The invention provides an
underwater surveying and
mapping system and method based on a rotary scanning type three-dimensional
imaging sonar. The surveying and
mapping system comprises a water surface moving platform (unmanned ship), an
underwater scanning unit (three-dimensional
imaging sonar), a
pose and coordinate measuring unit (RTK / IMU), a
data processing and converting unit and a
remote display and
control unit. The surveying and mapping method specifically comprises the following steps: controlling the unmanned ship to move to the center of each sub-region; a
sonar is started to plot the sub-regions to obtain
underwater three-dimensional point clouds of the underwater
terrain and the underwater creatures; based on the position information and the attitude information of the underwater surveying and
mapping system, the coordinates of the underwater three-dimensional
point cloud are converted into an east-north-
sky rectangular coordinate
system, and the final coordinates of the underwater three-dimensional
point cloud are obtained; and on the basis of the underwater three-dimensional point clouds of the sub-regions, a complete underwater three-dimensional
point cloud of the region to be measured is generated through fusion. The method is suitable for underwater topographic surveying and mapping and dynamic target monitoring of rivers, lakes and offshore waters, the measurement efficiency is high,
data processing is convenient, and the method does not depend on platform tracks and measuring lines.