correct the measurement depth in the Y direction.
6. The method for displaying three-dimensional images of shallow profile data in real time according to claim 4, wherein the specific steps of performing beam mapping are:
performing GPS coordinate mapping, namely corresponding the shallow stratum profile data of each frame to corresponding GPS coordinate information, and projecting the GPS coordinate information into an XOZ plane rectangular coordinate system to further obtain X, Z coordinate information of the shallow stratum profile data of each frame in the three-dimensional coordinate system;
and executing beam diffusion mapping, expanding the echo signals into a space beam shape according to the shallow stratum profile data, and combining GPS coordinate information to obtain the coordinate array corresponding to three directions of the three-dimensional coordinate system XYZ.
7. The method of claim 6, further comprising color mapping, specifically converting the signal intensity of the shallow profile data to a value ranging from 0 to 255 based on the signal intensity of the shallow profile data, and converting the value ranging from 0 to 255 in the data to a corresponding color in a color gallery, thereby obtaining the color array.
8. The method for displaying three-dimensional images of shallow profile data in real time as set forth in claim 7, wherein the maximum value after the geometric transformation of the shallow profile data is assumed to be S max Minimum value is S min The conversion formula for converting to the corresponding color in the color chart library is:
C i ＝(Si*256)/(S max -S min )
wherein C is i Si is the value currently required to be calculated for the color level in the color chart library.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310583906.XA CN116643313A (en) | 2023-05-23 | 2023-05-23 | Three-dimensional image real-time display method for shallow stratum profile data |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310583906.XA CN116643313A (en) | 2023-05-23 | 2023-05-23 | Three-dimensional image real-time display method for shallow stratum profile data |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116643313A true CN116643313A (en) | 2023-08-25 |
Family
ID=87619578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310583906.XA Pending CN116643313A (en) | 2023-05-23 | 2023-05-23 | Three-dimensional image real-time display method for shallow stratum profile data |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116643313A (en) |
-
2023
- 2023-05-23 CN CN202310583906.XA patent/CN116643313A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6775617B2 (en) | Method for determining hydrographic parameters which describe a sea swell field in situ using a radar device | |
| EP3078991B1 (en) | Method for swell effect and mis-tie correction in high-resolution seismic data using multi-beam echo sounder data | |
| CN106199562B (en) | Sea error calibration method based on airborne laser radar measurement sea-floor relief | |
| Singh et al. | Microbathymetric mapping from underwater vehicles in the deep ocean | |
| CN105352476A (en) | Shipborne water bank line overwater and underwater integrated measurement system integrated method | |
| Guan et al. | An effective method for submarine buried pipeline detection via multi-sensor data fusion | |
| RU2444760C1 (en) | Method for removing lower surface of ice cover | |
| CN104764445B (en) | Object point coordinate determination method and device under water | |
| CN111854704A (en) | Marine geophysical comprehensive survey system | |
| KR100898616B1 (en) | Construction method for digital elevation model of area coexisting the ground and water | |
| Mayer et al. | High-resolution mapping of mines and ripples at the Martha's Vineyard Coastal Observatory | |
| CN111220146A (en) | Underwater terrain matching and positioning method based on Gaussian process regression learning | |
| CN112904316B (en) | Airborne laser sounding data refraction error correction method for sea surface fluctuation | |
| CN114234932A (en) | Underwater conductor measuring method and device for obtaining data of subsea control point | |
| CN109632258A (en) | A kind of internal wave of ocean acoustic detection method that the transmitting-receiving based on vector sensor is isolated | |
| Grządziel et al. | Estimation of effective swath width for dual-head multibeam echosounder | |
| CN111487621A (en) | Sea surface flow field inversion method based on radar image and electronic equipment | |
| CN116643313A (en) | Three-dimensional image real-time display method for shallow stratum profile data | |
| US20210389441A1 (en) | Underwater information visualizing device | |
| CN115032695B (en) | Submarine cable tracking type detection method based on acoustic side reflection | |
| CN113009417B (en) | Submarine acoustic array formation estimation method utilizing sound field interference characteristics | |
| CN114280543A (en) | Submarine cable positioning method, device, computer equipment and computer program product | |
| Woolard et al. | Shoreline mapping from airborne lidar in Shilshole Bay, Washington | |
| Song et al. | Underwater slope measurement using a tilted multibeam sonar head | |
| CN110824193A (en) | Non-uniform water velocity estimation method based on multi-beam radial flow velocity measurement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |