Multibeam depth measuring method based on roll stabilization strategy and system thereof

Abstract

The invention provides a multibeam depth measuring method based on a roll stabilization strategy and a system thereof. The multibeam depth measuring method comprises the steps of: a step 101), forming a receiving wavebeam according to a phase control angle beta after rolling stabilization; a step 102) estimating an echo arriving time T0 by means of amplitude phase information of a signal after wave beam formation; a step 103) determining a synthetic wavebeam angle-of-spread gamma of an echo arriving time according to an emitting surface equation and a receiving surface equation; and a step 104) using the synthetic wavebeam angle-of-spread gamma as an initial incidence angle alpha0 of a sound ray, and utilizing echo time T0 for performing sound speed correction and coordinate homing. The step 101) further comprises steps of: step 101-1) receiving a relative gesture yawing phi, a pitch P and a roll R through a sensor in system operation period; and a step 101-2) operating a receiving phase control angle betan=thetan+R according to the roll angle R, and performing time shift wavebeam forming according to the obtained phase control angle.

Description

Technical field [0001] The invention belongs to the field of marine technology, and relates to a multi-beam depth sounding method and system based on a roll stabilization strategy. Background technique [0002] Multi-beam sounding technology is a high-efficiency, high-precision and high-resolution seafloor topography measurement technology. Its basic sounding principle is to obtain the echo signal in that direction through the beam forming method for a given receiving beam direction. The method or split aperture phase zero crossing method estimates the echo arrival time, and finally uses the time and direction to calculate the depth value and coordinate positioning. A conventional multi-beam sonar transducer array is a horizontal T-shaped array, the transmitting array is installed directly under the ship along the keel direction, and the receiving array is perpendicular to the transmitting array. Since the multi-beam system is fixedly installed on the bottom of the ship, the att...

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Problems solved by technology

However, since the array is fixedly installed on the bottom of the ship, the beam stabilization method of mechanically adjusting the attitude of the carrier is not feasible.

In addition, referring to the content of the foreign EM120 technical manual on the attitude of the carrier, the multi-beam system usually uses the adjustment of the phase control angle of the receiving beam to stabilize the attitude, but there is no specific algorithm publicly available

The attitude stabilization of the receiving beam in the prior art adjusts the beam phasing angle according to the real-time attitude, and maintains the beam pointing angle γ n is a fixed value, but ideal beam stabilization cannot be achieved due to factors such as attitude measurement

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