Method for constructing three-dimensional terrain vector model based on multi-beam sonar submarine measurement data

A technology for measuring data and three-dimensional terrain, applied in 3D modeling, image data processing, instruments, etc.

Active Publication Date: 2013-03-13
HARBIN ENG UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to provide a method for constructing a three-dimensional terrain vector model based on multi-beam sonar seabed measurement data, so as to solve the shortcomings that multi-beam ranging sensors can only provide discrete terrain elevations and can only query the topographic parameters of measurement points

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  • Method for constructing three-dimensional terrain vector model based on multi-beam sonar submarine measurement data
  • Method for constructing three-dimensional terrain vector model based on multi-beam sonar submarine measurement data
  • Method for constructing three-dimensional terrain vector model based on multi-beam sonar submarine measurement data

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specific Embodiment approach 1

[0028] Combine below Figure 1 to Figure 8 This embodiment will be described in detail. This embodiment includes the following steps:

[0029] 1. Use unmanned autonomous underwater vehicles to use multi-beam sonar to collect the horizontal coordinates and corresponding elevation data of the sampling points of the seabed area terrain as the multi-beam sonar topographic measurement data points;

[0030] 2. Construct the Delaunay triangulation network; the specific process is as follows: for all the multi-beam sonar topographic survey data points, arrange them according to the horizontal coordinate X and the vertical coordinate Y; connect the two points with the smallest horizontal coordinate X value p 1 And p 2 , And take the direction of the point with the larger y-value of the ordinate to the point with the smaller y-value of the two points as the initial baseline direction;

[0031] For the two ends of the initial baseline p 1 And p 2 , According to its geographic coordinates p 1 (x...

specific Embodiment approach 2

[0114] Combine below Picture 9 with 10 This embodiment will be described in detail. In order to verify the rationality and feasibility of the method of the present invention, a set of original multi-beam sonar was obtained during the DVL (Doppler Velocity Log) assisted navigation sea trial test in Dalian on October 30, 2010 The topographic survey data is stored in the .837 file. This embodiment includes the following steps:

[0115] First use the Data_Output item in DeltaT_TCP, which comes with the multi-beam sonar software, to convert the obtained .837 file into a .83P file. The bytes used to express each Ping data in the .83P file are 0-1215, of which 256-424 bytes and 1122-1215 bytes are 0. This part of redundant information is eliminated. For 425 to 1121 bytes of data, an original multi-beam sonar topographic measurement data is extracted every 24 bytes. Then based on the aforementioned multi-beam sonar topographic measurement data P j Calculate the multi-beam sonar topog...

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Abstract

The invention discloses a method for constructing a three-dimensional terrain vector model based on multi-beam sonar submarine measurement data, and relates to a method for constructing the three-dimensional vector terrain model with measurement data of multi-beam sonar, which solves the defect that a multi-beam ranging sensor can only provide discrete terrain elevation and can only query terrain parameters at a measurement point. The method is used for non-structural submarine terrain modeling and vector data retrieval. The method comprises the following steps of: acquiring a horizontal coordinate of a sampling point of the terrain of a submarine area and corresponding elevation data; defining a data structure of a terrain triangular net model according to characteristics of multi-beam sonar terrain measurement data; and finally, establishing a Delaunay triangular net vector model according to elevation data of each point of the multi-beam sonar terrain measurement and the data structure of a Delaunay triangular net.

Description

Technical field [0001] The invention relates to a method for constructing a three-dimensional terrain model based on topographic measurement data, in particular to a method for constructing a three-dimensional vector terrain model based on measurement data of a multi-beam sonar. Background technique [0002] Due to the complex terrain of the marine environment, harsh sea conditions and unpredictable operation risks, it is impossible to directly complete the seabed topographic survey and operation by manual methods. In recent years, it is based on the acoustics of the unmanned autonomous underwater vehicle (AUV) (Autonomous Underwater Vehicle) and its payload. Sensors such as multi-beam sonar to perform submarine topography and landform measurement operations have become one of the safe and effective means and technology development trends in the field of marine survey and oceanographic survey. However, the dedicated software of the acoustic sensor can only provide users with a di...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/05
Inventor 王宏健傅桂霞边信黔徐健李娟陈兴华
Owner HARBIN ENG UNIV
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