RU2466426C1 - Method of reconstructing sea-floor relief when measuring depth using hydroacoustic apparatus - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: depth is measured with determination of an adjustment which is determined by the point where the hydroacoustic apparatus is installed. Vertical distribution of sound speed in water is determined from reflected signals. The sea-floor relief is reconstructed. The boundary zone which separates the continental slope from the shelf is selected from the obtained measurement results. The planetary structure of the sea-floor in the transition boundary zones between the slope and the shelf is determined by probing the sea-floor with acoustic waves and measuring the magnetic field. A tectonic map of transition boundary zones is constructed from the measurement results, from which the boundary of the continental shelf is determined by comparing planetary structures in transition boundary zones and planetary structures on dry land. The tidal level is additionally varied when measuring depth.

EFFECT: broader functional capabilities.

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Description

The invention relates to methods for spatial interpolation of the restoration of the seabed topography with discrete depth measurements by sonar and can be used when performing meteorological interpolations, including analysis of wind fields, analysis of radiological and chemical pollution, topographic interpolations and others.

A device for recognizing sea soil by measuring the parameters of the echo signal when probing the bottom with rectangular pulses (copyright certificate SU No. 1103171 [1]).

Depending on the type of soil, the echo signal during normal incidence to the bottom changes its shape over a wide range from a theoretically undistorted rectangular pulse on monoliths to a substantially wide pulse with a very shallow front and a duration several times longer than the duration of sending on the ground, which is a liquid mass. As an informative parameter, the steepness of the echo signal rise front is used, which is measured and compared with a pre-graded grid with stiffness boundaries plotted on it for different types of soil.

Since it is almost impossible to cover the entire area under investigation with probing signals, linear and nonlinear interpolation methods are used to further construct the bottom topography surface or obtain a topography of some two-dimensional scalar geospatial characteristics (see, for example, Problems of the environment and natural resources. M., VINITI, 1999, No. 11, p.13). In addition to the main disadvantage, which is the low reliability of recognition of sea soil, due to the fact that the steepness of the increase in the echo signal is determined mainly by the acoustic properties of the water / soil interface, and not the entire thickness of the soil, then in the presence of irregularities or stony deposits on the surface of the liquid soil, the steepness of the front growth the echo signal is determined by the reflective properties of irregularities or deposits, which leads to higher values of soil stiffness, and in combination with subsequent m restoration of the relief surface by interpolation of measurements can lead to unreasonable decisions, and, consequently, to significant losses in the implementation of a specific task.

In the known technical solution (patent RU No. 2045081 C1 [2]), which is an echo sounder for recognizing sea soils, due to the fact that the degree of the physical state of the soil is determined by the magnitude of the elongation of the echo pulse, based on the dependence of the elongation of the echo signal on the physical and mechanical characteristics of the soil, improving the accuracy of determining the parameters of the reflecting boundary and the reliability of the measurement results compared with the technical solution [1]. However, the restoration of the relief over the entire investigated surface is reduced to the application of the formal method of interpolation from the measured values, which leads to significant losses in the implementation of a specific task.

In the known method for determining the depths of the water with a side-scan phase sonar and a side-view phase sonar for its implementation (copyright certificate SU No. 1829019 A1 [3]), which includes emitting a sonar signal to the bottom and receiving the reflected signals at two vertical points at a given distance, measuring the delay time of common-mode signals, the pitch angle of the antenna carrier and determining from the received data the directions of arrival of common-mode signals and the desired depths of the water area m means, which measures the time delay of arrival of the reflected sonar signal along the vertical, determining a delay time of arrival of the same common-mode signal in the case of reflection from the flat bottom surface of each estimated direction in accordance with a mathematical expression with the determination of convergence of the calculated and measured values of the delay time.

Determining the convergence of the calculated and measured values allows us to reduce the error in determining the depth of the water area when surveying the topography of the bottom of the water area. However, the implementation of this method requires preliminary calculations to determine the estimated directions, which is ensured provided that the results of previous surveys in this area are used. Since over time the structure of the soil surface does not remain constant due to the variability of hydrodynamic geophysical factors, the use of calculated data is not always correct and can lead to significant errors in obtaining the final results when surveying the bottom topography.

In addition, restoration of the bottom topography over the entire investigated surface, as in the well-known technical solutions [1, 2], reduces to the use of the formal interpolation method for the measured discrete values, which leads to significant losses in the implementation of specific tasks, in particular when formalizing the measurement results in cartographic products.

When using known methods, the solution to the problem of relief reconstruction is reduced to constructing a continuous two-dimensional function passing through the measured discrete depth values. At the same time, at the first stage, triangulation of measurement points is performed, i.e. on the set of measurement points, the relations of "proximity" of the points are introduced, and at the second stage, the actual desired function is constructed, as a composition of elementary weight functions (linear or nonlinear). With such processing of the initial information, the properties of the relief are not taken into account in any way and during processing, artifacts of false ridges and hollows in the form of a relief appear, and, therefore, at this stage the morphological method of restoration of the relief is violated.

The identified shortcomings are deprived of the known method of restoring the seabed topography when measuring depths using sonar tools installed on moving marine objects, including measuring the depth with the correction determined by the installation site of the sonar tool, determining the vertical distribution of the speed of sound in water by reflected signals by obtaining data on triangulation observation points with their subsequent interpolation, restoration of the bottom topography, surface construction d in which, when determining the correction, the Doppler frequency shift of the reference signal of the hydroacoustic lag is additionally measured, the speed of the moving marine object is determined by the radio receiver and satellite navigation systems, and the vertical distribution of the speed of sound in water is determined by time series of the sound energy density reflected from internal heterogeneities of the aquatic environment and the bottom, by recording all incoming signals scattered from the internal heterogeneities of the marine food, on the time of sending the sound pulse before the arrival of the reflected signal from the bottom to form a temporary number density of sonic energy reflected from internal inhomogeneities sea bottom environment and according to the relation

U (Z = 0, t),

where Z is the depth at time t, and the speed of sound in water C (Z) is determined by solving the inverse scattering problem, low-frequency waves are additionally recorded using artificially excited high-frequency pump waves, the shape of the relief is restored by the relative changes in the height of the relief in accordance with the inequality

| h (r ₂ ) -h (r ₁ ) | <A | r ₂ -r ₁ | ^λ

where h (r ₂ ) -h (r ₁ ) is the height difference at two spatial points r ₁ , r ₂ ; A (Helder constant), λ (Helder exponent) - positive numbers; 0 <λ≤1, at the same time, the accuracy of the relief reconstruction is estimated from the value of the relative change in the height of the relief depending on the spatial scale; when constructing the relief of the bottom surface, the data on the triangulation of observation points are interpreted as the structure of an undirected graph with the definition of the lengths (weights) of the edges of the graph, and a device for implementing the method, which is a sonar to determine the depths of the water area, containing functionally connected first and second antennas, one of which is radiating, and the second reception, forming the receiving-radiating channels, a calculator, a control unit in which the control unit is connected to the receiving-radiating channels, a calculator, which additionally includes a pump driver, a plotter, a parametric radiating path, which is connected by its output to the radiating antenna, and the input is connected to the output of the pump former, which is connected by its output to the output of the control unit, the plotter with its inputs is connected to the outputs of the calculator and control unit (RU patent No. 232,6408 C1 [4]).

In contrast to the known technical solutions [1, 2, 3], in which the correction is determined by determining the average vertical velocity of sound in water by determining hydrological parameters by measuring temperature and salinity at standard horizons or by measuring the speed of sound in water at different horizons by installing additional sensors in the aquatic environment, connected by a communication line with the carrier of the depth measuring equipment, in the well-known technical solution [4] The Doppler shift of the reference signal and the velocity of the medium are accurately measured using external information sources, which determine the average vertical speed of sound propagation in the aquatic environment, the values of which determine the correction, which allows continuous monitoring of changes in the average vertical speed of sound propagation in seawater in the process of monitoring the state of the oceans, simplifies the process of determining the average vertical velocity of propagation of stars it is indicated in the aquatic environment with the required accuracy to determine the corrections of the measured depth values, and also eliminates the need for special additional equipment.

When using this method, the requirements for the accuracy of determining the depth during surveying are established, established by the current regulatory documents regarding shipping, due to the ability to measure the Doppler shift of the reference signal of the hydroacoustic lag and the speed of the carrier of the measuring equipment depth from external sources of information, which determine the average vertical sound propagation speed in the aquatic environment.

The restoration of the shape of the bottom topography from discrete measurements is carried out by integral transformations, which does not lead to an increase in the observation errors in the initial data during processing, in contrast to the known methods of a differential nature.

Methods for processing sets of homogeneous polynomials are the most developed methods in computer algebra, and the combinatorial method of analyzing geospatial fields by point measurements allows us to solve applied problems taking into account the spatio-temporal dynamics of these fields.

The application of the known method for reconstructing the seabed topography when measuring depths using sonar tools installed on moving marine objects [4] is mainly limited by the solution of two technical problems — this is surveying the bottom topography with subsequent mapping to ensure navigation and determining the average vertical speed of sound propagation in aquatic environment at different horizons to study the processes of movement of water layers.

At the same time, there are a number of tasks, including carrying out the ecological state of marine water areas at the locations of offshore oil and gas terminals and determining the parameters of the boundaries of contaminated water areas and continental shelves and determining bioresources.

Determining the parameters of the boundaries of the continental shelf requires inventory and compilation of the coastal cadastre of the coastal zone, including the compilation of cadastral mapping and topographic plans.

The lack of cadastral survey maps and topographic plans of the continental shelf marine areas from a legal point of view complicates coastal hydraulic engineering construction, which is associated with determining the boundaries of the coastal zone. In addition, there are possible conflicts in determining the boundaries of marine water protection zones and coastal protective strips, which, in accordance with the Water Code of the Russian Federation in 2006, as amended by Federal Law of July 14, 2008 No. 118-F3, are counted from the maximum tide line.

The objective of the proposed technical solution is to expand the functionality of the known method of restoring the shape of the relief of the seabed with discrete depth measurements by sonar.

The problem is solved due to the fact that in the method of restoring the topography of the seabed when measuring depths using hydroacoustic means installed on moving marine objects, including measuring depth with the determination of the correction due to the installation location of the hydroacoustic means, determining the vertical distribution of the speed of sound in water by reflected signals , by obtaining data on the triangulation of observation points with their subsequent interpolation, restoring the shape of the bottom topography, building the bottom surface, when determining the correction, the Doppler frequency shift of the reference signal of the hydroacoustic lag is additionally measured, the speed of the moving sea object is determined by the radio receiver and satellite navigation systems, and the vertical distribution of the speed of sound in water is determined by the time series of the density of sound energy reflected from internal inhomogeneities aquatic environment and the bottom, by recording all incoming signals scattered from the internal heterogeneities of the sea with food, on the time of sending the sound pulse before the arrival of the reflected signal from the bottom to form a temporary number density of sonic energy reflected from internal inhomogeneities sea bottom environment and according to the relation

U (Z = 0, t),

where Z is the depth at time t, and the speed of sound in water C (Z) is determined by solving the inverse scattering problem, low-frequency waves are additionally recorded using artificially excited high-frequency pump waves, the shape of the relief is restored by the relative changes in the height of the relief in accordance with the inequality

| h (r ₂ ) -h (r ₁ ) | <A | r ₂ -r ₁ | ^λ

where h (r ₂ ) -h (r ₁ ) is the height difference at two spatial points r ₁ , r ₂ ; A (Helder constant), λ (Helder exponent) - positive numbers; 0 <λ≤1, at the same time, the accuracy of the relief reconstruction is estimated from the value of the relative change in the height of the relief depending on the spatial scale; when constructing the relief of the bottom surface, the data on the triangulation of observation points are interpreted as the structure of an undirected graph with the definition of the lengths (weights) of the edges of the graph, characterized in that according to the obtained depth measurements, a boundary zone is distinguished that separates the continental slope from the shelf, which is established by the correlation coefficient between arrays The obtained results of the measured depths in the transitional boundary zones between the slope and the shelf, in the transitional boundary zones between the slope and the shelf, by sensing the seabed with acoustic waves and magnetic field measurements, the planetary structure of the seabed is revealed, the tectonic diagram of the transitional boundary zones is constructed from the measurements, according to which establish the boundary of the continental shelf by comparing planetary structures in transitional boundary zones and planetary terrestrial structures during measurement Lubin additionally measured tide level.

New distinctive features of the proposed technical solution, which consists in the fact that according to the obtained results of measuring depths, a boundary zone is distinguished that separates the continental slope from the shelf, which is established by the correlation coefficient between arrays of the results of measured depths in the transitional boundary zones between the slope and the shelf, in transitional zones between the slope and the shelf, by probing the seabed with acoustic waves and magnetic field measurements, the planetary structure of Skog bottom constructed from measurements of tectonic diagram transition boundary zones at which boundary is set continental shelf, by comparing the planetary boundary structures in the transitional areas and the planetary sushi structures during measurement depths additionally measured tide level.

No new distinguishing features from the prior art have been identified, which allows us to conclude that the claimed technical solution meets the condition of patentability "inventive step".

The essence of the proposed method and device for its implementation is illustrated by the drawing (figure 1).

Figure 1. The block diagram of the device includes a pump signal generator 1, designed to generate two-frequency probe pump signals with a given duration and a given modulation, the formation of synchronization pulses and gate signals of the receiving path, a parametric radiating path 2, designed to amplify the pump signals at both frequencies to the nominal level ( at the same time, in individual channels, phase correction of the amplitudes can be carried out), the emitting pump converter 3, designed to convert the use of electrical signals into acoustic signals of the necessary directivity characteristics, a receiving antenna of differential frequency signals 4, designed to generate directivity characteristics for receiving and generating acoustic waves of a differential frequency into electrical signals, receiving path 5, intended for preliminary processing of received signals and amplifying them to a level, necessary for registration of received signals, plotter 6, control unit 7, calculator 8, sonar log 9, multipath sounder 10, a high frequency profiler 11, a low-frequency parametric profiler 12 penetrometer block 13, block 14 gauges, multi sounding pulse generator 15, a multichannel receiver 16 echoes, a second side-scan sonar 17, imaging unit 18.

Schematic diagrams and the principle of operation of devices 1-9 are similar to the circuit diagrams and the principle of operation of the devices of the prototype [4].

The multi-beam echo sounder 10 is designed for profiling the bottom at an operating frequency of 204 kHz, with a directivity characteristic width of 6 × 10 degrees and 12 × 20 degrees and pulse durations of 50, 200, 500 μs in the depth ranges of 5.10, 20, 50, 100 and 200 m .

The second side-scan sonar 17, like the first (prototype device), is designed to capture the bottom topography on the second side of the vessel. The working frequency of sonars is 286 and 320 kHz, the width of the directivity characteristics is 1.5 × 50 and 3 × 50 degrees with pulse durations of 50, 100 μs and 1 ms in the depth range of 10, 20, 50, 100 and 200 m.

High-frequency profilograph 11 is designed for accurate profiling of the bottom topography.

The low-frequency parametric profilograph 12 is designed for profiling bottom sediments with operating frequencies of 10 and 150 kHz, with a directivity characteristic width of 3 × 4 degrees and pulse durations of 0.5, 1 and 2 ms in the depth range of 10, 20, 50, 100 and 200 m.

The multi-channel probe pulse generator 15 contains the radiating paths of the multi-beam echo sounder 10, the first and second side-scan sonars, and pump generators of a low-frequency parametric profilograph 12.

The multi-channel echo signal receiver 16 contains the receiving paths of the multi-beam echo sounder 10, the first and second side-scan sonars, a high-frequency profiler 11, a low-frequency parametric profiler 12, four signal processors designed to convert analog signals to digital form and primary processing of these signals, a communication interface, a control circuit , a signal shaper, a temporary automatic gain control circuit and a sensor signal converter.

The penetrometer 13 is designed to determine undisturbed soil structures in the conditions of its natural occurrence and is a cone-shaped projectile equipped with sensors that are buried under the influence of gravity or with the help of a drill. The measured resistance and friction coefficients determine the strength characteristics of the soil. Depending on the working depth in the range of 0.5-2000 m, a set of sensors with a penetration depth into the soil at a distance of 3 to 20 m is used. The analogs are penetrometers of the ТМ-153 and СРТ type. Mareograph 14 is designed to record fluctuations in sea level. Depending on the depth of the aquatic environment, automatic gauges such as AMP-20 and AMM-200 are used.

To obtain daily information about the nature of sea level fluctuations, tide gauges are installed at different points in the marine environment in the direction from the coastline. The information recorded by the tide gauges is used to correct the measured depths when surveying the bottom topography in water areas where conventional level posts do not provide sufficient accuracy or are difficult to use, and also to determine the nature of the tide and its harmonic components in solving problems associated with the safe operation of marine terminals, including oil and gas fields. The measurement results are transmitted to the ship via radio and sonar communication channels.

Block visualization 18 is a hardware computing and

video tools with software for displaying selected information (underwater peaks, depressions, trunk pipelines, pollution areas, soil sections) in a two-dimensional or three-dimensional representation.

The method is implemented as follows.

When the vessel moves in a given area of surveying the bottom topography, tacks located from the coastline towards the sea perform the first and second side-scan sonars installed from the starboard and starboard sides of the ship, surveying the bottom topography, searching for and quantifying the biosphere products (as clusters, as well as single specimens), by means of a multi-beam echo sounder 10, the bottom is profiled and the biosphere products are searched, by the high-frequency profilograph 11, the bottom is profiled by With a low-frequency parametric profilograph 12, profiling of bottom sediments is performed. In parallel with the sensing of the bottom surface and the process of determining the depths, the vertical speed of sound propagation in the aquatic environment is determined using the sonar lag 9, the sea level fluctuations are determined using the unit of tide gauges 14, and the coordinates and speed of the vessel are determined by means of standard ship receiver indicators of satellite or radio navigation systems.

According to the data obtained, I determine the correction to the depths according to known dependencies and algorithms, and enter it into the calculator 8. The measured depths are processed according to well-known algorithms, as in the prototype.

From the measured values of the speed of sound in water in a vertical plane, the sound velocity field is determined. The determination of the vertical distribution of the speed of sound in water over time series of the density of sound energy reflected from the internal inhomogeneities of the aquatic environment and the bottom is performed, as in the prototype, by recording all incoming signals scattered from the internal inhomogeneities of the marine environment, from the moment of sending a sound pulse to the moment the arrival of signals reflected from the bottom with the formation of a time series of the density of sound energy reflected from the internal inhomogeneities of the marine environment and the bottom. In this case, the speed of sound in water is determined by solving the inverse scattering problem with registration of low-frequency pump waves by means of artificially excited high-frequency pump waves, which are used to judge the relative orientation of the interacting waves and the value of the medium nonlinearity parameter.

Next, the processing of time series and the procedure for determining the parameters of a complex heterogeneous medium according to the algorithms proposed in the prototype are performed. Based on the obtained discrete measurements of the depths, as well as taking into account the scattering coefficients of the sound bottom, determine the class of functions to which the relief belongs.

Studies of the shape of the relief at different spatial scales (according to the prototype) showed that the relative changes in the height of the relief are power-law related to the spatial scale in the form

| h (r ₂ ) -h (r ₁ | <A | r ₂ -r ₁ ] ^λ , where

h (r ₂ ) -h (r ₁ ) is the height difference at two spatial points;

r ₁ , r ₂ , A (Helder constant), λ (Helder exponent) - positive numbers; 0 <λ≤1.

In this case, the desired function H (r) is expressed as the inverse Fourier transform

H (x, y) = ℑ (F (ζ)), where ζ is the operator of the inverse Fourier transform,

Here i is the imaginary unit, ξ = (cosφ, sinφ),

Here

- преобразование Радона функции

- Radon transform function

H (x, y) on (x, y) ∈R × R = Ω, i.e. an integral transformation relating the function H (x, y) to Ω, its integrals over all possible straight lines (with respect to Euclidean length)

x = -t sinφ + pcosφ; y = t cosφ + psinφ.

For a compactly supported function H (x, y) in a simply connected domain Ω, the accuracy of the estimate will be better than the accuracy of traditional interpolation procedures.

The error Θ (Н) of the restoration of the relief is determined as the maximum value of the absolute value of the difference between the true surface and the restored

where K is the total number of first moments provided by accuracy. The accuracy of the moment estimation δ (I _k ) will be determined by the arrangement of the measurement points.

For optimal distributed points (measurements) that can always be determined on the initial set of points (see, for example, Sobol I. M. Multidimensional quadrature formulas and Haar functions. M., Nauka, 1969, p. 288) with an accuracy of the moment estimate for normalized function in accordance with the expression δ (I _k ) ≤2 / Nk.

The restoration of the shape of the relief of the seabed can be performed after each series of discrete measurements.

When researching underwater objects, for example, offshore sections of trunk pipelines, by recorded echo signals, underwater objects are distinguished by their frequency characteristics and their size is estimated by the frequency interval between the minimum and maximum values of target strength on the frequency dependences (see, for example, Clay K., Medvin G. Acoustic Oceanography, Fundamentals and Applications, Moscow: Mir, 1980, 580 pp.). The magnitude of the target’s strength is analyzed depending on the product ka, where a is the radius of the target, k = 2π / λ is the wave number. For acoustically rigid objects of a spherical shape, the magnitude of the target force in the intermediate region between Rayleigh and geometric scattering, i.e. in the region where 1 <ka <10 fluctuates, asymptotically approaching its constant value for ka >> 1 (see, for example, Urik R.J. Fundamentals of hydroacoustics. L .: Sudostroenie, 1978.- 448 p.). The reason for these oscillations, as shown by theoretical and experimental studies, is the re-emission of surface and diffracted waves, which contribute to the process of echo signal formation along with specular reflection. The resulting interference between these types of waves with a sufficient duration of the probe pulses leads to oscillations in the frequency dependences of the target force. The level of these oscillations, the number, and the interval between them are determined by the physical parameters of the object, its geometric dimensions, which makes it possible to use the frequency dependence of the target force as one of the simple and fairly informative signs of classification. Assessing the size of objects together, taking into account the absolute magnitude of the target’s strength, is quite sufficient to distinguish objects according to their dimensions and, on the basis of this, make a decision about belonging to one or another class.

In the performed experimental studies, the problem of sound scattering on an acoustically rigid elastic sphere located beyond the region of effective nonlinear wave interaction was solved in accordance with the well-known method (see, e.g., W.K. Metsaveer, Ya.A. Veksler, N.D. Kutser Echo signals from elastic objects. Tallinn: Academy of Sciences of the ESSR, 1974, 214 pp.), Which makes it possible to study with a high degree of accuracy the sound fields of reflecting objects in a homogeneous medium in cases where the effect of nonlinear reflection interaction can be neglected. pump waves generated from the object. These cases include the option of scattering from bodies located in the far zone of the parametric antenna, or scattering from spheres located in a homogeneous medium with significant absorption for pump waves, for example, in a water-saturated homogeneous silt.

An analysis of the results of experimental studies showed that for objects made in the form of a solid steel sphere, the shape of the reflected signal depends on the ratio between the diameter of the sphere and the length of the acoustic wave. In the case of using spheres of acoustically soft material (foam) or a hollow sphere filled with air with a thin wall, the shape of the reflected pulses in the places of the minima in the frequency dependences of the target force differs from the shape of the pulse reflected from the solid sphere, which allows the shape of the envelope

echo signals distinguish spheres made of acoustically hard and soft materials.

The measured resistance and friction coefficients using the block of penetrometers 13 determine the strength characteristics of the soil. Penetrometers are cone-shaped shells equipped with sensors, which, under the influence of gravity or with the help of a drill, are buried in the ground and are installed from the vessel in the direction from the coastline into the sea. In this case, the drag and friction coefficients are measured, which determine the strength characteristics of the soil at several horizons along the soil depth in the range from 3 to 20 m along the entire length of the water area from the coastline. In the subsequent analysis, the structure of the soil is established and a judgment is made on whether a particular structure of the underwater soil belongs to the soil structure of the continental shelf.

Information mapping is carried out by applying the geodetic coordinates of the reflection points of hydroacoustic signals from the seabed onto a tablet, which is built by pairing topographic and navigation raster maps in the following sequence:

- the raster of the navigation map in the Mercator projection is subjected to vectorization of the coastline of the navigation map;

- a site is selected that corresponds to the marine area on which the bottom topography is recorded taking into account the vectorization of the coastline of the navigation map;

- a record is made in the final raster of the navigation map;

- the raster of the topographic map in the Gauss-Kruger projection is reduced to the scale of the navigation map;

- the coordinates of the Gauss-Kruger projection are converted into geographical coordinates;

- the conversion of geographical coordinates to the coordinates of the Mercator projection is performed;

- a raster plot is selected that corresponds to the land (coastal) region;

- the topographic map is written to the final raster;

- based on the results of recordings in the final rasters of the navigation and topographic map, the final raster map of the combined navigation and topographic information in the Mercator projection is built;

- on the final raster map displayed on the display device, the path of the vessel is also displayed.

When mapping the results of soil characteristics of the continental shelf, the geodetic coordinates of the points of penetrometer installation are plotted with the display of soil sections. In this case, the distance between the sections does not exceed half the minimum diameter of the inhomogeneities, and when recording heterogeneities, the measurement frequency on the sections is more than 1/8 ÷ 1/10 of the diameter of the inhomogeneities.

Processing and visualization of registered areas of the bottom, soil, underwater objects is carried out by means of a computer 8, plotter 6 and visualization unit 18.

Based on the obtained depth measurements, a boundary zone is distinguished that separates the continental slope from the shelf, which is determined by the correlation coefficient between the arrays of the results of the measured depths in the transitional boundary zones between the slope and the shelf, in the transitional boundary zones between the slope and the shelf, by sounding the seafloor with acoustic waves and measurements of the magnetic field, and the measured resistance and friction coefficients by means of the block of penetrometers 13 determine the strength characteristics tics of the soil, reveal the planetary structure of the seabed, according to the measurement results, construct a tectonic diagram of transitional boundary zones, along which the boundary of the continental shelf is established by comparing planetary structures in transitional boundary zones and planetary land structures.

When visualizing the registered area of the bottom topography and planetary land structures, a visualization block is used, built on the basis of the basic modules of geographic information systems (GIS) of the Neva and Ocean type (Information Bulletin // Journal of M .: GIS Association 1997, No. 2 ( 4), 2 (9), 4 (9). Annual review. Issue 2 (1995). Appendix to the “Newsletter of the GIS Association.” - M.: GIS Association, 1996. - 372 pp. N. Konovalova ., Kapralov EG Introduction to GIS. Textbook. Publishing house of Petrozavodsk University, 1995. - 148 pp. Basics of GIS: theory and practice. WinGIS - p . User Mandership Martynenko AI Bugaevskiy YL, Shibalov SN Fadeev VA Second Edition Publisher Engineering Ecology, Moscow, 1995. -. 232)..

The main (functions of the GIS "Neva" are:

- creation (updating) and processing of vector maps using satellite imagery, aerial photography, prints, raster images, text data describing terrain objects, and field measurement results;

- creation and use of the hierarchical structure of the database of electronic maps, having levels: project, map sheets, layer of objects, individual objects of the area;

- editing the contents of the electronic map database using the graphical user interface: creating a new level, updating, deleting, copying and restoring map objects;

- visualization of the contents of the database in conventional signs adopted for topographic, geographic, cadastral and other types of maps;

- support for standard classification systems, coding of objects and their characteristics in accordance with the requirements of Roskartography;

- support for custom symbols, layers, objects and their characteristics;

- performance of settlement operations: determination of area, length, perimeter. construction of clipping zones, statistics on the characteristics of objects;

- output to external printing devices images of electronic cards in conventional symbols; changing the composition of objects and the scale of the map when printing;

- preparation of vector maps for publication in accordance with current regulatory documents or customer requirements for subsequent printing.

GIS "Neva" allows you to display created (updated) vector, raster, matrix maps in various formats, prepare maps for publication and solve applied problems, showing the results both on vector topographic maps and on three-dimensional terrain models. GIS "Neva" includes a number of applied tasks, their list is constantly expanding.

GIS "Neva" allows you to automate many processes of creating and editing objects, which saves time on creating and updating the map.

The main features of the program are:

- information can be presented in different types of projections (more than 30 projections: Gaussian-Krueger equiangular, Mercator equiangular (UTM), Mercator cylindrical, conic, Lambert conical, conic, conic, equidistant (FFP Cartography), polyconic simple, azimuthal normal, azimuthal oblique oblique Postel, azimuthal oblique isometric Lambert, etc.) and ellipsoids (Krasovsky, Clark, Bessel, Everest, etc.); geographic maps of scales of 1: 500000-1: 10000000 have a unified mathematical basis;

- formation of the out-of-the-box card design with a legend in the language of the Customer;

- electronic cards can be combined within nomenclature sheets of scale 1: 1,000,000 or a work area from any number of sheets;

- the same digital cards may be available for processing on a local network to an arbitrary number of users;

- automatic construction of contour contours and vectorization of terrain contours using a stereo model;

- the ability to link digital map objects with vectorized objects by stereo model and with any external database, and it is also possible to simultaneously view a map fragment in the editor window and track its position relative to all loaded maps;

- the establishment of display thresholds (levels) determines at what scale the map magnification starts or stops displaying a specific object, layer or map. The presence of levels allows you to control the appearance of the map at different magnifications and avoid oversaturation of the image with small or excessive details;

- a description of the types of objects of topographic and thematic vector maps, semantic characteristics, layers into which objects are combined, is stored in the library of conventional signs;

- creation of a matrix of heights based on a relief in the form of a regular digital model from points with elevation marks (can be issued in ASCII format);

- building a three-dimensional terrain model for solving various applied problems, displaying the relief cross section in an arbitrary direction, creating a terrain profile;

- display of the elevation matrix of the relief in the form of a hypsometric spatial model of the area with the selection of various color palettes; combination of a hypsometric spatial model and a vector map;

- calculation by a vector map of distances, azimuths, perimeters, areas of objects;

- the ability to determine the heights of objects (for example, buildings) in stereo mode;

- printing of any selected fragments of a vector map or the entire map on various output devices, including output to film by layers for the publication of cards at card factories;

- The basic exchange format for the presentation of data from the Neva system is DM. There are converters to other formats: DBF, SXF, MapInfo, MIF / MID, integrated file and others.

- The complex of creating relief maps provides the preparation, on a vector topographic map, of a cartographic base that meets the requirements of the printing industry, on the required scale, and obtaining matrixes of elevations of the terrain for obtaining relief forms, joint viewing of the prepared basics and calculated relief forms on a computer screen to control the quality of work and clarify the vertical scale.

- The procedure for transforming vector maps provides the reduction of digital data to a given scale, projection, translation of the electronic map into the projection and the coordinate system of the Customer according to available parameters or using reference points.

- The procedure for summarizing adjacent sheets of an electronic map allows, by automating the process of monitoring and correcting the identity of objects that go to adjacent frames of sheets, to reduce the time it takes to create an electronic map.

- The project procedure allows you to organize the simultaneous work with many electronic cards, combine electronic cards into a single area, for example, combine electronic cards with a scale of 1: 50,000 as part of a sheet of a card of scale 1: 1,000,000.

- The procedure of cutting sheets provides a change in the layout, layout, projection, scale of the electronic map.

The geographic information system allows you to combine a topographic map on the coastal strip with a sea map.

GIS "Neva" adopted by the Topographic Service of the Armed Forces of the Russian Federation and Roskartografiya.

Based on the basic module of the Neva DMW.EXE program, Ocean technology allows you to create sea charts for various purposes of the entire scale series, both on traditional and arbitrary scales. Maps are created with a rigorous mathematical foundation in all projections and elevation systems provided for in marine maps.

The software package with the Ocean technology was adopted by the Main Directorate of Navigation and Oceanography of the Ministry of Defense of the Russian Federation.

The implementation of the proposed technical solution does not present a technical difficulty, since it can be implemented on the basis of computing facilities and full-time ship depth meters, navigation aids and navigation support aids.

Information sources

1. Copyright certificate SU No. 1103171.

2. Patent RU No. 2045081 C1.

3. Copyright certificate SU No. 1829019 A1.

4. Patent RU No. 2326408 C1.

Claims (1)

A method of restoring the seabed topography when measuring depths using sonar tools installed on moving marine objects, including measuring the depth with the correction determined by the installation site of the sonar tool, determining the vertical distribution of the speed of sound in water by reflected signals by obtaining data on the triangulation of observation points, followed by their interpolation, restoration of the shape of the bottom topography, construction of the bottom surface, when determining the correction of the additional but they measure the Doppler frequency shift of the reference signal of the hydroacoustic lag, determine the speed of a moving marine object using the receiver-indicator of radio and satellite navigation systems, while determining the vertical distribution of the speed of sound in water is performed by time series of the density of sound energy reflected from the internal inhomogeneities of the aquatic environment and the bottom, by recording all incoming signals scattered from internal inhomogeneities of the marine environment from the moment of sending a sound pulse to nta of arrival of the signal reflected from the bottom, with the formation of a time series of the density of sound energy reflected from the internal inhomogeneities of the marine environment and the bottom in accordance with the dependence U (Z = 0, t), where Z is the depth at time t and the speed of sound in water C (Z) is determined by solving the inverse scattering problem, low-frequency waves are additionally recorded by means of artificially excited high-frequency pump waves, the shape of the relief is restored by the relative changes in the height of the relief in accordance with the inequalities ohm | h (r ₂ ) -h (r ₁ ) | <A | r ₂ -r ₁ | ^λ , where h (r ₂ ) -h (r ₁ ) is the height difference at two spatial points r ₁ , r ₂ ; A (Helder constant), λ, (Helder exponent) - positive numbers; 0 <λ≤1, at the same time, the accuracy of the relief reconstruction is estimated from the value of the relative change in the height of the relief depending on the spatial scale; when constructing the relief of the bottom surface, the data on the triangulation of observation points are interpreted as the structure of an undirected graph with the definition of the lengths (weights) of the edges of the graph, characterized in that according to the obtained depth measurements, a boundary zone is distinguished that separates the continental slope and the shelf, which is established by the correlation coefficient between the arrays of the floor the scientific results of the measured depths in the transitional boundary zones between the slope and the shelf, in the transitional boundary zones between the slope and the shelf by sounding the seabed with acoustic waves and magnetic field measurements, the planetary structure of the seabed is revealed, the tectonic diagram of the transitional boundary zones is established from the measurements, which establish the boundary of the continental shelf by comparing planetary structures in transitional boundary zones and planetary land structures, in the process of measuring the depth yn further alter the level of high tide.