Multibeam position servo control method

Abstract

The invention discloses a multibeam position servo control method. A control system includes a controller, a driver, a motor, an internal encoder and an external encoder. The multibeam position servo control method comprises the following steps that the external encoder determines a reference angle of a multibeam energy transducer, calibrates and calculates a space relation of the multibeam energy transducer and an inertial measurement unit, and determines a transducer reference angle coordinate system; during an underwater operation process, the control system controls the multibeam system to accurately and flexibly reach an assignment position, the multibeam energy transducer has tiny angular deflection at an assignment angle due to the external factor influence of water resistance, and the control system records a deflected angle in real time and records a time stamp after synchronization with the GPS time; and according to the real-time defected angle and the synchronous time stamp, the wave beam point coordinates in the transducer deflection coordinate system are transferred to the transducer reference angle coordinate system. According to the invention, the multibeam energy transducer can be adjusted to an optimal angle for measurement when underwater landform is collected in different angles.

Description

technical field [0001] The invention relates to a multi-beam position servo control method. Background technique [0002] Accurate island (reef) and continental shelf submarine coastal topography is an important basis for determining my country's territorial sea and exclusive economic zone. The survey of submarine coastal topography and nearshore water topography in shallow water areas of remote islands and reefs has always been a difficult problem in the field of surveying and mapping at home and abroad. The ship-borne water shoreline integrated measurement system is a system that integrates multi-sensors such as multi-beam depth sounders, laser scanners, inertial measurement units, and satellite receivers. Through the collaborative collection of information by multiple sensors, it can simultaneously obtain the depth of the seabed in shallow water areas. Seaside topography and near-shore water topography data have realized the integrated data collection of water and underwa...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to propose a multi-beam position servo control method to solve the problem that the most ideal data cannot be obtained when the multi-beam transducer is installed at a fixed angle, so that the multi-beam transducer can rotate flexibly underwater, which is beneficial to The underwater terrain collected at different angles needs to be adjusted to the optimal angle for measurement; at the same time, the invention realizes the coordinate system conversion of the transducer at any angle by calibrating the reference angle coordinate system, so as to overcome the fact that the calibration task cannot be completed in real time after changing the transducer angle the disadvantages of

Images