JP2503002B2 - Bathymetry device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a bathymetric surveying device for marine surveying, and in particular, it is mounted on a surveying vessel, and the surveying vessel examines an onboard surveying area (predetermined) along a prescribed survey line. In the meantime, the present invention relates to an improvement of a surveying device that measures and records the water depth at each of the desired measurement points on the above-mentioned survey line.

[Conventional technology]

FIG. 2 is a block diagram showing an example of the configuration of a conventional automatic water depth surveying apparatus, and the land portion 1 is provided with slave stations R ₁ and R ₂ of the ship position measuring apparatus. These are installed at the reference points measured in advance. In addition, a tide level transmitting station 3 having a function of automatically measuring the tide level by a tide level sensor 2 and transmitting the data by radio waves at regular intervals is installed in the land portion 1. On the upper part of the ship, the ship position measuring device body 4 for receiving the ship position data from the slave stations R ₁ and R ₂ , the tide level receiver 5 for receiving the tide level data from the tide level transmitter 3, the depth is measured and converted into a digital value. A depth measuring device 6 for outputting the data and a data processing device 7 for inputting the measured data and performing a water depth measuring process are mounted.

The data processing device 7 includes an input / output interface 8 and a CP
U9, floppy disk (hereinafter referred to as FDD) 10, XY
Plotter (hereinafter referred to as XYP) 11, Printer (hereinafter referred to as E
12 and a graphic display with a keyboard (hereinafter, the keyboard and graphic display are referred to as KB (13b) and GD (13a), respectively) 13. Further, in order to efficiently measure the inside of the survey area, a route deviation meter 14 for instructing survey line guidance is mounted on the upper part of the ship.

FIG. 3 shows an example of setting a survey area.
The survey area is a reference point based on the survey method, or coordinate values X ₀ , Y ₀ that represent one vertex of the survey area with reference to the origin of the local coordinate system, and the inclination θ of one side of the survey area 15 from the X axis. , Defined by the lengths N _x and N _y of each side of the survey area.
And the survey area is XYP11 or GD1 according to those constants.
Plot or draw by 3a.

Fig. 4 shows an example of the track in the survey area when the survey track 16 was recorded on XYP11 or GD13a after the depth survey was carried out by the above method. During the drawing period of this track, the ship position was measured at regular intervals. We record each data of depth and tide on FDD10 with one measurement data as time series. After collecting the survey data on the target survey line in the survey area, the data processor (not shown) on the land or the data processor 7 shown in FIG.
Is used to correct the tide level and the sound velocity of the depth to obtain true depth data. Also, a survey data file is created by matching the depth and position data.

Figure 5 shows an example of a bathymetric map which is one of the survey results. In this depth map, numerical values representing the depth are plotted at the positions on the depth map corresponding to each measurement point on XYP11. At this time, in order to prevent the plotted depth positions from overlapping each other on the screen, the drawing screen is divided into blocks according to the scale, and the depths corresponding to the blocks are plotted.

[Problems to be solved by the invention]

The above-mentioned automatic water depth surveying device has the following problems.

(B) FD is used while the survey vessel is in the survey area.
Since data such as ship position, depth, and tide level are collected in time series as one measurement point in D etc., the file volume becomes enormous and unnecessary data is mixed in during data processing.

(B) In relation to (a) above, the time required for processing is long and the waiting time for obtaining survey results is long due to tide level correction, depth correction, matching of ship position and depth, etc., during data processing.

It is an object of the present invention to provide a high-efficiency automatic water depth surveying device by eliminating the drawbacks such as the enormous FDD file volume and the long data processing time.

[Means for solving problems]

The water depth survey apparatus of the present invention is a device for measuring the water depth at each measurement point while the surveying vessel travels along a lateral line composed of desired measurement points, and recording the water depth data in the device for recording the water depth data. A recording device for recording the data indicating the position of the measurement point, and means for determining whether or not the deviation of the actually measured position from the side line consisting of the desired measurement point is larger than a predetermined allowable value, When the determination unit determines that the deviation is larger than the allowable value, a unit that prevents recording of the data of the measurement point in the recording device; and the deviation is smaller than the allowable value. Only when determined, means for calculating the distance from the desired measurement point to the data, and determining whether the distance is smaller than the distance between the measurement point of the water depth data already recorded and the desired measurement point. ,
When the determination means determines that the measurement point is small, a means for renewing and recording the data of the water depth and position of the measurement point as desired measurement point data is provided.

[Work]

The determination by the above-mentioned measuring means determines whether the deviation of the actual measurement point from the desired survey line is within a predetermined allowable range. If it is outside the allowable range, the recording of the data at the measurement point is blocked by the blocking unit. In other words, only the data of the measurement points within the allowable range are recorded. Therefore, only useful data is actually recorded, and the capacity of the recording medium, that is, the file volume is small. In addition, the time required for data processing can be shortened accordingly.

〔Example〕

The water depth surveying apparatus of one embodiment of the present invention is generally the same as that described with reference to FIGS. 2 to 5. However, the operation of CPU9 is different. That is, the CPU 9 has the functions shown in the flowchart of FIG. 1 in addition to the functions described with reference to FIGS. 2 to 5.

That is, while measuring the water depth at each measurement point while the surveying vessel is traveling along a predetermined survey line, the function of calculating the deviation of the actual measurement position from the survey line (102) ) And a function (104) for determining whether or not this deviation is larger than a predetermined allowable value, and when this judgment determines that the deviation is larger than the above allowable value, recording of data of the measurement point concerned. The function to prevent (106)
And Furthermore, when actual measurement is performed in the vicinity of the desired measurement point, when recording the data as the data of the desired measurement point, the actual data is recorded together with the water depth data (including correction data such as tide level data). The function (114) of recording the data indicating the position of the measurement point or the data indicating the distance between the actual measurement point and the desired measurement point together, and the measurement is performed again in the vicinity of the desired measurement point later. Function (108) for calculating the distance between the actual measurement point and the desired measurement point, and the calculated distance provided the water depth data recorded as the water depth data of the desired measurement point. A function that determines whether the distance is smaller than the distance between the actual measurement point (that is, the measurement point closest to the desired measurement point among the actual measurement points that have been measured up to that point) and the desired measurement point. 110), in the determination, when it is determined that not less and a function (112) for blocking the recording of the data of the measuring point.

Further, although not shown in FIG. 1, the device of the present invention is
On the GD13a, it has a function to color-code and display the allowable width of deviation from the survey line and the actual measurement point from the survey line, and the actual track. First, the display on the GD13a and the data input performed while watching the display will be described.

FIG. 6 shows a display example of the GD13a screen in the embodiment of the present invention. First, by the conversation process by GD13a and KB13b in FIG. 6, the survey area 15, the required survey line 17, and the survey line allowable width 19 are set and the screen is constructed. Further, when a running survey line is set by the route deviation meter 14 in FIG. 2, a route indicator setting survey line (among the required survey lines, the survey line actually going to run) 18 is drawn on the trajectory map in FIG. Further, the survey line allowable width 19 is drawn in order for the surveying vessel to limit the deviation with respect to the survey line. When you draw like this,
The data corresponding to the display on the screen is set in the CPU 9.
The screen display on the GD13a is provided for the driver's reference during the survey. That is, the pilot of the survey ship operates the boat so that he / she rides on the set survey line while monitoring the track screen and the route deviation meter. If the set survey line is drawn with a special color, it can be easily recognized. As the survey vessel sailed, the survey area 15
Leave track 20 inside. If a surveying vessel leaves the surveying area 15, it will turn and move to the next survey line. The position and bow direction of the surveying vessel are indicated by arrow 21.

The desired measuring points are arranged in a matrix, for example, and the measuring lines are respectively along the rows or columns of the matrix.

While the survey vessel sails, its position etc. is as described above in GD13.
a While displaying on the screen, the measurement is performed near each measurement point. At that time, the operation shown by 102 to 106 in FIG. 1 is performed and the data outside the allowable line width 19 is not recorded and discarded. To be done.

In addition, as shown by 108 to 114 in FIG. 1, the water depth matrix is created by collecting the data obtained by the measurement in the vicinity of the desired measurement points, and at each of the desired measurement points, If the measurement is made at a point closer to, the data replaces the old data. This is called water depth matrix exchange or renewal. The creation and updating of the water depth matrix will be described below with reference to FIG. 7.

FIG. 7 shows a part of the matrix of the desired measurement points. In this figure, the desired survey points are the intersection points of the grid (grid points).
It is represented by. This grid point is in the X direction (direction of the survey line)
And the pitches in the Y direction are Q _n and Q _m , and both Q _n and Q _m are 2 m
Is. The pitch may be different between the X direction and the Y direction.

In Fig. 7, L1 and L2 indicate tracks. That is, the survey ship is L1
It is assumed that the ship sailed from the top to the bottom as shown in (in the drawing) and then sailed from the bottom to the top as shown in L2.

A represents a region near the grid point P _mn . This area is
In the illustrated example, the range is from grid point P _mn to B _n and B _{m in the} X and Y directions, respectively. B _n and B _m are both 1 m
Is. Note that B _n and B _m may have different values. Further, B _n and B _m are 1/2 of Q _n and Q _{m in} the illustrated example, but are not limited thereto.

While traveling along the track L1, the range A near the grid point P _mn
Suppose that the survey was carried out at point D _L1 inside. If the water depth data for the grid point P _mn is not recorded by then, the water depth data obtained by the survey at the measurement point DL1 is recorded as the water depth data for the grid point P _mn . At the same time, data representing the position of the measurement point D _L1 or data representing the distance from the measurement point to the grid point P _mn is recorded.

Next, it is assumed that a survey is performed at a point D _L2 within a range A near the grid point P _mn while traveling along the track L2. Then
It is determined whether the measurement point D _L2 is closer to the grid point P _mn than the measurement point D _L1 from which the data recorded as the data of the grid point P _mn was obtained. As shown,
If D _L2 is closer, D _L2 survey data will be recorded instead of D _L1 survey data. By repeating such operations, the survey data of the measurement point closest to the grid point P _mn is finally left as the data of the grid point P _mn .

Similar operations are performed for other grid points. As a result, survey data is obtained for all grid points.

The survey data of each grid point is subjected to sound velocity correction and tide level correction as follows before being finally filed. The following equation (1) represents the processing calculation. In the equation, D is the true depth data to be obtained, a and b are sound velocity correction constants, D _x is the acquisition depth, and D _t is tide level data.

_{D = (aD x + b)} -D t ...... (1) Ship position deviation data from such survey data ultimately that grid point P _mn of processing depth D and the lattice point P _mn △
Filing to FDD10 with x and △ y. That is, after performing the above processing, when it goes out of the survey area 15, data is transferred from the main memory of the CPU 9 and filed in the FDD 10.

Based on the depth matrix data on FDD10, the final survey results will be visualized by drawing the depth map, depth profile, soil volume calculation, isobaric map, and whale map on GD13a or XYP11 by CPU processing. To be done.

Since the data collected in the FDD10 is developed in the water depth matrix, if you copy multiple data of the FDD10 and process them simultaneously with a personal computer, etc., you can obtain depth maps, cross-sectional views, contour maps, etc. The survey results can be observed simultaneously (on different screens).

Further, in the acquired data selected as the data of the grid point P _mn , the sound velocity correction and the tide level correction are performed in real time to obtain the true water depth data D, and the ship deviation values Δx, _Δy from the grid point P _mn are _calculated. And the water depth data D as one set are stored in the FDD as the final data of the grid points P _mn , and when the surveying for a series of survey lines is completed, the water depth data in the survey area on the FDD10 is associated with the equidistant points. It can be arranged immediately and made available immediately as a survey result.

In addition, when setting the route using the route deviation meter, the set value is input to the data processing device 7 and the value is drawn with a special color on the screen of the GD13a to facilitate the guidance along the target side line. You can also

[Effects of the Invention] As described above in detail, according to the present invention, since only the data about the measuring points whose deviation from the predetermined measuring line is less than the allowable value is recorded, the capacity of the data file can be reduced. You can Also, the time required for data processing is shortened.

Further, as in the embodiment, if only the data of the measurement points closest to each desired measurement point is left, the recording capacity can be further reduced.

[Brief description of drawings]

FIG. 1 is a flow chart showing the function of the CPU in the present invention, FIG. 2 is a block diagram showing a bathymetry system, FIG. 3 is a diagram showing how to set a survey area, and FIG. 4 is a conventional track display. FIG. 5 is a diagram showing an example, FIG. 5 is a diagram showing a display example of survey results, FIG. 6 is a diagram showing an example of a track display in the present invention, and FIG. 7 is a diagram showing water depth matrix conversion. 2 ... tide level sensor, 4 ... ship level measuring device, 5 ... tide level receiver, 6 ... depth measuring device, 7 ... data processing device, 9
…… CPU, 10 …… FDD, 14 …… Channel difference meter.

Claims (1)

(57) [Claims] 1. A device for measuring the water depth at each measurement point and recording the water depth data while the survey ship travels along a lateral line consisting of desired measurement points, A recording device that records data indicating a position, a unit that determines whether or not a deviation of a position that is actually measured from a lateral line that includes the desired measurement point is larger than a predetermined allowable value, and the determination unit According to the above, when it is determined that the deviation is larger than the allowable value, a unit that prevents recording of the data of the measurement point in the recording device, and the deviation is determined to be smaller than the allowable value. Only when the data, the distance from the desired measurement point is calculated, and means for determining whether or not the distance between the desired measurement point and the measurement point of the water depth data already recorded is determined.
A water depth surveying device, characterized in that, when it is judged to be small by the judgment means, the record of the water depth and position data of the measurement point is updated and recorded as desired measurement point data.