CN117723032A - Multi-beam acoustic profile correction optimization method, system, equipment and medium - Google Patents
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Abstract
The invention provides a multi-beam acoustic profile correction optimization method, a system, equipment and a medium, wherein the method calculates sampling time according to the sampling number and the sampling frequency of beam points in multi-beam measurement data; acquiring sound velocity profile layering information and calculating a refraction layer angle, wherein the sound velocity profile layering information comprises an incident layer angle, an incident layer sound velocity and a refraction layer sound velocity; calculating time and X offset of each layer according to the angle of the refraction layer; calculating correction coordinates of beam points according to a preset attitude formula; and (3) circulating all beam points to obtain all correction coordinates, and generating a surface point cloud of the rectangular area of the underwater topography. According to the invention, accurate sampling time is obtained through the sampling number and the sampling frequency of the beam spots, the layer pitch and the layer propagation time are obtained according to the layer depth and the sound velocity, and the Z and X coordinates of the beam spot ship coordinates are obtained by circularly iterating to the water bottom. And finally, the three-dimensional topographic coordinates of the beam points in the measurement coordinate system are obtained through the attitude formula, so that the corrected coordinates of the beam points are accurately obtained in real time.
Description
Technical Field
The invention relates to the technical field of mapping, in particular to a multi-beam acoustic profile correction optimization method, a system, equipment and a medium.
Background
Along with the wide application of multi-beam measurement, multi-beam correction algorithm researches are more and more, including attitude correction, tide level correction, sound velocity profile correction and the like, in an application scene of the sound velocity profile, as the speeds of sound in different depth layers are different, equipment outputs sampling points in real time, only sampling time can be obtained according to sampling frequency, the time is the propagation time of one oblique distance, the sound velocity is different, sound can be refracted at different layers, so the time is the accumulated time of all small oblique distances, a traditional single beam can generate fixed depth correction at different depths, and the correction is a value accumulated to the water bottom, so that the corrected depth of the sound profile is obtained. In multi-beam measurement, due to the influence of the slant distance, the slant distance and the propagation time of each depth layer surface need to be calculated respectively, so that the correction coordinates of the beam points can be accurately obtained in real time.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides a multi-beam acoustic profile correction optimization method, system, device and medium, so as to solve the above-mentioned technical problems.
The invention provides a multi-beam acoustic profile correction optimization method, which comprises the following steps:
s1: calculating beam sampling time according to the sampling number and the sampling frequency of beam points in the multi-beam measurement data;
s2: acquiring sound velocity profile layering information, and calculating a refraction layer angle according to the sound velocity profile layering information, wherein the sound velocity profile layering information comprises an incident layer angle, an incident layer sound velocity and a refraction layer sound velocity;
s3: calculating time and X offset of each layer according to the angle of the refraction layer;
s4: calculating correction coordinates of beam points according to a preset attitude formula;
s5: and circulating all beam points on the beam, obtaining corrected coordinates of all the beam points, and generating a surface point cloud of the rectangular area of the underwater topography.
In the present invention, in step S1, beam sampling time= (acquisition number/sampling frequency)/2.
Calculating the angle of the refraction layer according to the sound velocity profile layering information, wherein the specific logic is as follows:
sinθ i ＝PC i
wherein θ i+1 Angle of refraction layer, θ i For incident layer angle, C i+1 For refractive layer acoustic velocity, C i For the incident layer sound velocity, P is a constant value.
In the present invention, in step S3, the specific logic is:
wherein x is i For horizontal displacement of the beam within layer i, Δz i Layer thickness of layer i, t i The propagation time of the beam in the layer i is represented by N, X is represented by X, and t is the total time of the beam after passing through each layer, namely twice the beam sampling time.
In the present invention, in step S4, the preset gesture formula is:
wherein, (x) 1 ,y 1 ,z 1 ) To correct the coordinates, (x) 0 ,y 0 ,z 0 ) The origin coordinate is (x, y, z) the coordinate before conversion, the y value is the value of the coordinate of the hull of the transducer, z is the total layer depth, and R is a 3 x 3 matrix which is the product of three rotation angle heading, pitching and rolling rotation matrixes around the coordinate axis respectively.
The invention also provides a multi-beam acoustic profile correction optimization system, comprising:
a first calculation module: calculating beam sampling time according to the sampling number and the sampling frequency of beam points in the multi-beam measurement data;
a second calculation module: acquiring sound velocity profile layering information, and calculating a refraction layer angle according to the sound velocity profile layering information, wherein the sound velocity profile layering information comprises an incident layer angle, an incident layer sound velocity and a refraction layer sound velocity;
a third calculation module: calculating time and X offset of each layer according to the angle of the refraction layer;
and (3) a correction module: calculating correction coordinates of beam points according to a preset attitude formula;
the generation module is used for: and circulating all beam points on the beam, obtaining corrected coordinates of all the beam points, and generating a surface point cloud of the rectangular area of the underwater topography.
The invention also provides an electronic device comprising:
one or more processors;
storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement a multi-beam acoustic profile correction optimization method as set forth in any one of the preceding claims.
The invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform a multi-beam acoustic profile correction optimization method as defined in any one of the preceding claims.
The invention provides a multi-beam acoustic profile correction optimization method, a system, equipment and a medium, wherein the method calculates beam sampling time according to the sampling number and the sampling frequency of beam points in multi-beam measurement data; acquiring sound velocity profile layering information, and calculating a refraction layer angle according to the sound velocity profile layering information, wherein the sound velocity profile layering information comprises an incident layer angle, an incident layer sound velocity and a refraction layer sound velocity; calculating time and X offset of each layer according to the angle of the refraction layer; calculating correction coordinates of beam points according to a preset attitude formula; all beam points on the circulating beam are corrected to obtain corrected coordinates of all the beam points, and a surface point cloud of a rectangular area of the underwater topography is generated, and the generated beneficial effects include: according to the invention, accurate sampling time is obtained through the sampling number and the sampling frequency of the beam spots, the layer pitch and the layer propagation time are obtained according to the layer depth and the sound velocity, and the Z and X coordinates of the beam spot ship coordinates are obtained by circularly iterating to the water bottom. And finally obtaining corrected coordinates (east coordinates, north coordinates and water depth/water bottom elevation) of the beam points in the measurement coordinate system through a gesture formula.
The foregoing description is only an overview of the technical solutions of the present application, and may be implemented according to the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above-mentioned and other objects, features and advantages of the present application more clearly understood, the following detailed description of the present application will be given.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent 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. In the drawings:
FIG. 1 is a flow chart of a multi-beam acoustic profile correction optimization method, shown in an exemplary embodiment of the present invention;
FIG. 2 is an environmental schematic diagram of an acoustic profile in a multi-beam acoustic profile correction optimization method according to an exemplary embodiment of the present invention;
FIG. 3 is a schematic view of an environment of three rotation angles roll, pitch and heading in a multi-beam acoustic profile correction optimization method according to an exemplary embodiment of the present invention
Fig. 4 is a schematic structural diagram of a multi-beam acoustic profile correction optimizing system according to an exemplary embodiment of the present invention.
Detailed Description
Further advantages and effects of the present invention will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In the following description, numerous details are set forth in order to provide a more thorough explanation of embodiments of the present invention, it will be apparent, however, to one skilled in the art that embodiments of the present invention may be practiced without these specific details, in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the embodiments of the present invention.
FIG. 1 is a flow chart of a multi-beam acoustic profile correction optimization method, shown in an exemplary embodiment of the present invention;
as shown in fig. 1, the multi-beam acoustic profile correction optimization method provided by the invention includes:
step S1: calculating beam sampling time according to the sampling number and the sampling frequency of beam points in the multi-beam measurement data;
step S2: acquiring sound velocity profile layering information, and calculating a refraction layer angle according to the sound velocity profile layering information, wherein the sound velocity profile layering information comprises an incident layer angle, an incident layer sound velocity and a refraction layer sound velocity;
step S3: calculating time and X offset of each layer according to the angle of the refraction layer;
step S4: calculating correction coordinates of beam points according to a preset attitude formula;
step S5: and circulating all beam points on the beam, obtaining corrected coordinates of all the beam points, and generating a surface point cloud of the rectangular area of the underwater topography.
Specifically, in step S1, 512 deep water points, called beam points, may be collected simultaneously in a PING of a 512-beam device according to the multi-beam model (e.g., 256 beams, 512 beams, etc.) in the beam point, i.e., in the PING data. In a viable embodiment, the beam sampling time is calculated as follows: the sampling point frequency 34722.2227 is obtained by a multi-beam device, the acquisition point of the leftmost beam is 984.118347, and the single pass acquisition time of the beam point is acquisition point/sampling point frequency/2= 984.118347/34722.222/2= 0.01417 seconds considering that the time is round trip time. During the measurement, from the surface sound velocity 1495.55420, the oblique measurement distance 1495.55420×0.0141= 21.194 meters of this beam spot can be obtained. (the depth at this time is not taken into consideration by the sound velocity profile correction), and 0.01417 seconds is the cumulative sum of the ultrasonic waves layered at the same non-sound velocity, taking into account the refraction of the ultrasonic waves layered at different sound velocities.
In step S2, the sound velocity profile stratification information is specifically referred to fig. 2. FIG. 2 is an environmental schematic diagram of an acoustic profile in a multi-beam acoustic profile correction optimization method according to an exemplary embodiment of the present invention;
as shown in FIG. 2, sound is refracted at different levels, sin θ according to the SNELL law i ＝PC i Wherein θ i For incident layer angle, C i For incident layer sound velocity, P is constant, in a viable embodiment, it is also necessary to calculate the layer depth to draft comparison, if less than draft, from the next layer until greater than draft, can be corrected, since the transducer will only get the transducer to the water depth, and the draft is added to get the water to water depth.
Further, the refractive layer angle is calculated according to the sound velocity profile layering information, and the specific logic is as follows:
sinθ i ＝PC i
wherein θ i+1 Angle of refraction layer, θ i For incident layer angle, C i+1 For refractive layer acoustic velocity, C i For the incident layer sound velocity, P is a constant value.
In step S3, each layer time is calculated by using the slant distance of each layer and the sound velocity of each layer. And after the sound velocity is larger than the deepest layer, uniformly calculating according to the sound velocity of the deepest layer. And obtaining the X and Z coordinates of the beam spot by accumulating the water depth and the X offset. Further, the specific logic is as follows:
wherein x is i For horizontal displacement of the beam within layer i, Δz i Layer thickness of layer i, t i The propagation time of the beam in the layer i is represented by N, X is represented by X, and t is the total time of the beam after passing through each layer, namely twice the beam sampling time.
In step S4, the measurement coordinates of the beam spot are obtained from the real-time pose based on the X and Z values, the rigidly connected Y value. The Y value is the Y value of the ship coordinates of the transducer, and is directly obtained and input through the transducer. The preset attitude formula is as follows:
wherein, (x) 1 ,y 1 ,z 1 ) To correct the coordinates, (x) 0 ,y 0 ,z 0 ) The origin coordinate is (x, y, z) the coordinate before conversion, the y value is the value of the coordinate of the hull of the transducer, z is the total layer depth, and R is a 3 x 3 matrix which is the product of three rotation angle heading, pitching and rolling rotation matrixes around the coordinate axis respectively. Still further, the rotation matrix is a 3×3 matrix, which is the product of three rotation matrices of yaw, pitch, and roll about three rotation angles of Z-axis, X-axis, and Y-axis, respectively, please refer to fig. 3; FIG. 3 is an environmental schematic diagram of three rotational angles roll, pitch and heading in a multi-beam acoustic profile correction optimization method according to an exemplary embodiment of the present invention;
as shown in fig. 3, the rotation about the X axis is PITCH, the rotation about the Y axis is ROLL, and the rotation about the Z axis is YAW.
In step S5, all points on the beam are cycled to obtain corrected coordinates of all beam points, and a surface point cloud of the rectangular area of the underwater topography is generated per second due to higher multi-beam output frequency. The topography fluctuation of the water bottom is visually displayed, and the underwater topography map with the contour map as the main part can be obtained through mapping software.
FIG. 4 is a schematic diagram of a multi-beam acoustic profile correction optimizing system according to an exemplary embodiment of the present invention;
as shown in fig. 4, the exemplary multi-beam acoustic profile correction optimizing system includes:
a first calculation module: calculating beam sampling time according to the sampling number and the sampling frequency of beam points in the multi-beam measurement data;
a second calculation module: acquiring sound velocity profile layering information, and calculating a refraction layer angle according to the sound velocity profile layering information, wherein the sound velocity profile layering information comprises an incident layer angle, an incident layer sound velocity and a refraction layer sound velocity;
a third calculation module: calculating time and X offset of each layer according to the angle of the refraction layer;
and (3) a correction module: calculating correction coordinates of beam points according to a preset attitude formula;
the generation module is used for: and circulating all beam points on the beam, obtaining corrected coordinates of all the beam points, and generating a surface point cloud of the rectangular area of the underwater topography.
It should be noted that, the multi-beam acoustic profile correction optimizing system provided by the above embodiment and the multi-beam acoustic profile correction optimizing method provided by the above embodiment belong to the same concept, and the specific manner in which each module and unit perform the operation has been described in detail in the method embodiment, which is not repeated here. In practical application, the multi-beam acoustic profile correction optimizing system provided in the above embodiment may distribute the functions to be completed by different functional modules according to needs, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above, which is not limited herein.
The embodiment of the application also provides electronic equipment, which comprises: one or more processors; and a storage device for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement a multi-beam acoustic profile correction optimization method provided in the various embodiments described above.
The embodiment of the application also provides a computer system of the electronic equipment. It should be noted that the computer system of the electronic device is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.
In particular, the computer system includes a central processing unit (Central Processing Unit, CPU) that can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) or a program loaded from a storage section into a random access Memory (Random Access Memory, RAM). In the RAM, various programs and data required for the system operation are also stored. The CPU, ROM and RAM are connected to each other by a bus. An Input/Output (I/O) interface is also connected to the bus.
The following components are connected to the I/O interface: an input section including a keyboard, a mouse, etc.; an output section including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and the like, and a speaker, and the like; a storage section including a hard disk or the like; and a communication section including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section performs communication processing via a network such as the internet. The drives are also connected to the I/O interfaces as needed. Removable media such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, and the like are mounted on the drive as needed so that a computer program read therefrom is mounted into the storage section as needed.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium. When executed by a Central Processing Unit (CPU), performs the various functions defined in the system of the present application.
It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The units involved in the embodiments of the present application may be implemented by means of software, or may be implemented by means of hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
Another aspect of the present application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor implements a multi-beam acoustic profile correction optimization method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment or may exist alone without being incorporated in the electronic device.
Another aspect of the present application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs a multi-beam acoustic profile correction optimization method provided in the above embodiments.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. It is therefore intended that all equivalent modifications and changes made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the appended claims.
Claims (8)
1. A multi-beam acoustic profile correction optimization method, comprising:
s1: calculating beam sampling time according to the sampling number and the sampling frequency of beam points in the multi-beam measurement data;
s2: acquiring sound velocity profile layering information, and calculating a refraction layer angle according to the sound velocity profile layering information, wherein the sound velocity profile layering information comprises an incident layer angle, an incident layer sound velocity and a refraction layer sound velocity;
s3: calculating time and X offset of each layer according to the angle of the refraction layer;
s4: calculating correction coordinates of beam points according to a preset attitude formula;
s5: and circulating all beam points on the beam, obtaining corrected coordinates of all the beam points, and generating a surface point cloud of the rectangular area of the underwater topography.
2. The method according to claim 1, wherein in step S1, the beam sampling time= (acquisition number/sampling frequency)/2.
3. The multi-beam acoustic profile correction optimization method of claim 1, wherein refractive layer angles are calculated according to the acoustic profile layering information, and the specific logic is as follows:
sinθ i ＝PC i
wherein θ i+1 Angle of refraction layer, θ i For incident layer angle, C i+1 For refractive layer acoustic velocity, C i For the incident layer sound velocity, P is a constant value.
4. A multi-beam acoustic profile correction optimization method in accordance with claim 3, wherein in step S3, the specific logic is:
wherein x is i For horizontal displacement of the beam within layer i, Δz i Layer thickness of layer i, t i For the propagation time of the beam in layer i, N is the number of layers, X is the X offset, t is the beam passing eachThe total time after the layer, i.e. twice the beam sampling time.
5. The multi-beam acoustic profile correction optimization method of claim 1, wherein in step S4, the preset pose formula is:
wherein, (x) 1 ,y 1 ,z 1 ) To correct the coordinates, (x) 0 ,y 0 ,z 0 ) The origin coordinate is (x, y, z) the coordinate before conversion, the y value is the value of the coordinate of the hull of the transducer, z is the total layer depth, and R is a 3 x 3 matrix which is the product of three rotation angle heading, pitching and rolling rotation matrixes around the coordinate axis respectively.
6. A multi-beam acoustic profile correction optimization system, comprising:
a first calculation module: calculating beam sampling time according to the sampling number and the sampling frequency of beam points in the multi-beam measurement data;
a second calculation module: acquiring sound velocity profile layering information, and calculating a refraction layer angle according to the sound velocity profile layering information, wherein the sound velocity profile layering information comprises an incident layer angle, an incident layer sound velocity and a refraction layer sound velocity;
a third calculation module: calculating time and X offset of each layer according to the angle of the refraction layer;
and (3) a correction module: calculating correction coordinates of beam points according to a preset attitude formula;
the generation module is used for: and circulating all beam points on the beam, obtaining corrected coordinates of all the beam points, and generating a surface point cloud of the rectangular area of the underwater topography.
7. An electronic device, the electronic device comprising:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the electronic device to implement a multi-beam acoustic profile correction optimization method as claimed in any one of claims 1 to 5.
8. A computer readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform a multi-beam acoustic profile correction optimization method according to any one of claims 1 to 5.
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