EP3152589A1 - Procédé permettant d'établir une carte sous-marine, carte sous-marine et véhicule - Google Patents

Procédé permettant d'établir une carte sous-marine, carte sous-marine et véhicule

Info

Publication number
EP3152589A1
EP3152589A1 EP15737968.6A EP15737968A EP3152589A1 EP 3152589 A1 EP3152589 A1 EP 3152589A1 EP 15737968 A EP15737968 A EP 15737968A EP 3152589 A1 EP3152589 A1 EP 3152589A1
Authority
EP
European Patent Office
Prior art keywords
underwater
map
parameters
sonar
determined
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP15737968.6A
Other languages
German (de)
English (en)
Inventor
Jeronimo DZAACK
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Atlas Elektronik GmbH
Original Assignee
Atlas Elektronik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Atlas Elektronik GmbH filed Critical Atlas Elektronik GmbH
Publication of EP3152589A1 publication Critical patent/EP3152589A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems

Definitions

  • the invention relates to a method for determining an underwater map by means of three-dimensional sonar data and a submarine map and a vehicle having the underwater map.
  • the object of the invention is to improve the state of the art.
  • the object is achieved by a method for determining a submarine map, the method comprising the following steps: a) determining three-dimensional sonar data by means of a first sonar, b) determining underwater parameters on the basis of the determined three-dimensional sonar data and c) adapting an originating underwater map, in particular with originating underwater parameters, by means of a correction algorithm which uses the determined underwater parameters so that a new underwater map is present.
  • a Unterwasser badge be provided, in which the latest information is at least partially included.
  • sunken ships can be measured so quickly and, if necessary, a waterway can be cleared for the entire shipping industry or for parts of the shipping industry.
  • modeled underwater landscapes can be approximated to reality, allowing better underwater navigation, especially for autonomous
  • Such a map can be quickly transmitted to other drivers or other vehicles, so that they can also access current data. This can significantly increase traffic safety on and in the oceans and rivers.
  • a "Schigan recognition” is used in shipping (two-dimensional) sea chart including displayed
  • the underwater map is a two-dimensional upper water map, in which the corresponding depths are drawn.
  • Such maps are used in particular by sailors for navigation.
  • Submarine maps can also provide a more detailed picture of the conditions under water.
  • it is a complete three-dimensional data set in which all natural and artificial objects are recorded, which are located below the surface of the surface.
  • the resolution of objects in such underwater maps may be one meter or even less.
  • the resolution depends in particular on the way in which the data are obtained and in the present case in particular by the 3D sonars used.
  • a submarine map for autonomous underwater vehicles (AUV) or submarines of utmost importance as with the sonars, for example, with the forward-looking sonar of a submarine, scanned the environment and with the present underwater map can be adjusted so that the current position can be determined exactly.
  • UUV autonomous underwater vehicles
  • submarines of utmost importance as with the sonars, for example, with the forward-looking sonar of a submarine, scanned the environment and with the present underwater map can be adjusted so that the current position can be determined exactly.
  • Three-dimensional sonar data are determined in particular by means of a 3D sonar.
  • the present "sonar" is in particular a 3D sonar
  • the sonar may for example comprise a plurality of spaced apart from each other having a defined hydrophones, which can determine a reflection subject under water based on the different duration of an emitted sound signal.
  • the sonar corresponds to a simple echosounder in which a specific water depth is determined via a certain point above water, which is determined, for example, by means of GPS or Galileo. By displacing the echosounder and recording the associated change in location, an image of the seabed can thus be determined.
  • the "specific underwater parameters" are all data obtained from the underwater sound signals by means of the sonar, such as underwater depth or the distance to an underwater object.
  • An "original underwater map” is an existing underwater map Origin submarine map may already have parameters such as water depth or distance to an underwater object, so that the
  • Origin submarine card has origin submarine parameters. In particular, it is an electronic card.
  • Adjusting means in this case in particular that the originating underwater map is modified according to the determined underwater parameters.
  • Correction algorithm between the original underwater parameter and the associated new underwater parameters determined by the three-dimensional sonar data an average value.
  • the present method does not radically redetermine an existing underwater map, but merely adapts it to an adapted one, which, for example, slowly approaches a real value by repeatedly performing it.
  • further three-dimensional sonar data are determined by means of further sonars and then steps b) and c) are carried out in each case.
  • one sonar may be a forward-looking sonar of a submarine, while another sonar may be a pure sonar, for example, which is arranged on a ship.
  • another sonar may be a pure sonar, for example, which is arranged on a ship.
  • the 3D sonar of a research vessel can be evaluated, whose parameters are then also included in the new underwater map.
  • further three-dimensional data can be determined by means of further sonars and at least two or more sonar data of different sonars are fused and then the steps b) and c).
  • both the data itself and the underwater parameters obtained from the three-dimensional sonar data can be fused.
  • the three-dimensional sonar data of the first sonar and / or in each case the three-dimensional sonar data of the further sonar have a reliability indicator.
  • each sonar can still provide an identifier which transmits the model of the sonar and thus the accuracy of the sonar.
  • This information can be stored in a database, for example, when adjusting the
  • the inaccurate sonar data can receive a connoisseur 1 and the most accurate, for example, a connoisseur 10. Sonars of good quality, for example, would have a connoisseur 8 in such a scheme. Not only linear values but also, for example, logarithmic values could be used, so that, for example, 1,000 measurements of different fish trawlers would be equivalent to a submarine measurement. [38] This means that, therefore, based on the
  • Reliability indicator of the correction algorithm can perform a weighting.
  • Weighting is to be understood as meaning that the influence of the change in the origin map has a functional relationship with the reliability indicator.
  • Area coordinate, a space coordinate, a flow, a tiedenone depth and / or salinity include.
  • a Cartesian coordinate system can be used.
  • the area coordinate can be represented for example by a polar coordinate system or the space coordinates can be represented by means of a cylinder base or other bases.
  • the flow may in particular include the expansion of the flow and the velocity of the flow.
  • the correction algorithm may consider this flow when adjusting the source submarine map, as flow often has an impact on the quality of the particular subsea parameters.
  • the underwater parameters may have a tiedenpine depth in which based on the state of the moon certain information can be obtained and a Navigate, for example, at high tide still possible, but at low tide is not feasible.
  • Origin submarine parameters may not be easily modified, a source underwater parameter may have a confidence indicator.
  • a sunken wreck may have been measured by divers by hand, so that, for example, the extent of the wreck is determined exactly. If underwater parameters, which were determined by means of three-dimensional sonar data, result in a greater or lesser length of the wreck, then the confidence indicator can show that the length of the wreck may not be changed or only marginally changed.
  • adjustments above a threshold are provided separately in the new submarine card.
  • At least two sonars can be arranged stationary or quasi stationary.
  • another sonar may be arranged on a foundation on the seabed of one of the sonars and on a quay wall.
  • high-quality three-dimensional data of one object between the two sonars can be determined, on the other hand, a good quality of the three-dimensional sonar data can be provided.
  • “Stationary” means that the sonars do not essentially move, and "quasi-stationary” means that any movements can be determined or calculated accordingly.
  • buoys can be anchored to the seabed, which have a sonar and which can move according to a current. Due to a GPS signal, however, the current location can additionally be determined at the respective time of the determination of the three-dimensional sonar data, so that a correction can take place.
  • the invention can also serve to calibrate position information. Especially with a longer maneuver of an AUV or submarine underwater it can be due to the environmental conditions and by measurement inaccuracies to a shift of the coordinate system of the
  • the map can be calibrated back to real world coordinates. All systems based on it (e.g., navigation, surveying, etc.) become more accurate and reliable.
  • the object is achieved by a underwater map, in particular an electronic underwater map in a computer, which corresponds to one by means of a submarine map, which was determined by a method described above.
  • Such an underwater map can be made available to an operator, for example by means of a virtual reality, or can be two-dimensional, for example by providing any cuts through the underwater map give the operator an impression of the underwater area.
  • the object is achieved by a vehicle, in particular a watercraft, which has a submarine map described above.
  • Figure 1 is a highly schematic representation of a vertical section through three different underwater maps at an identical location
  • Figure 2 is a highly schematic representation of a vertical section through a modeled source underwater map and a new underwater map at an identical location.
  • a new underwater map with a first approximation 111 of the wreck is created.
  • the depth of security has increased 107, so that ships with greater depth may drive over the accident site.
  • the underwater map of the first approximation which in the present case is the new origin underwater map, is adapted in such a way with the data determined by the high-resolution 3D sonar, that the resulting new
  • the now new submarine map of the second approximation 113 has a new depth of defense 117, which allows other vessels with a greater depth to pass through the site.
  • the lateral side safety distance 109 has been reduced, so that a more accurate underwater image of the damaged area is present.
  • an underwater range was modeled using a model 205, which has model cuboid 207. This Model 205 allows a submarine to better navigate using sonar data.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention concerne un procédé permettant d'établir une carte sous-marine. Le procédé comprend les étapes suivantes : a) l'acquisition de données sonar tridimensionnelles au moyen d'un premier sonar; b) la détermination de paramètres sous-marins à l'aide des données sonar tridimensionnelles acquises; c) l'adaptation d'une carte sous-marine initiale présentant notamment un paramètre sous-marin initial, à l'aide d'un algorithme de correction qui utilise les paramètres sous-marins déterminés, pour obtenir une nouvelle carte sous-marine.
EP15737968.6A 2014-06-05 2015-04-20 Procédé permettant d'établir une carte sous-marine, carte sous-marine et véhicule Withdrawn EP3152589A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014107974.4A DE102014107974A1 (de) 2014-06-05 2014-06-05 Verfahren zum Ermitteln einer Unterwasserkarte, Unterwasserkarte sowie Fahrzeug
PCT/DE2015/100165 WO2015185033A1 (fr) 2014-06-05 2015-04-20 Procédé permettant d'établir une carte sous-marine, carte sous-marine et véhicule

Publications (1)

Publication Number Publication Date
EP3152589A1 true EP3152589A1 (fr) 2017-04-12

Family

ID=53546477

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15737968.6A Withdrawn EP3152589A1 (fr) 2014-06-05 2015-04-20 Procédé permettant d'établir une carte sous-marine, carte sous-marine et véhicule

Country Status (3)

Country Link
EP (1) EP3152589A1 (fr)
DE (1) DE102014107974A1 (fr)
WO (1) WO2015185033A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109001739A (zh) * 2018-05-31 2018-12-14 深圳臻迪信息技术有限公司 水下定位方法
CN112591010B (zh) * 2020-12-21 2022-07-05 山东交通学院 一种自适应海况的航标
CN114001718A (zh) * 2021-10-12 2022-02-01 山东华特智慧科技有限公司 基于智能测流机器人的水文监测方法及系统

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5138587A (en) * 1991-06-27 1992-08-11 The United States Of America As Represented By The Secretary Of The Navy Harbor approach-defense embedded system
AU2002345848A1 (en) * 2001-06-21 2003-01-08 Farsounder, Inc. Interferometric imaging method apparatus and system background of the invention
US8417451B2 (en) * 2008-12-08 2013-04-09 John A. Hersey Autonomous cooperative surveying
US8942062B2 (en) * 2010-10-25 2015-01-27 Lockheed Martin Corporation Detecting structural changes to underwater structures

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
None *
See also references of WO2015185033A1 *

Also Published As

Publication number Publication date
DE102014107974A1 (de) 2015-12-17
WO2015185033A1 (fr) 2015-12-10

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