顾及传播曲面的多波束波束脚印高精度快速归位算法

doi:10.11947/j.AGCS.2021.20200486

测绘学报 ›› 2021, Vol. 50 ›› Issue (5): 695-705.doi: 10.11947/j.AGCS.2021.20200486

顾及传播曲面的多波束波束脚印高精度快速归位算法

毕自军^1,2, 赵建虎^1,2, 郑根^1,2, 刘美琴^1,2

1. 武汉大学测绘学院, 湖北武汉 430079;
2. 武汉大学海洋研究院, 湖北武汉 430079

收稿日期:2020-09-28 修回日期:2021-01-15 发布日期:2021-06-03
通讯作者: 赵建虎 E-mail:jhzhao@sgg.whu.edu.cn
作者简介:毕自军(1995-),男,硕士生,研究方向为多波束海洋地形测量。E-mail:2014301610020@whu.edu.cn
基金资助:
国家科技重大专项（2016YFB0501703）；国家自然科学基金（41576107）；沪海科（2020-01；2020-07）

High-precision and quick algorithm for multibeam sounding coordinates considering the propagation surface

BI Zijun^1,2, ZHAO Jianhu^1,2, ZHENG Gen^1,2, LIU Meiqin^1,2

1. School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China;
2. Institute of Marine Science and Technology, Wuhan University, Wuhan 430079, China

Received:2020-09-28 Revised:2021-01-15 Published:2021-06-03
Supported by:
The National Key Research and Development Program of China (No. 2016YFB0501703);The National Natural Science Foundation of China (No. 41576107);The Shanghai Ocean Research(Nos.2020-01;2020-07)

摘要/Abstract

摘要： 针对传统多波束波束脚印位置归算方法忽视收/发换能器位置差异给深水测深带来的显著影响，以及新算法虽顾及收/发差异但效率偏低的问题，本文提出一种顾及传播曲面的高精度快速波束脚印位置归算算法：①基于多波束测量和声线传播原理，提出波束传播曲面模型；②将扇区内波束分为插值结点和待插值点；针对前者，提出采用迭代搜索和插值的方法避免建立完整的传播曲面；③针对后者，利用插值结点参数，提出基于多项式插值的方法获取其发射单程时间和声线俯角、方位角；④综合完成所有波束脚印位置归算。浅水和中深水区试验表明，本文方法的交叉线检验精度与Caris相近，且均优于传统算法；相较Caris计算结果，本文同号波束脚印的深度偏差分别为0.35‰水深和0.11‰水深，且计算效率分别提高了8%和35%。

关键词: 多波束测深, 波束脚印归位算法, 迭代搜索, 多项式拟合, 传播曲面模型

Abstract: In order to solve the problem that the traditional algorithm for multibeam sounding coordinates ignores the significant impact of the difference in the position of the receiving and transmitting transducer on the deep-water sounding, and the new algorithm takes into account the difference in receiving and transmitting but low efficiency, this paper proposes a high-precision and quick algorithm for multibeam sounding coordinates that considers the propagation surface. First, based on the principle of multibeam measurement and sound ray propagation, a beam propagation surface model is proposed. Second, the beams in the sector are divided into interpolation nodes and points to be interpolated. For the former, a method based on iterative search and interpolation is proposed to avoid the establishment of a complete propagation surface. For the latter, using the interpolated node parameters, a method based on polynomial interpolation is proposed to obtain the single-way time, depression angle and azimuth angle of sound ray. Finally, all beam footprints are calculated. Experiments in shallow and medium-deep water areas show that the accuracy of the cross-line inspection method using this paper method is similar to that of Caris, and is better than the traditional algorithm. Compared with the results of Caris, the depth deviations of the same beam footprint in this paper are 0.35‰ depth and 0.11‰ depth, respectively, and the efficiency in this paper has increased by 8% and 35%, respectively.

Key words: multibeam sounding, algorithm for multibeam sounding coordinates, iterative search, polynomial fitting, propagation surface model

中图分类号:

P229

毕自军, 赵建虎, 郑根, 刘美琴. 顾及传播曲面的多波束波束脚印高精度快速归位算法[J]. 测绘学报, 2021, 50(5): 695-705.

BI Zijun, ZHAO Jianhu, ZHENG Gen, LIU Meiqin. High-precision and quick algorithm for multibeam sounding coordinates considering the propagation surface[J]. Acta Geodaetica et Cartographica Sinica, 2021, 50(5): 695-705.

参考文献

[1] 赵建虎, 刘经南. 多波束测深及图像数据处理[M]. 武汉:武汉大学出版社, 2008. ZHAO Jianhu, LIU Jingnan. Multibeam bathymetric surveying and image processing[M]. Wuhan:Wuhan University Press, 2008.
[2] 李家彪. 多波束勘测原理技术与方法[M]. 北京:海洋出版社, 1999. LI Jiabiao. Multibeam sonuding principles, survey technologies and data processing methods[M]. Beijing:Ocean Press, 1999.
[3] 赵建虎, 沈文周, 吴永亭, 等. 现代海洋测绘[M]. 武汉:武汉大学出版社, 2011. ZHAO Jianhu, SHEN Wenzhou, WU Yongting, et al. Modern marine surveying and charting[M]. Wuhan:Wuhan University Press, 2011.
[4] 朱小辰, 刘雁春, 肖付民, 等. 多波束测深波束脚印位置归算模型研究[J]. 海洋测绘, 2011, 31(5):24-27. ZHU Xiaochen, LIU Yanchun, XIAO Fumin, et al. The research of footprint location determination model of multibeam echosoundings[J]. Hydrographic Surveying and Charting, 2011, 31(5):24-27.
[5] 阳凡林, 暴景阳, 胡兴树, 等. 水下地形测量[M]. 武汉:武汉大学出版社, 2017. YANG Fanlin, BAO Jingyang, HU Xingshu, et al. Oceanic surveying and mapping[M]. Wuhan:Wuhan University Press, 2017.
[6] 赵建虎, 刘经南. 多波束测深系统的归位问题研究[J]. 海洋测绘, 2003, 23(1):6-7, 12. ZHAO Jianhu, LIU Jingnan. Problems on the conformity to the real sounding points from the multi-beam sounding system[J]. Hydrographic Surveying and Charting, 2003, 23(1):6-7, 12.
[7] 阳凡林, 李家彪, 吴自银, 等. 多波束测深瞬时姿态误差的改正方法[J]. 测绘学报, 2009, 38(5):450-456. YANG Fanlin, LI Jiabiao, WU Ziyin, et al. The methods of removing instantaneous attitude errors for multibeam bathymetry data[J]. Acta Geodaetica et Cartographica Sinica, 2009, 38(5):450-456.
[8] 金绍华, 刘国庆, 孙文川, 等. 顾及姿态及声线弯曲的多波束测深归算模型研究[J]. 海洋测绘, 2019, 39(1):19-22, 34. JIN Shaohua, LIU Guoqing, SUN Wenchuan, et al. The research on depth reduction model of multibeam echosounding considering ship attitude and sound ray bending[J]. Hydrographic Surveying and Charting, 2019, 39(1):19-22, 34.
[9] 何林帮, 赵建虎, 张红梅, 等. 顾及姿态角的多波束声线精确跟踪方法[J]. 哈尔滨工程大学学报, 2015, 36(1):46-50. HE Linbang, ZHAO Jianhu, ZHANG Hongmei, et al. A precise multibeam sound ray tracking method taking into account the attitude angle[J]. Journal of Harbin Engineering University, 2015, 36(1):46-50.
[10] 阳凡林, 卢秀山, 李家彪, 等. 多波束勘测运动传感器偏移的改正方法[J]. 武汉大学学报(信息科学版), 2010, 35(7):816-820. YANG Fanlin, LU Xiushan, LI Jiabiao, et al. Correction of imperfect alignment of MRU for multibeam bathymetry data[J]. Geomatics and Information Science of Wuhan University, 2010, 35(7):816-820.
[11] BEAUDOIN J D, HUGHES CLARKE J E, BARTLETT J E. Application of surface sound speed measurements in post-processing for multi-sector multibeam echosounders[J]. International Hydrographic Review, 2004, 5(3):17-32.
[12] HAMILTON T, BEAUDOIN J, CLARKE J H. A more precise algorithm to account for non concentric multibeam array geometry[C]//Proceedings of Canadian Hydrographic Conference. Ottawa:[s.n.], 2014.
[13] 吴冬强, 卜宪海, 许方正, 等. 一种基于同心双曲线相交的多波束测深归位算法[J]. 哈尔滨工程大学学报, 2020, 41(6):922-928. WU Dongqiang, BU Xianhai, XU Fangzheng, et al. Multi-beam footprint reduction algorithm in an echo sounder system based on the intersection of co-concentric hyperbolas[J]. Journal of Harbin Engineering University, 2020, 41(6):922-928.
[14] 李铁, 周丰年, 赵建虎. 多波束系统安装偏差整体校准的地形特征匹配方法[J]. 测绘学报, 2019, 48(4):512-519. DOI:10.11947/j.AGCS.2019.20180095. LI Tie, ZHOU Fengnian, ZHAO Jianhu. Overall calibration method of multibeam echo sounder installation biases based on terrain feature matching[J]. Acta Geodaetica et Cartographica Sinica, 2019, 48(4):512-519. DOI:10.11947/j.AGCS.2019.20180095.
[15] YAN Lei, ZHANG Ruihua, SUN Yanbiao. A preliminary study on the theory of polar coordinates digital photogrammetry and the coordinate system of spatial information[J]. Journal of Geodesy and Geoinformation Science, 2018, 1(1):61-79. DOI:10.11947/j.JGGS.2018.0108.
[16] 阳凡林, 李家彪, 吴自银, 等. 浅水多波束勘测数据精细处理方法[J]. 测绘学报, 2008, 37(4):444-450, 457. YANG Fanlin, LI Jiabiao, WU Ziyin, et al. The methods of high quality post-processing for shallow multibeam data[J]. Acta Geodaetica et Cartographica sinica, 2008, 37(4):444-450, 457.
[17] 孙强, 李明叁, 王洪燕, 等. 多波束测深系统声线跟踪方法对比分析[J]. 海洋测绘, 2015, 35(2):48-51. SUN Qiang, LI Mingsan, WANG Hongyan, et al. Comparison and analysis of ray-tracking methods for multibeam sounding system[J]. Hydrographic Surveying and Charting, 2015, 35(2):48-51.
[18] SUN Dajun, LI Haipeng, ZHENG Cuie, et al. Sound velocity correction based on effective sound velocity for underwater acoustic positioning systems[J]. Applied Acoustics, 2019, 151:55-62.
[19] DING Jisheng, ZHOU Xinghua, TANG Qiuhua, et al. Ray-tracking of multibeam echosounder system based on equivalent sound velocity profile method[J]. Hydrographic Surveying and Charting, 2004, 24(6):27-29.
[20] ZHENG Gen, ZHAO Jianhu, ZHANG Hongmei. An adaptive SVP simplification based on area difference[J]. Journal of Geodesy and Geoinformation Science, 2019, 2(4):53-63. DOI:10.11947/j.JGGS.2019.0406.
[21] 罗才忠. 关于Dandelin定理的证明[J]. 数学通报, 2004(10):6, 1. LUO Caizhong. Proof of Dandelin's theorem[J]. Bulletin Des Sciences Mathematics, 2004(10):6, 1.
[22] 元增民. 圆锥曲线的曲率特性及其在刀具刃磨中的应用[J]. 工具技术, 2003, 37(3):33-35. YUAN Zengmin. Curvature character of conical section and its application on cutter's grinding[J]. Tool Engineering, 2003, 37(3):33-35.
[23] LURTON X. An introduction to underwater acoustics[M]. 2nd ed. Berlin:Springer-Verlag, 2010.
[24] 张雨浓, 李名鸣, 陈锦浩, 等. 龙格现象难题破解之系数与阶次双确定方法[J]. 计算机工程与应用, 2013, 49(3):44-49. ZHANG Yunong, LI Mingming, CHEN Jinhao, et al. Solving the problem of runge phenomenon by coefficients-and-orderdetermination method[J]. Computer Engineering and Applications, 2013, 49(3):44-49.
[25] 中华人民共和国交通运输部. JTS 131-2012水运工程测量规范[S]. 北京:人民交通出版社, 2012. Ministry of Transport of the People's Republic of China. JTS 131-2012 Specifications for port and waterway engineering survey[S]. Beijing:China Communications Publishing, 2012.

顾及传播曲面的多波束波束脚印高精度快速归位算法

High-precision and quick algorithm for multibeam sounding coordinates considering the propagation surface

RichHTML

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 7

编辑推荐

Metrics

本文评价

[1]	李凡, 金绍华, 边刚, 崔杨, 汤寓麟, 张永厚. 多波束测深误差改进模型构建与验证[J]. 测绘学报, 2022, 51(5): 762-771.
[2]	纪雪, 唐秋华, 陈义兰, 李杰, 丁德秋. 联合支持向量机和增强学习算法的多波束声学底质分类[J]. 测绘学报, 2021, 50(7): 972-981.
[3]	赵荻能, 吴自银, 李家彪, 周洁琼, 张田升, 刘洋, 朱超, 余威. CUBE曲面滤波参数联合优选关键技术及应用[J]. 测绘学报, 2019, 48(2): 245-255.
[4]	郑永新, 张红梅, 赵建虎. 二次CUBE滤波算法及在边坡乱石区测深数据处理中的应用[J]. 测绘学报, 2018, 47(11): 1549-1557.
[5]	张立华, 刘现鹏, 贾帅东, 史岩. 一种线面组合的水下地形匹配算法[J]. 测绘学报, 2018, 47(10): 1406-1414.
[6]	张志衡, 彭认灿, 黄文骞, 董箭, 刘国辉. 考虑自然邻点影响域的多波束测深数据趋势面滤波改进算法[J]. 测绘学报, 2018, 47(1): 35-47.
[7]	王海栋,柴洪洲,王敏. 多波束测深数据的抗差Kriging 拟合[J]. 测绘学报, 2011, 40(2): 238-242.