A multi-beam sounding method and system based on roll stabilization strategy

Abstract

The present invention proposes a multi-beam sounding method and system based on a roll stabilization strategy. The method includes: step 101) performing receiving beamforming according to the phase control angle β after roll stabilization; step 102) using Estimate the echo arrival time T0 from the amplitude and phase information of the signal; step 103) determine the synthetic beam pointing angle γ at the moment of echo arrival according to the transmitting surface equation and the receiving surface equation; step 104) use the synthetic beam pointing angle γ as the initial sound ray The incident angle α0, using the echo arrival time T0 for sound velocity correction and coordinate homing. Described step 101) further comprises: step 101-1) utilizes the relative attitude yaw pitch P of receiving array during the work of sensor record system, roll R; Step 101-2) calculates receiving phase control angle βn=according to roll R θn+R, and perform time-shifted beamforming according to the calculated phase control angle.

Description

technical field [0001] The invention belongs to the field of marine technology, and relates to a multi-beam sounding method and system based on a roll stabilization strategy. Background technique [0002] Multi-beam bathymetry technology is a seabed topographic measurement technology with high efficiency, high precision and high resolution. Value method or split aperture phase zero-crossing method to estimate the echo arrival time, and finally use time and direction to calculate depth value and coordinate positioning. A conventional multi-beam sonar transducer array is a horizontal T-shaped array, the transmitting array is installed directly below 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 attitude of the receiving array changes continuously with the attitude of the hull during the working of the system. [0003] The change of carrier ...

AI Technical Summary

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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