CN117848285A - Submarine topography mapping method, submarine topography mapping device, submarine topography mapping system and submarine topography mapping storage medium - Google Patents
Submarine topography mapping method, submarine topography mapping device, submarine topography mapping system and submarine topography mapping storage medium Download PDFInfo
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Abstract
The invention provides a submarine topography mapping method, device, mapping system and storage medium, firstly, multi-beam sonar data of a region where a target measuring point is located, ship measurement gravity anomaly data of the target measuring point and satellite height measurement gravity anomaly data of the target region are obtained; determining first topographic data of the area where the target measuring point is located according to the multi-beam sonar data and the first submarine topography model; and determining second topographic data of the target area according to the first topographic data, the ship measurement gravity anomaly data and the satellite measurement gravity anomaly data. The satellite height measurement gravity anomaly data is corrected by adding more accurate multi-beam sonar data to assist the ship measurement gravity anomaly data, so that calculation errors of meshing of the ship measurement gravity anomaly data can be avoided, the satellite height measurement gravity anomaly data is corrected, and the accuracy of submarine topography mapping is ensured.
Description
Technical Field
The invention belongs to the technical field of ocean mapping, and particularly relates to a submarine topography mapping method, submarine topography mapping equipment, a submarine topography mapping system and a submarine topography mapping storage medium.
Background
Submarine topography is a basic marine mapping work aimed at acquiring three-dimensional coordinates of submarine topography points, the core of which is water depth measurement. Satellite altimetry is a space measurement technology, in which satellites are used as carriers, and radar, laser and other ranging technologies are used for measuring the altitude of the satellites to the surface of the earth so as to obtain the topography of the surface of the earth. Satellites carrying radar altimeters measure the shape of the global seafloor along the orbit from which a map of the ocean gravity field can be generated. Satellite gravitational fields and existing depth measurements are used to determine the correlation between gravity and the seabed topography, which can be predicted for certain bands by applying it to the gravitational field.
Satellite altimetry can measure submarine topography in a large range, but has larger error, is sensitive to only 20-200km of underwater topography change, and can hardly distinguish severe topography change smaller than 2 km. The satellite height measurement gravity anomaly data can be corrected according to the ship measurement gravity anomaly data of a specific surveying and mapping ship, but because the ship measurement data are smaller, interpolation is usually needed, correction is carried out after gridding, and certain calculation errors can be generated in the process, so that the measured submarine topography is inaccurate.
Disclosure of Invention
In view of the above, the present invention provides a method, apparatus, system and storage medium for mapping a submarine topography, which aims to solve the problem of inaccurate measurement of the submarine topography in the prior art.
A first aspect of an embodiment of the present invention provides a method of mapping a sub-sea topography, comprising:
acquiring multi-beam sonar data of an area where a target measuring point is located, ship measurement gravity anomaly data of the target measuring point and satellite height measurement gravity anomaly data of the target area;
determining first topographic data of the area where the target measuring point is located according to the multi-beam sonar data and the first submarine topography model;
and determining second topographic data of the target area according to the first topographic data, the ship measurement gravity anomaly data and the satellite measurement gravity anomaly data.
A second aspect of an embodiment of the present invention provides a sub-sea topography mapping device comprising:
the data acquisition module is used for acquiring multi-beam sonar data of the area where the target measuring point is located, ship measurement gravity anomaly data of the target measuring point and satellite height measurement gravity anomaly data of the target area;
the first determining module is used for determining first topographic data of the area where the target measuring point is located according to the multi-beam sonar data and the first submarine topography model;
the second determining module is used for determining second topographic data of the target area according to the first topographic data, the ship measurement gravity anomaly data and the satellite measurement gravity anomaly data.
A third aspect of an embodiment of the invention provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor executing the computer program to perform the steps of the seafloor topography method of the first aspect above.
A fourth aspect of an embodiment of the invention provides a mapping system comprising: surveying vessels, surveying satellites and electronic devices of the above third aspect.
A fifth aspect of an embodiment of the invention provides a computer readable storage medium storing a computer program which when executed by a processor performs the steps of the seafloor topography method of the first aspect above.
The embodiment of the invention provides a submarine topography mapping method, device, mapping system and storage medium, which comprises the steps of firstly acquiring multi-beam sonar data of an area where a target measuring point is located, ship measurement gravity anomaly data of the target measuring point and satellite height measurement gravity anomaly data of the target area; determining first topographic data of the area where the target measuring point is located according to the multi-beam sonar data and the first submarine topography model; and determining second topographic data of the target area according to the first topographic data, the ship measurement gravity anomaly data and the satellite measurement gravity anomaly data. The satellite height measurement gravity anomaly data is corrected by adding more accurate multi-beam sonar data to assist the ship measurement gravity anomaly data, so that calculation errors of meshing of the ship measurement gravity anomaly data can be avoided, the satellite height measurement gravity anomaly data is corrected, and the accuracy of submarine topography mapping is ensured.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a mapping system provided by an embodiment of the present invention;
FIG. 2 is a flow chart of an implementation of a method of seafloor topography provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a structure of a sub-sea topography apparatus provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
Fig. 1 is a schematic structural diagram of a mapping system according to an embodiment of the present invention. As shown in fig. 1, the mapping system includes: a surveying vessel 11, a surveying satellite 12 and a surveying computing device 13.
Wherein an acoustic unit, a peripheral unit, an onboard gravimetric unit and a communication unit are provided on the mapping vessel 11. The acoustic unit can send out and receive multi-beam signals, and the submarine topography in a certain fan-shaped area under the measuring point is mapped through the beam signals. The peripheral equipment unit is mainly used for collecting information such as ship motion state, gesture, position and the like so as to assist mapping of the acoustic unit and reduce errors. The mapping satellite 12 may transmit continuous pulses to the ground by a radar altimeter mounted on the satellite, and determine gravity anomaly data by pulse echoes reflected from the earth's surface. The mapping computing device may be a server, terminal, etc., without limitation. The server may be a physical server, a cloud server, etc., and the terminal may be a computer, a ship-borne computing device, etc., which is not limited herein.
The shipborne gravity measurement unit can measure shipborne gravity anomaly data of the position of the mapping ship 11, meanwhile, the communication unit sends the shipborne gravity anomaly data and the multi-beam signals acquired by the acoustic unit to the mapping calculation equipment 13, and the mapping calculation equipment 13 analyzes according to the shipborne gravity anomaly data, the multi-beam signals and the gravity anomaly data measured by the mapping satellite 12 to accurately determine the submarine topography.
The above-mentioned manner is merely an example of the present invention, and the multi-beam sonar data and the ship-borne gravity anomaly data may be historical data obtained from a database, and the mapping calculation device 13 only needs to receive the data detected by the mapping satellite 12 in real time.
Fig. 2 is a flowchart of an implementation of a method for mapping a seafloor topography provided by an embodiment of the present invention. As shown in fig. 2, in some embodiments, a method of seafloor topography comprises:
s210, multi-beam sonar data of an area where the target measuring point is located, ship measurement gravity anomaly data of the target measuring point and satellite height measurement gravity anomaly data of the target area are obtained.
The target measuring points are a plurality of preset position points; the size of the area where the target measuring point is located depends on the mapping range of the acoustic unit, and the target area is far larger than the area where the target measuring point is located.
S220, determining first topographic data of the area where the target measuring point is located according to the multi-beam sonar data and the first submarine topography model.
In the embodiment of the invention, filtering is needed to be adopted for preprocessing before the multi-beam sonar data is used, so that noise interference is removed. The filtering method may be a trend surface filtering method, a point cloud denoising method based on radius filtering, and the like, and is not limited herein.
In some embodiments, the first sub-sea terrain model is:
(1)
wherein,zfor depth values in the first terrain data,cfor the average transmission speed of sound waves in the seawater medium,trepresenting the actual time of movement of the sound wave,θfor incident angle deltaD d For draft correction parameters, deltaD i The parameters are corrected for tide level.
In the embodiment of the invention, the average transmission speed, draft correction parameters and tide level correction parameters are all known, the multibeam sonar data comprises the incidence angle and the actual motion time of sound waves, the incidence angle and the actual motion time of the sound waves are input into a first submarine topography model, the depth value in the first topography data can be obtained, and the abscissa and the ordinate corresponding to the depth value can be obtained by calculating according to the depth value, the incidence angle and the position of a surveying and mapping shipxAndyobtaining the three-dimensional coordinates of the position pointx，y，z)。
In some embodiments, the method further comprises: inverting to obtain the depth value of the target measuring point according to the ship measurement gravity anomaly data of the target measuring point; and inputting the depth value of the target measuring point and the actual movement time of the sound wave measured at the target measuring point into a third neural network model to obtain a draft correction parameter and a tide level correction parameter.
In the embodiment of the invention, a great number of peripheral devices are usually arranged on a surveying and mapping ship, the information of the ship motion state, the attitude, the position and the like is collected, and the draft correction parameters and the tide level correction parameters are calculated by combining the corresponding ship motion or tide level change model. According to the invention, the depth value of the target measuring point obtained by inversion of ship measurement gravity anomaly data combined with a conventional method can be considered to be accurate, the depth value of each target measuring point is taken as a true value, and the draft correction parameter and the tide level correction parameter are fitted through a third neural network by combining the depth value of the target measuring point and the actual movement time. Wherein the third neural network is trained from historical mapping data or mapping data of other regions. And each target measuring point can be regarded as the correction parameter of each position point in the area where the target measuring point is positioned according to the correction parameter obtained by calculation of the true value.
If the neural network is used to implement the calculation of the two correction parameters, the calculation can be simplified into one correction value, so as to reduce the complexity of the neural network. Namely, the first submarine topography model is as follows:
(2)
wherein delta isDIs the correction value described above. The depth value of the target measuring point and the actual motion time of the sound wave measured at the target measuring point are input into a third neural network model, and a correction value delta can be obtainedD。
S230, determining second topographic data of the target area according to the first topographic data, the ship-borne gravity anomaly data and the satellite height measurement gravity anomaly data.
In some embodiments, S230 includes: determining correction parameters of a correction equation according to the first topographic data of the area where the target measuring point is located, the ship-borne gravity anomaly data of the target measuring point and the first neural network model; determining third topographic data of the target area according to ship measurement gravity anomaly data of the target measuring point and satellite height measurement gravity anomaly data of the target area; and determining second topographic data of the target area according to the third topographic data and the correction equation.
In the embodiment of the invention, the first topographic data of M.N position points of the area where M target measuring points are located is calculated according to multi-beam sonar datax，y，z 1i ) After that, the first neural network model can expand the ship-borne gravity anomaly data of the M target measuring points to M.N data, and inversion is carried out to obtain the modelx，y，z 1i * ) According to the points of each positionx，y，z 1i ) And%x，y，z 1i * ) And calculating correction parameters of the correction equation. Wherein, the first neural networkTraining according to historical data.
In some embodiments, determining third terrain data for the target area based on the ship borne gravity anomaly data for the target survey point, the satellite altimetry gravity anomaly data for the target area, comprises: performing gridding construction on ship-borne gravity anomaly data by adopting interpolation to obtain first data of a target area; and inputting the satellite height measurement gravity anomaly data and the first data into a second neural network model to obtain third topographic data of the target area.
In the embodiment of the present invention, the interpolation method used in the gridding process may be a spatial auto-covariance best interpolation method, a nearest neighbor interpolation method, or the like, which is not limited herein. The second neural network model may be a VGGNet model.
In some embodiments, the correction equation is:
(3)
(4)
wherein,H 2 for the second topographic data to be used,H 3 for the third topographic data set,kin order to modify the parameters of the device,H 1i is the first zone of the target measuring pointiFirst topographic data for the point(s),H aj is the first zone of the target measuring pointiThe first data of the point is used to determine,λthe influence coefficient is preset and determined by a preliminary experiment.
In summary, the beneficial effects of the invention are as follows:
1. the satellite height measurement gravity anomaly data is corrected by adding more accurate multi-beam sonar data to assist the ship measurement gravity anomaly data, so that calculation errors of meshing of the ship measurement gravity anomaly data can be avoided, the satellite height measurement gravity anomaly data is corrected, and the accuracy of submarine topography mapping is ensured.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
Fig. 3 is a schematic structural view of a submarine topography mapping device according to an embodiment of the invention. As shown in fig. 3, in some embodiments, the sub-sea topography mapping device 3 comprises:
the data acquisition module 310 is configured to acquire multi-beam sonar data of an area where the target measurement point is located, ship measurement gravity anomaly data of the target measurement point, and satellite height measurement gravity anomaly data of the target area;
the first determining module 320 is configured to determine, according to the multi-beam sonar data and the first submarine topography model, first topography data of an area where the target measurement point is located;
the second determining module 330 is configured to determine second topographic data of the target area according to the first topographic data, the ship measured gravity anomaly data, and the satellite measured gravity anomaly data.
Optionally, the second determining module 330 is configured to: determining correction parameters of a correction equation according to the first topographic data of the area where the target measuring point is located, the ship-borne gravity anomaly data of the target measuring point and the first neural network model; determining third topographic data of the target area according to ship measurement gravity anomaly data of the target measuring point and satellite height measurement gravity anomaly data of the target area; and determining second topographic data of the target area according to the third topographic data and the correction equation.
Optionally, the second determining module 330 is configured to perform gridding construction on the ship-measured gravity anomaly data by adopting interpolation, so as to obtain first data of the target area; and inputting the satellite height measurement gravity anomaly data and the first data into a second neural network model to obtain third topographic data of the target area.
Optionally, the correction equation is:
wherein,H 2 for the second topographic data to be used,H 3 for the third topographic data set,kin order to modify the parameters of the device,H 1i is the first zone of the target measuring pointiFirst topographic data for the point(s),H aj is the first zone of the target measuring pointiThe first data of the point is used to determine,nthe total number of points in the area where the target measuring point is located,λis a preset influence coefficient.
Optionally, the second determining module 330 is configured to perform gridding construction on the ship-measured gravity anomaly data by adopting interpolation, so as to obtain first data of the target area; inverting according to the first data of the target area, and determining fourth topographic data of the target measuring point; and determining second topographic data of the target area according to the fourth topographic data of the target measuring point, the first topographic data of the area where the target measuring point is located and the satellite height measurement gravity anomaly data of the target area.
Optionally, the first determining module 320 filters the multi-beam sonar data to obtain a topographic point cloud set of the area where the target measuring point is located; and determining first terrain data of the area where the target measuring point is located according to the terrain point cloud set and the first submarine terrain model.
Optionally, the first sub-sea terrain model is:
wherein,zfor depth values in the first terrain data,cfor the average transmission speed of sound waves in the seawater medium,trepresenting the actual time of movement of the sound wave,θfor incident angle deltaD d For draft correction parameters, deltaD i The parameters are corrected for tide level.
Optionally, the sub-sea topography mapping device 3 further comprises: the parameter calculation module is used for inverting to obtain the depth value of the target measuring point according to the ship measurement gravity anomaly data of the target measuring point; and inputting the depth value of the target measuring point and the actual movement time of the sound wave measured at the target measuring point into a third neural network model to obtain a draft correction parameter and a tide level correction parameter.
Optionally, the first sub-sea terrain model is:
wherein,zfor depth values in the first terrain data,cfor the average transmission speed of sound waves in the seawater medium,trepresenting the actual time of movement of the sound wave,θfor incident angle deltaDIs the correction value.
The submarine topography mapping device provided in this embodiment may be used to execute the above method embodiment, and its implementation principle and technical effects are similar, and this embodiment will not be described here again.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 4, an electronic device 4 according to an embodiment of the present invention is provided, the electronic device 4 of the embodiment including: a processor 40, a memory 41 and a computer program 42 stored in the memory 41 and executable on the processor 40. The steps of the various embodiments of the seafloor topography mapping method described above, such as those shown in fig. 2, are carried out by processor 40 when executing computer program 42. Alternatively, the processor 40, when executing the computer program 42, performs the functions of the modules/units of the system embodiments described above, e.g., the functions of the modules shown in fig. 3.
By way of example, the computer program 42 may be partitioned into one or more modules/units, which are stored in the memory 41 and executed by the processor 40 to complete the present invention. One or more of the modules/units may be a series of computer program instruction segments capable of performing particular functions for describing the execution of the computer program 42 in the electronic device 4.
The electronic device may be a mobile phone, an MCU, an ECU, an industrial personal computer, etc., and the electronic device 4 may include, but is not limited to, a processor 40, a memory 41. It will be appreciated by those skilled in the art that fig. 4 is merely an example of the electronic device 4 and is not meant to be limiting of the electronic device 4, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the electronic device may further include an input-output device, a network access device, a bus, etc.
The processor 40 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the electronic device 4, such as a hard disk or a memory of the electronic device 4. The memory 41 may also be an external storage device of the electronic device 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the electronic device 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the electronic device 4. The memory 41 is used to store computer programs and other programs and data required by the electronic device. The memory 41 may also be used to temporarily store data that has been output or is to be output.
An embodiment of the present invention provides a computer readable storage medium storing a computer program which when executed by a processor implements the steps of the above-described embodiments of a method for mapping sea floor topography.
The computer readable storage medium stores a computer program 42, the computer program 42 comprising program instructions which, when executed by the processor 40, implement all or part of the processes of the above described embodiments, or may be implemented by means of hardware associated with the instructions of the computer program 42, the computer program 42 being stored in a computer readable storage medium, the computer program 42, when executed by the processor 40, implementing the steps of the above described embodiments of the method. The computer program 42 comprises computer program code, which may be in the form of source code, object code, executable files, or in some intermediate form, among others. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The computer readable storage medium may be an internal storage unit of the electronic device of any of the foregoing embodiments, such as a hard disk or a memory of the electronic device. The computer readable storage medium may also be an external storage device of the electronic device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the electronic device. Further, the computer-readable storage medium may also include both internal storage units and external storage devices of the electronic device. The computer-readable storage medium is used to store a computer program and other programs and data required for the electronic device. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. For example, the apparatus/electronic device embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of each method embodiment described above may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (10)
1. A method of seafloor topography comprising:
acquiring multi-beam sonar data of an area where a target measuring point is located, ship measurement gravity anomaly data of the target measuring point and satellite height measurement gravity anomaly data of the target area;
determining first topographic data of the area where the target measuring point is located according to the multi-beam sonar data and the first submarine topography model;
and determining second topographic data of the target area according to the first topographic data, the ship-borne gravity anomaly data and the satellite height-borne gravity anomaly data.
2. The method of seafloor topography mapping of claim 1, wherein determining second topography data for a target area from the first topography data, the shipboard gravity anomaly data, and satellite height gravity anomaly data comprises:
determining correction parameters of a correction equation according to the first topographic data of the area where the target measuring point is located, the ship-borne gravity anomaly data of the target measuring point and the first neural network model;
determining third topographic data of the target area according to ship measurement gravity anomaly data of the target measuring point and satellite height measurement gravity anomaly data of the target area;
and determining second topographic data of the target area according to the third topographic data and the correction equation.
3. The method of mapping a seafloor topography of claim 2, wherein determining third topography data for the target area based on the ship borne gravity anomaly data for the target site, satellite height measurement gravity anomaly data for the target area, comprises:
performing gridding construction on ship-borne gravity anomaly data by adopting interpolation to obtain first data of a target area;
and inputting the satellite height measurement gravity anomaly data and the first data into a second neural network model to obtain third topographic data of the target area.
4. A method of seafloor topography as claimed in claim 3, wherein the correction equation is:
wherein,H 2 for the second topographic data set,H 3 for the third topographic data set,kin order to provide the said correction parameters,H 1i is the first zone of the target measuring pointiFirst topographic data for the point(s),H aj is the first zone of the target measuring pointiThe first data of the point is used to determine,nthe total number of points in the area where the target measuring point is located,λis a preset influence coefficient.
5. The method of seafloor topography of claim 1, wherein the first seafloor topography model is:
wherein,zfor depth values in the first terrain data,cfor the average transmission speed of sound waves in the seawater medium,trepresenting the actual time of movement of the sound wave,θfor incident angle deltaD d For draft correction parameters, deltaD i The parameters are corrected for tide level.
6. The method of seafloor topography of claim 5, further comprising:
inverting to obtain the depth value of the target measuring point according to the ship measurement gravity anomaly data of the target measuring point;
and inputting the depth value of the target measuring point and the actual movement time of the sound wave measured at the target measuring point into a third neural network model to obtain a draft correction parameter and a tide level correction parameter.
7. The method of seafloor topography of claim 1, wherein the first seafloor topography model is:
wherein,zfor depth values in the first terrain data,cfor the average transmission speed of sound waves in the seawater medium,trepresenting the actual time of movement of the sound wave,θfor incident angle deltaDIs the correction value.
8. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the seafloor topography method of any one of the preceding claims 1 to 7 when the computer program is executed.
9. A mapping system, comprising: surveying vessel, surveying satellite and electronic device as claimed in claim 8.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the steps of the seafloor topography method of any one of the preceding claims 1 to 7.
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