Multi-beam low-grazing angle beam homing method based on laser point cloud constraints

Abstract

The invention discloses a multi-beam low-grazing angle beam homing method based on laser point cloud constraints, which belongs to the technical field of marine surveying and mapping. For the sound velocity value, use the empirical orthogonal function analysis method to construct the three-dimensional sound velocity field after shallow correction in the region, and complete the initial sound velocity correction of the bathymetry data; then use the feature points extracted from the same target laser point cloud as the outermost acoustic beam position constraints to obtain The coordinate deviation of the feature points after the initial sound velocity correction is used to calculate the initial rotation angle and initial amplification factor in the low-grazing layer, and then linearly weighted by the angle to interpolate the rotation angle and amplification factor corresponding to the remaining beams above 60 degrees, and finally realize the beam Geometry corrections. Through this method, the present invention realizes the accurate homing of the sound wave beam in the shallow seawater, and solves the problem of seamless splicing of the upper and lower point clouds on the water shoreline.

Description

technical field [0001] The invention relates to the technical field of marine surveying and mapping, in particular to a multi-beam low-grazing angle beam homing method based on laser point clouds as constraints. Background technique [0002] Seabed topography in shallow water areas such as remote islands, reefs, coasts, and tidal flats, and near-shore water topography surveys have always been a hot spot in the field of surveying and mapping at home and abroad. For this reason, sea-land integrated measurement methods represented by ship-borne laser technology and airborne radar technology have emerged one after another at home and abroad. Among them, the airborne radar technology is difficult to be applied in the actual measurement work due to the problems of difficulty in research and development, high price, and rapid energy loss of laser light propagating in seawater. The ship-borne laser technology equipped with multi-beam uses laser and sound waves to measure water and ...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above-mentioned technical problems existing in the prior art, the present invention proposes a multi-beam low-grazing angle beam homing method based on laser point cloud constraints, which is reasonably designed, overcomes the deficiencies of the prior art, and solves the The problem of seamless splicing of online and offline point clouds

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