CN117330040A

CN117330040A - Tidal flat topography mapping method and system based on unmanned water mapping ship

Info

Publication number: CN117330040A
Application number: CN202311634103.9A
Authority: CN
Inventors: 高嘉杰; 高宝建; 刘国庆; 高纯宇
Original assignee: Nantong Geodetic Surveying And Mapping Co ltd
Current assignee: Nantong Geodetic Surveying And Mapping Co ltd
Priority date: 2023-12-01
Filing date: 2023-12-01
Publication date: 2024-01-02
Anticipated expiration: 2043-12-01
Also published as: CN117330040B

Abstract

The invention discloses a beach topography mapping method and system based on an overwater unmanned ship, which relate to the field of topography mapping, and comprise the following steps: s1, acquiring parameters of the unmanned water mapping ship, and constructing unmanned water mapping ship groups; s2, generating a mapping time plan; s3, mapping the tidal flat topography, and acquiring a tidal flat tidal change parameter set and a tidal flat topography time mapping parameter set during mapping; s4, matching parameters, and analyzing a matching result to obtain a tide change rule; s5, analyzing the morphology of the beach, and obtaining a timing topographic map of the beach mapping; s6, carrying out ecological analysis according to the beach mapping time sequence topographic map, and carrying out labeling to obtain the beach ecological topographic map. According to the invention, the parameters of the unmanned ship for water mapping are obtained, and the time planning is combined to perform beach topography mapping, so that the related data are accurately obtained and analyzed.

Description

Tidal flat topography mapping method and system based on unmanned water mapping ship

Technical Field

The invention relates to the field of topographic mapping, in particular to a beach topographic mapping method and system based on an unmanned ship for water mapping.

Background

The unmanned ship for water surveying and mapping is an advanced device capable of being unmanned and performing scientific measurement and investigation on water, is mainly applied to the fields of marine surveying and mapping, water quality monitoring, underwater archaeology, marine biology research, environmental protection, water resource management, port and channel construction and management and the like, is provided with various surveying and mapping instruments and devices including sonar, radar, GPS positioning, optical measuring equipment and the like, can be used for calculating and drawing a water depth map and a bottom relief map of a water body such as a sea, a river, a lake and the like, can perform autonomous navigation by using a remote control or a preset program, and can perform various tasks including water depth data acquisition, water body sampling, water bottom photography, sediment detection and the like.

The tidal flat topography refers to the topography of a muddy zone formed between land and sea under the influence of ocean tides, including grooves, dunes, mud pits, tidal ditches and the like, the shape and characteristics of the tidal flat are affected by various factors, including tides, stormy waves, types and amounts of sediments, flow rates of rivers and the like, and the tidal flat topography refers to fine mapping work of the topography and topography of the tidal flat zone through various topography mapping technologies, and environmental problems such as tidal flat erosion, pollution and the like are found by acquiring the topography characteristics and changes of the tidal flat, so that basic tools and information are provided for understanding and protecting the precious natural resources.

The tidal flat topography mapping method and system based on the water mapping unmanned ship are only used for mapping the tidal flat through a single marker, so that larger errors are easily generated during mapping due to the difference of the markers during the tidal flat topography mapping, the accuracy of the conventional tidal flat topography mapping method and system based on the water mapping unmanned ship during the use is not ideal, and the influence of the tidal flat topography mapping method on the tidal flat topography can not be analyzed according to the tidal change rules of different terrains during the use, so that the application range during the tidal flat topography mapping is greatly reduced.

For the problems in the related art, no effective solution has been proposed at present.

Disclosure of Invention

Aiming at the problems in the related art, the invention provides a beach topography mapping method and system based on an unmanned ship for water mapping, which are used for overcoming the technical problems existing in the prior related art.

For this purpose, the invention adopts the following specific technical scheme:

according to one aspect of the invention, there is provided a beach topography mapping method based on an unmanned ship for water mapping, comprising the steps of:

S1, acquiring parameters of the unmanned water mapping ship, and constructing groupings of the unmanned water mapping ship;

s2, generating a mapping time plan according to the grouping result of the unmanned water mapping ship;

s3, dispatching an unmanned water mapping ship according to mapping time planning to map the beach topography, and acquiring a beach tidal change parameter set and a beach topography time mapping parameter set during mapping;

s4, matching internal parameters of the tidal flat change parameter set and the tidal flat topography time mapping parameter set, and analyzing a matching result to obtain a tidal change rule;

s5, performing beach morphology analysis on the beach topography time mapping parameter sets according to the tidal change rule to obtain a beach mapping time sequence topography map;

s6, carrying out ecological analysis according to the beach mapping time sequence topographic map, and marking the beach mapping time sequence topographic map according to an ecological analysis result to obtain the beach ecological topographic map.

As a preferable scheme, the method comprises the steps of dispatching an unmanned water mapping ship for mapping the tidal flat terrain according to mapping time planning, and acquiring a tidal flat tidal change parameter set and a tidal flat terrain time mapping parameter set during mapping, wherein the method comprises the following steps:

s31, presetting a mapping virtual model construction rule, and performing basic mapping on the beach topography through an overwater mapping unmanned ship;

S32, constructing a marker mapping group according to mapping virtual model construction rules and basic mapping results;

s33, calculating water level change parameters according to the marker mapping diagram set, verifying and analyzing the water level change parameters, and constructing a tidal flat tidal change parameter set according to the analyzed water level change parameters;

s34, performing time sequence arrangement on the marker mapping, and constructing a beach topography time mapping parameter set.

As a preferred solution, constructing the marker map group according to the mapping virtual model construction rule and the basic mapping result includes the following steps:

s321, acquiring parameters of the beach mapping markers, and constructing a beach mapping marker database according to the parameters of the beach mapping markers;

s322, performing virtual mapping object matching on the basic mapping result according to the tidal flat mapping marker database;

s323, carrying out actual marker identification on the basic mapping result according to the tidal flat mapping marker database, and obtaining an actual marker mapping according to the identification result;

s324, fusing according to the virtual surveying and mapping object matching result and the basic surveying and mapping result to obtain a virtual marker surveying and mapping image;

s325, presetting a marker difference threshold, and analyzing and judging the virtual marker map according to the marker difference threshold and the actual marker map;

S326, combining the judged virtual marker map and the actual marker map to obtain a marker map group.

As a preferred scheme, the method calculates water level change parameters according to the marker map set, verifies and analyzes the water level change parameters, and constructs a tidal flat tide change parameter set according to the analyzed water level change parameters, comprising the following steps:

s331, calculating a relative position change parameter of the water level and the marker according to the marker mapping diagram set;

s332, detecting an abnormal value of the relative position change parameter, and filling data of the relative position change parameter according to the abnormal value detection to obtain a water level change parameter;

s333, constructing a tide change model according to the water level change parameters, and taking the water level change parameters into the tide change model to calculate tide change parameters;

s334, summarizing and analyzing the tidal change parameters to obtain a tidal change parameter set of the beach.

As a preferred solution, performing virtual mapping object matching on the basic mapping result according to the tidal flat mapping marker database comprises the following steps:

s3221, extracting marker characteristics of a basic mapping result, and analyzing the geological structure of the beach according to the basic mapping result;

S3222, performing marker parameter matching on the tidal flat mapping marker database according to the marker feature extraction result, and obtaining a substance feature value of the matched marker parameter;

s3223, screening markers in the tidal flat mapping marker database according to the substance characteristic values and the analysis result of the geological structure of the tidal flat;

s3224, selecting a virtual surveying and mapping object according to the screening result of the tidal flat surveying and mapping marker database, and combining the virtual surveying and mapping object with the basic surveying and mapping result;

s3225, performing reasonable degree analysis on the combined virtual surveying and mapping object and the basic surveying and mapping result, and adjusting the combined virtual surveying and mapping object and the basic surveying and mapping result according to the reasonable degree analysis result.

As a preferable scheme, a calculation formula for calculating the relative position change parameter of the water level and the marker according to the marker mapping diagram group is as follows:

；

wherein,Tis a relative position change parameter;

Bis the influence value of the water flow speed;

xis the water flow velocity value;

Gis the influence value of the tidal water level;

dis the tidal level value;

Sis opposite toA position impact value;

mthe mean value of the measurement errors in the marker map group;

kmvariance of measurement errors in the marker map set;

Rcovariance of observed noise in the marker map set;

zA position value marked;

cis the correction value in the relative position change parameter.

As a preferred solution, matching internal parameters of the tidal flat change parameter set and the tidal flat topography time mapping parameter set, and analyzing the matching result, the tidal change rule is obtained, including the following steps:

s41, setting a time point extraction rule according to the tidal flat tidal change parameter set and the tidal flat topography time mapping parameter set;

s42, extracting parameter values of the tidal flat tide change parameter sets and parameter values of the tidal flat topography time mapping parameter sets according to a time point extraction rule;

s43, carrying out data matching on the extracted parameter values according to time sequence, and carrying out influence factor analysis according to a data matching result;

s44, constructing a tidal change rule according to the analysis result of the influence factors, and verifying and optimizing the constructed tidal change rule.

As a preferred scheme, performing data matching on the extracted parameter values according to time sequence, and performing influence factor analysis according to the data matching result, wherein the method comprises the following steps:

s431, carrying out data integration on the extracted parameter values to obtain a data time change trend;

s432, marking a time stamp node on the time change trend of the data, and matching the parameter value of the tidal flat tide change parameter set of the time stamp node with the parameter value of the tidal flat topography time mapping parameter set;

S433, analyzing influence factors of the parameter values of the matched tidal flat tidal change parameter set and the parameter values of the tidal flat topography time mapping parameter set.

As a preferred scheme, constructing a tidal change rule according to the analysis result of the influence factors, and verifying and optimizing the constructed tidal change rule comprises the following steps:

s441, presetting an influence factor logic model library, and matching an influence factor analysis result with a logic model in the influence factor logic model library;

s442, according to the model matching result, the influence factor analysis result is brought into the matching model for training and optimization;

s443, constructing a tide change rule according to the optimized matching model, and verifying the tide change rule.

According to another aspect of the present invention there is provided a tidal flat topography mapping system based on an unmanned marine vessel for water mapping, the system comprising:

the parameter acquisition module is used for acquiring parameters of the unmanned water surveying and mapping ship and constructing groupings of the unmanned water surveying and mapping ship;

the time planning module is used for generating a mapping time plan according to the grouping result of the unmanned water mapping ship;

the time mapping module is used for dispatching an unmanned water mapping ship to perform beach topography mapping according to mapping time planning, and acquiring a beach tide change parameter set and a beach topography time mapping parameter set during mapping;

The matching analysis module is used for matching the internal parameters of the tidal flat change parameter set and the tidal flat topography time mapping parameter set, and analyzing the matching result to obtain a tidal change rule;

the beach analysis module is used for carrying out beach morphology analysis on the beach topography time mapping parameter sets according to the tidal change rule to obtain a beach mapping time sequence topography map;

the topographic map construction module is used for carrying out ecological analysis according to the beach mapping time sequence topographic map and marking the beach mapping time sequence topographic map according to an ecological analysis result to obtain a beach ecological topographic map;

the system comprises a parameter acquisition module, a time planning module, a time mapping module, a matching analysis module, a beach analysis module and a topographic map construction module which are sequentially connected.

The beneficial effects of the invention are as follows:

1. according to the invention, parameters of unmanned ship for water mapping are obtained, time planning is combined to conduct tidal flat topography mapping, and then data matching and analysis are carried out to obtain tidal change rules and time sequence topography maps, so that relevant data are accurately obtained and analyzed, internal parameters of tidal flat tidal change parameter sets and tidal flat topography time mapping parameter sets are matched, detailed analysis is carried out on matching results, tidal change rules and changes of tidal flat topography are accurately understood, and accordingly accuracy of prediction and analysis is improved.

2. According to the invention, the detailed mapping and analysis are carried out on the change of the beach topography, meanwhile, the calculation and verification of the water level change parameters are carried out, meanwhile, the analysis of the beach ecology is carried out, and the beach ecology topography is constructed, so that the analysis result is more comprehensive and deeper, the foundation mapping is carried out on the beach topography through the preset mapping virtual model construction rule, then the marker mapping group is constructed according to the rule and the foundation mapping result, and the mapping efficiency and quality are improved.

3. Through the application of machine learning and deep learning, marker feature extraction, virtual mapping object matching, training optimization of an influence factor logic model library and the like, the intelligent and high-level automation of the scheme are improved, the working efficiency is improved, human errors are reduced, and meanwhile, deeper analysis and understanding are provided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a method flow diagram of a method for mapping a beach topography based on an unmanned water craft in accordance with an embodiment of the present invention;

fig. 2 is a system block diagram of a tidal flat topography mapping system based on an unmanned water craft according to an embodiment of the present invention.

In the figure:

1. a parameter acquisition module; 2. a time planning module; 3. a time mapping module; 4. a matching analysis module; 5. the mud flat analysis module; 6. and a topographic map construction module.

Detailed Description

The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

According to the embodiment of the invention, a beach topography mapping method and system based on an unmanned water mapping ship are provided.

The invention will now be further described with reference to the accompanying drawings and detailed description, according to one embodiment of the invention, as shown in fig. 1, a method for mapping a beach topography based on an unmanned ship for mapping on water according to an embodiment of the invention, comprising the steps of:

specifically, consulting a technical parameter manual provided by a manufacturer of the unmanned water survey and drawing vessel, combining main performance indexes of unmanned vessels of different models, such as load capacity, endurance time, speed and the like, acquiring project survey and drawing task requirements, such as beach survey and drawing area, data types needing to be collected by the beach, task time limit and the like, consulting national or industry water survey and drawing standards, searching for a consultation guidance of an experienced water survey and drawing company or mechanism by combining performance and safety requirements which are required to be met by an unmanned vessel system, acquiring an unmanned vessel configuration scheme in an actual project, selecting proper unmanned vessel models by combining actual hydrologic water quality conditions, such as river needs to be more resistant to fresh water, ocean needs to be more resistant to corrosion and the like, reasonably dividing and grouping according to communication requirements among the unmanned vessels so as to cooperatively work, testing and debugging different configuration schemes, and searching for an optimal solution.

specifically, a beach mapping task range and a subdivision region are determined, the whole beach mapping region is subdivided into a plurality of subareas according to the requirements of the beach mapping project, the area and data types of each subarea to be mapped are counted, the collection time is also different for different calculation of the area and the beach topography data types of different beach regions, the performance parameters of each unmanned ship group, such as speed, load and endurance time, are counted, the workload of each group can be completed in one day is obtained, the mapping difficulty degree of each subarea, such as whether water flow is strong, whether water quality is clear or not, the collection quality and efficiency are influenced, suitable unmanned ship groups and predicted collection time are arranged for each subarea, the connection relation among ship groups is obtained, the reasonable task sequence is arranged, and frequent maneuvering among ship groups is avoided.

And meanwhile, the standby time is arranged to prevent the situation of no measurement, the data transmission and quality inspection time is arranged, the equipment fault delay work in the acquisition process is required to be prevented when the packet maintenance time is arranged, the necessary adjustment is carried out according to the actual situation when the weather forecast time is arranged, the peak value is avoided in combination with the working intensity distribution, and the plan is regularly adjusted and optimized.

specifically, the method for dispatching the unmanned water mapping vessel to map the beach topography according to the mapping time plan and acquiring the beach tidal change parameter set and the beach topography time mapping parameter set during mapping comprises the following steps:

specifically, a coordinate system and an elevation system are set according to project requirements, a common national survey coordinate system and an average sea level elevation are set, a set point cloud data sampling interval is set for a selected terrain element and a ground object symbology, such as a beach, a river channel, a bank line and the like, a more dense data sampling area is set for sampling every 1-2 meters, a depth data sampling interval is set for sampling every 0.1-0.5 meter, a terrain surface modeling algorithm is set, such as triangle mesh modeling, a ground object labeling rule is set, such as a bank line adopts polygon labeling, tree point labeling and the like, a terrain correction rule is set, such as water surface point cloud removal, a tide correction elevation is set, a terrain classification rule is set, such as a high-low-water body and the like, a terrain slicing rule is set, such as an automatic contour line generation is set, a terrain output format is set, a quality inspection rule is set, such as sampling interval inspection, no data area inspection and the like, and a periodic inspection and optimization rule is set.

specifically, constructing the marker map group according to the mapping virtual model construction rule and the basic mapping result comprises the following steps:

specifically, the types of main markers for mud flat mapping are determined, such as riverway, embankment line, reservoir, pond and the like, basic attribute parameters, such as names, types, shapes and the like, of each type of marker are determined, parameter attributes are used as database table structures, measured data of the markers, such as riverway center line coordinates, embankment line node coordinates and the like, other attribute data of the markers, such as river length, flow direction, embankment height, building time and the like, are collected, digital processing is performed on shape data of the markers, such as polygonal coordinates, standardized storage formats are performed, object data of relevant pictures, videos and the like, storage paths are used as attribute fields, the collected data of the markers are organized according to a table structure and put in storage, a relational database is established, a database management system is established, query, editing and output functions are supported, a database is updated regularly, new markers or attribute data are added, association is performed with other relevant databases, and data attributes are enriched.

specifically, performing virtual mapping object matching on the basic mapping result according to the tidal flat mapping marker database comprises the following steps:

specifically, preprocessing basic mapping result data, such as filtering, noise reduction and the like, extracting topographic features, such as elevation features, gradient features, curvature features and the like, extracting ground feature features, such as outlines, sizes, directions and the like, identifying common markers, such as river channels, embankment lines and the like, identifying the marker outlines by using a ground feature identification algorithm, such as a random sampling consistent algorithm, carrying out quality evaluation on the identification result, adjusting algorithm parameters, carrying out fine granularity division on the ground surface, such as high-ground, low-ground, water and the like, analyzing the physical properties of the ground surface in different areas, such as soil types, vegetation coverage and the like, and collecting field verification samples, such as soil and water quality samples.

And (3) establishing a sample library to train a machine learning model to identify the geological type, comparing the identification result with historical data, analyzing the geological space distribution characteristics of the beach, identifying the change rule of the geological structure in the beach succession process, visualizing the result to generate a beach geological distribution map, continuously perfecting an algorithm model, and improving the identification accuracy.

specifically, various markers such as a river channel, a embankment line and the like are identified from the feature extraction result, geometric feature parameters such as the shape, the position and the like of each type of marker are extracted, corresponding marker types are queried from a database, matching is carried out between the feature parameters and the parameters of the corresponding markers in the database, similarity is calculated, the database marker with the largest similarity is selected as a matching result, and substance attribute parameters related to the marker such as soil type, vegetation coverage and the like are obtained from the matching result.

Comparing the parameters before and after the feature extraction and the database matching, checking the matching effect and the parameter consistency, counting the overall matching condition, adjusting the matching algorithm parameters, guiding the matched substance attribute parameters into a result analysis module, perfecting the database or the matching algorithm aiming at the sample analysis reason with the non-ideal matching effect, repeating the process for carrying out multiple matching verification, and outputting and marking the final matching result on a basic mapping result graph.

specifically, the substance characteristic values and the geological structure analysis result are imported into a database, screening rules are set according to different screening conditions, for example, screening is performed according to soil types, for example, only sandy soil markers are reserved, screening is performed according to vegetation coverage, for example, only markers with coverage of more than 30% are reserved, screening and matching are performed on all the markers in the database according to geological types, for example, only markers in sandy areas are reserved, matching results are counted, the markers meeting the conditions are screened out, the rest unmatched markers are checked, the reasons are analyzed, the screening rules and the database content are adjusted according to the checking results, the processes are repeated for multiple rounds of screening to improve accuracy, the screened results are output and marked on a basic map, the database after screening is used as a reference database for subsequent analysis, and the database and the screening rules are continuously perfected.

Specifically, one or more types of typical markers are selected from the screening result to serve as virtual mappers, such as river channels, reservoirs and the like, detailed parameters, such as shapes, positions and the like, of the virtual mappers in a database are acquired, and the parameters are digitized into reproducible geometric shapes, such as polygons, curves and the like.

The geometric shape is used as a virtual object to be imported into a basic mapping result model, the correct position and direction of the virtual object in the model are determined according to parameters, consistency of the virtual object and the basic mapping result is checked, if the virtual object is disjoint, the virtual object is subjected to style setting, such as color, transparency and the like, the virtual object is subjected to three-dimensional modeling and is combined with the basic mapping result, quality check is carried out on the combined result, the parameter optimization combined effect is adjusted, a final combined result model is output, and the parameters of the virtual object are continuously perfected.

Specifically, reasonable analysis indexes such as shape consistency degree, position precision and the like are set, feature extraction such as shape, space relation and the like is carried out on the markers and surrounding terrains, algorithms such as shape matching, space relation and the like are used, matching degree calculation is carried out on the markers and basic mapping, a numeric reasonable degree score is given to the matching results, the combination results are ordered according to the score, then the low-level combination conditions are checked, reasons such as large shape difference and the like are analyzed, the low-level virtual markers are adjusted according to the reasons, such as shape or position resetting is carried out, or basic mapping results such as surrounding terrains of the markers are adjusted, reasonable degree evaluation is carried out again, whether the matching degree is improved after the adjustment is observed, adjustment and evaluation are repeated until the matching degree reaches a preset threshold value, and the final combination result with the highest reasonable degree is output.

specifically, feature parameters such as shape, size and position of various markers are extracted from a database, a basic mapping result is processed by using a marker recognition algorithm, potential marker features are extracted, the extracted features are matched with the database features, and the database marker with the highest matching degree is selected as a recognition result by calculating the matching degree.

The statistical recognition rate adjustment algorithm parameter optimizes recognition effect, draws various recognized actual markers on a basic mapping, marks attributes such as names and the like to check whether the positions and the shapes of the markers are consistent with the basic mapping, adjusts the recognition result, extracts detailed parameter data of each actual marker according to the recognition result, integrates the recognition result and the parameter data into the actual marker mapping, compares the field condition to check recognition accuracy, perfects a database to continuously recognize unlabeled areas, enriches the content of the actual marker mapping, and outputs final actual marker mapping.

Specifically, the identification information of various virtual markers is extracted from the virtual mapping object matching result, such as names, positions and the like, the identified virtual markers are drawn on a basic mapping object, labeling attributes are used for checking whether the positions and the shapes of the virtual markers are matched with the basic mapping object, a mismatch part is adjusted, detailed parameter data of each virtual marker is extracted according to the matching result, the parameter data and the identification information are integrated into a virtual marker data table, the data table is linked with the basic mapping object to serve as the same virtual mapping object file, the field condition is compared, the authenticity of the matching result is checked, a virtual marker database is perfected, unlabeled areas are continuously matched, virtual marker mapping object contents are enriched, the corresponding relation between the virtual markers and actual markers is labeled, a final fused virtual marker mapping object is output, a query and editing interface is provided, and dynamic update of the virtual marker information is supported.

specifically, characteristic parameters such as shapes, positions and the like of different types of markers are set, the variation ranges of the characteristic parameters are counted according to an actual marker map, a reasonable difference threshold is set for each characteristic parameter according to a counting result, for example, the variation range of the shape area is 5%, 5% is set as a shape difference threshold, the thresholds are led into an analysis system to serve as standards, characteristic parameters of the same marker in the actual map and the virtual map are compared, a parameter difference value is calculated, whether the corresponding threshold is exceeded or not is judged, if the difference is within the threshold range, the matching degree is considered to be high, the markers are consistent, if the difference exceeds the threshold, the difference is marked as the difference markers, the overall consistency rate and the quantity of the difference markers are counted, rules such as the type and the position of the difference markers are analyzed, the virtual map is adjusted according to the analysis result or the optimized threshold is judged repeatedly until the difference markers are obviously reduced.

Specifically, the actual marker map and the virtual marker map are imported into the same working space, the two maps are subjected to format unification, such as a coordinate system, a projection mode and the like, the two maps are scaled to the same scale according to the same proportion, the virtual marker map is semitransparent, and the virtual marker map is overlapped on the actual marker map.

Checking whether the positions of the two pictures of the markers are completely overlapped and aligned, if not, adjusting, adding a name field and a type field for each marker in the two pictures, associating the two pictures through the name field, marking a corresponding relation, integrating the two pictures of the data into a database, containing all the marker information, generating a comprehensive marker map containing real and virtual two pictures of the information according to the database, distinguishing and displaying the actual and virtual markers on the comprehensive map, marking the matching condition and the difference markers of the two pictures, providing updating information of a query and editing interface, and outputting a final marker map group file.

Specifically, the water level change parameters are calculated according to the marker map set, verification analysis is carried out on the water level change parameters, and the tidal flat tidal change parameter set is constructed according to the analyzed water level change parameters, and comprises the following steps:

specifically, the calculation formula for calculating the relative position change parameter of the water level and the marker according to the marker mapping diagram group is as follows:

；

wherein,Tis a relative position change parameter;

Bis the influence value of the water flow speed;

xis the water flow velocity value;

Gis the influence value of the tidal water level;

dis the tidal level value;

Sis a relative position influence value;

mthe mean value of the measurement errors in the marker map group;

kmvariance of measurement errors in the marker map set;

Rcovariance of observed noise in the marker map set;

za position value marked;

cis the correction value in the relative position change parameter.

specifically, a marker relative position change parameter sequence in a certain period of time is obtained, basic statistics such as average value, standard deviation and the like of the parameter sequence are counted, an abnormal value detection threshold is set according to the statistics, if the change value exceeds 3 standard deviations, abnormal value detection is carried out on the parameter sequence, abnormal data points are marked, the time distribution rule of the abnormal data points is analyzed, data filling is carried out according to data points before and after the abnormal data points by interpolation or smoothing and other methods, the statistics of the filled parameter sequence is recalculated, the full effect is judged, the filled parameter sequence is regarded as a water level elevation change sequence, smoothing treatment is further carried out on the water level change sequence, small fluctuation is eliminated, the treatment result is compared with actual water level monitoring data, the model effect is evaluated, the abnormal detection and data filling algorithm model is continuously optimized according to the evaluation result, and the processed water level change parameter sequence is output.

specifically, the periodic law of the water level change parameters is analyzed, whether tidal signals exist or not is judged, if a proper tidal model is selected, the water level change parameters are used as model input when a sine model or a harmonic analysis model is adopted, model parameters are fitted by a least square method, average horizontal plane positions, average low tide levels and the like of tidal elevations are obtained through fitting, and tidal change parameters such as tide difference, high tide time, low tide time and the like are calculated.

Comparing the tidal change parameters with an actual tidal table, evaluating model effects, selecting a more complex tidal model to be re-fitted according to the evaluation results, repeating fitting and evaluation until the model effects are satisfied, outputting the final fitting results as tidal change parameters, such as the elevation value sequences of each tide level, visualizing the parameter results, and checking fitting accuracy.

Specifically, various tide change parameters obtained by calculation in different areas or time periods are integrated into a database, parameters in the database such as tide difference and tide level elevation are uniformly processed, for example, the parameters are converted into the same elevation system, statistical analysis is carried out on the parameters according to the areas or the time periods, statistics such as average values and standard deviations are calculated, the difference of the parameters in different areas or time periods is analyzed, and change rules and influence factors are found.

And (3) visualizing statistical results, drawing a regional tidal range distribution diagram or a time change trend diagram, dividing a tidal flat region or a time period according to a difference rule, marking tidal types of the regional tidal range distribution diagram, integrating statistical parameters of each regional block into a tidal parameter table or a database, marking different tidal blocks and representative parameters thereof on a basic map, outputting a complete tidal flat tidal change parameter set file, continuously updating the database, and enriching the contents of parameter sets.

Specifically, the marker mapping results of different time periods are collected, the time period diagrams are arranged in time sequence, the position and shape parameters of the representative markers are extracted from each diagram, the time sequence parameters of the same marker are arranged together to form a parameter set, and the change trend of each marker parameter along with time is analyzed.

Identifying the region and period of obvious change of the terrain, adding other auxiliary measurement parameters such as water depth, soil type and the like in the region into analysis, sorting and summarizing various parameter change rules according to the region and period, expressing the rules into quantitative description parameters such as annual average rate and the like, organizing the summarized parameters of each block into a database or a table form, drawing a parameter change map of the terrain evolution process, and outputting a beach terrain time mapping parameter set.

specifically, the method for matching the internal parameters of the tidal flat change parameter set and the tidal flat topography time mapping parameter set, analyzing the matching result, and obtaining the tidal change rule comprises the following steps:

specifically, the time resolution of the two sets of parameters is analyzed, the most detailed time unit such as month and day is determined, basic time points such as high tide and low tide time points are set according to tide types of tidal flat areas such as semi-day tide areas and day tide areas, whether the terrain change parameter set data comprise the basic time points or not is checked, interpolation or approximate processing is carried out if the terrain change parameter set data are missing, the terrain change trend is analyzed, and significant change periods such as each year or each quarter are identified and used as additional time points.

Checking whether time nodes generated by other influencing factors exist or not, such as incorporating rules of large tide period and the like, arranging all the time points into a time sequence, marking tide or topography change characteristics of the time sequence, numbering all the time points according to the time sequence, taking the time sequence as a time point extraction standard, checking whether the rules are combined with all important time node information in a parameter set, and outputting the time point extraction rules for subsequent analysis.

specifically, the two sets of parameter sets are imported into a data processing system, a time point sequence is traversed according to a set time point sequence, parameter values such as tide level elevation and the like corresponding to the time point are extracted from the tide parameter sets at each time point, and parameter values such as marker position, shape and the like corresponding to the time point are extracted from the terrain parameter sets at each time point.

Combining two groups of parameter values extracted at the same time point into a time point parameter group, repeating the process, extracting and combining parameters at all time points one by one, checking whether any time point set by a rule is missed, carrying out necessary data format unification and cleaning on the parameter values, storing the extraction result as a new database or file of a time sequence structure, and outputting the file for subsequent analysis to use to update the file periodically according to actual needs to bring in the newly acquired parameters.

specifically, the data matching is carried out on the extracted parameter values according to the time sequence, and the influence factor analysis is carried out according to the data matching result, and the method comprises the following steps:

specifically, all time point parameter groups are integrated into the same database or table, parameter records are arranged according to time point sequence, parameters are classified, such as tide level elevation and topographic feature parameters are divided into different fields, basic statistics of each parameter, such as maximum value, minimum value and the like, a line graph of single parameter changing along with time is drawn, smoothing is carried out on a parameter sequence, small fluctuation influence is eliminated, integral change trend of each parameter is analyzed, such as gradual rising or falling and the like, multi-parameter change trend is integrated and compared, correlation and influence relation among the parameters are analyzed, subdivision analysis is carried out on the trend according to regions or time periods, analysis results are summarized and described in an image-text form, and a data time change trend report is output.

specifically, obvious change points are marked according to a change trend chart, the change points are set as time stamp nodes, the time stamp numbers of the nodes are recorded in a database, tidal parameter values corresponding to the time nodes are extracted from tidal change parameter groups of the tidal flat, the topographic parameter values corresponding to the time nodes are extracted from topographic time mapping parameter groups of the tidal flat, the tidal parameter values and the topographic parameter values of the same time nodes are combined together, and whether the parameter values come from the same time point or not is checked, if not, adjustment is carried out.

Repeating the above matching extraction process for all the time stamp nodes, storing the matching result as a time stamp node database or file, checking whether the database contains all the set time stamp nodes, continuously perfecting and adding the time stamp nodes according to actual needs, and outputting the final time stamp node matching result.

Specifically, a group of representative tide parameters and topography parameters are selected as analysis objects, a corresponding relation table of the parameters and tide/topography influence factors is established, parameter change rules under different influence factors are analyzed, tide-topography relations are found out, regression analysis and other methods are used for quantitatively describing influence relation strength, time sequence data are subjected to cooperative analysis, a tide driving period is identified, regression analysis is performed on time stamp node data, and dominant influence factors are identified.

And visualizing analysis results, such as a parameter-factor scatter diagram, counting influence modes of different areas and periods, finding out difference reasons, analyzing future trends by comparing historical data, summarizing the dynamics mechanism of the tidal-topography system, and outputting influence factor analysis reports.

Specifically, the method for constructing the tidal change rule according to the analysis result of the influence factors and verifying and optimizing the constructed tidal change rule comprises the following steps:

specifically, typical tide-topography influence logic relation descriptions of different beach types are collected, the logic relation abstract descriptions are used as quantifiable logic models, applicable beach types and area ranges are designated for each logic model, the logic models are parameterized, the influence degree and the like can be adjusted, the logic models are sorted and classified, an influence factor logic model library is built, and the analysis results of the influence factors are summarized and described.

Carrying out semantic matching on the description and each model in the model library, selecting an optimal description model according to the matching degree, checking whether model parameters accord with analysis result characteristics, further optimizing the matching model according to the checking result, outputting a matched logic model, and continuously perfecting and enriching the content of the model library.

specifically, parameterizing an influence factor analysis result, taking the parameterized influence factor analysis result as a model input parameter, quantitatively describing an influence relation in the analysis result as a model output parameter, defining a matched model as a leachable model by using a machine learning method such as a neural network, designating an optimized objective function, if errors of output and the analysis result are minimized, carrying out model training by taking the analysis result as a sample, evaluating a model effect after each training, and observing an error change condition.

And (3) adjusting model structure or optimization algorithm parameters according to the evaluation result, repeating training and evaluation until the error meets the requirement, outputting a trained and optimized final influence logic model, checking the generalization capability of the model on a new sample, continuously collecting the new sample, and periodically repeating the optimization training process.

Specifically, key parameters describing tidal influence relation and change rules thereof are extracted from a matching model, a set of rule base is constructed aiming at different tidal flat types, tidal change conditions are inferred by utilizing part of historical data and simulation rules, inference results are compared with actual historical tidal data, statistics of consistency is carried out, main error sources are analyzed, rule parameters or logic relation are adjusted according to the error sources, simulation inference and verification are repeated, rule precision is gradually improved, rules meeting the requirements are defined as formal rules, prospective simulation is carried out on new data, rule generalization capability is observed, new data perfection and optimization rules are continuously collected, and the verified tidal change rule base is output.

specifically, the topography time parameter sets are imported into the system and arranged in time sequence, corresponding tide level change conditions are simulated for each time point according to tide rules, change rules of topography parameters under different tide levels are analyzed, formation and evolution processes of topography features in a tide period are identified, evolution results are expressed in a graphical mode, morphology evolution diagrams are combined in time sequence to generate time sequence topography animation, accuracy of simulation results is verified by comparing actually measured topography diagrams, tide rules are perfected according to error analysis, simulation verification is repeated, precision of the time sequence topography diagrams is improved, time sequence topography diagrams with precision meeting requirements are output, rules and parameters are continuously updated, and topography diagrams of new period are generated.

Specifically, spatial distribution changes of habitat types such as intertidal zones and high lands in the topography map in different periods are analyzed, the topography environment characteristics which are favorable for survival of certain organisms, such as a water depth range, are identified, the change trend of the area proportion of the habitat types along with time is counted, the formation and disappearance rules of habitat connectivity and biological migration channels are analyzed, the dynamic succession trend of different habitat types is predicted, and the analysis results are marked on the time sequence topography map to display the habitat distribution characteristics.

Labeling possible dominant biota or important biological habitat, identifying terrain succession nodes with obvious ecological influence, continuously perfecting a quantitative evaluation method of ecological influence factors, outputting a beach ecological topography sequence labeled with ecological characteristics, and providing visual display of an ecological evolution process.

According to another embodiment of the present invention, as shown in fig. 2, a tidal flat topography mapping system based on an unmanned water craft, the system comprising:

the parameter acquisition module 1 is used for acquiring parameters of the unmanned water surveying and mapping ship and constructing groupings of the unmanned water surveying and mapping ship;

the time planning module 2 is used for generating a mapping time plan according to the grouping result of the unmanned water mapping ship;

the time mapping module 3 is used for dispatching an unmanned water mapping ship to perform beach topography mapping according to mapping time planning, and acquiring a beach tide change parameter set and a beach topography time mapping parameter set during mapping;

the matching analysis module 4 is used for matching the internal parameters of the tidal flat tidal change parameter set and the tidal flat topography time mapping parameter set, and analyzing the matching result to obtain a tidal change rule;

the beach analysis module 5 is used for carrying out beach morphology analysis on the beach topography time mapping parameter sets according to the tidal change rule to obtain a beach mapping time sequence topography map;

The topographic map construction module 6 is used for carrying out ecological analysis according to the beach mapping time sequence topographic map and marking the beach mapping time sequence topographic map according to an ecological analysis result to obtain a beach ecological topographic map;

the parameter acquisition module 1, the time planning module 2, the time mapping module 3, the matching analysis module 4, the beach analysis module 5 and the topographic map construction module 6 are sequentially connected.

In summary, by means of the above technical scheme, the tidal change rule and the time sequence topographic map are obtained through obtaining parameters of the unmanned ship for water mapping and combining time planning to conduct tidal zone topographic mapping, and then through data matching and analysis, relevant data are accurately obtained and analyzed, internal parameters of the tidal change parameter set and the tidal zone topographic time mapping parameter set are matched, detailed analysis is conducted on the matching results, the change of the tidal change rule and the tidal zone topographic is accurately understood, and accordingly accuracy of prediction and analysis is improved.

In addition, the invention performs detailed mapping and analysis on the change of the beach topography, combines calculation and verification of water level change parameters, performs analysis on the beach ecology at the same time, and constructs a beach ecology topography map, so that the analysis result is more comprehensive and deeper, basic mapping is performed on the beach topography through a preset mapping virtual model construction rule, then a marker mapping map group is constructed according to the rule and the basic mapping result, and the mapping efficiency and quality are improved.

In addition, the method and the device have the advantages that through application of machine learning and deep learning, marker feature extraction, virtual mapping object matching, training optimization of an influence factor logic model library and the like, the intellectualization and high-level automation of the scheme are improved, the work efficiency is improved, the human error is reduced, and meanwhile, more deep analysis and understanding are provided.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.

Claims

1. The beach topography mapping method based on the unmanned water mapping ship is characterized by comprising the following steps of:

2. The method for mapping the topography of the tidal flat based on the unmanned water craft according to claim 1, wherein the step of dispatching the unmanned water craft for mapping the topography of the tidal flat according to the mapping time plan and obtaining the parameter set of tidal flat tidal change and the parameter set of topography time of the tidal flat during mapping comprises the steps of:

3. The method for mapping the beach topography of the unmanned water craft based on the water craft according to claim 2, wherein the constructing the marker map group according to the mapping virtual model construction rule and the basic mapping result comprises the steps of:

4. The method for mapping the topography of the tidal flat of the unmanned ship based on the water mapping according to claim 2, wherein the steps of calculating the water level change parameter according to the marker mapping group, performing verification analysis on the water level change parameter, and constructing the tidal flat tidal change parameter group according to the analyzed water level change parameter include the following steps:

5. A method of mapping a tidal flat terrain based on an unmanned aquatic vessel as claimed in claim 3, wherein said performing virtual mapping object matching of the base mapping results from the tidal flat mapping marker database comprises the steps of:

6. The method for mapping the topography of the beach of the unmanned ship based on the water mapping according to claim 4, wherein the calculation formula for calculating the relative position change parameter of the water level and the marker according to the marker mapping group is as follows:

；

wherein,Tis a relative position change parameter;

Bis the influence value of the water flow speed;

xis the water flow velocity value;

Gis the influence value of the tidal water level;

dis the tidal level value;

Sis a relative position influence value;

mthe mean value of the measurement errors in the marker map group;

kmvariance of measurement errors in the marker map set;

Rcovariance of observed noise in the marker map set;

za position value marked;

cis the correction value in the relative position change parameter.

7. The method for mapping the tidal flat terrain of the unmanned water craft based on the water craft according to claim 1, wherein the steps of matching the tidal flat tidal change parameter set with the internal parameters of the tidal flat terrain time mapping parameter set, analyzing the matching result, and obtaining the tidal change rule include the steps of:

8. The method for mapping the beach topography of the unmanned ship based on the water mapping according to claim 7, wherein the data matching of the extracted parameter values according to the time sequence and the influence factor analysis according to the data matching result comprise the following steps:

9. The method for mapping the tidal flat terrain of the unmanned water craft based on the water craft according to claim 7, wherein the steps of constructing the tidal change rule according to the analysis result of the influence factors and verifying and optimizing the constructed tidal change rule include the steps of:

10. A tidal flat topography mapping system based on an unmanned water craft for implementing a tidal flat topography mapping method based on an unmanned water craft according to any one of claims 1-9, characterized in that the system comprises:

the parameter acquisition module, the time planning module, the time mapping module, the matching analysis module, the beach analysis module and the topographic map construction module are sequentially connected.