Field real-time calibration method for shipborne marine and submarine integrated measurement system

A measurement system, above-water and underwater technology, applied in the direction of measuring devices, instruments, etc., can solve problems such as unsatisfactory operating conditions

Active Publication Date: 2016-03-30
SHANDONG UNIV OF SCI & TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

In addition, when the ship-borne multi-sensor system is used for offshore operations, sometimes the operating conditions do not meet the overall calibration requirements for the above-water and underwater measurement data. Therefore, it is necessary to study the overall calibration method of the "ship-borne integrated above-water and underwater measurement system" and implementation to ensure integrated measurement accuracy

Method used

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  • Field real-time calibration method for shipborne marine and submarine integrated measurement system
  • Field real-time calibration method for shipborne marine and submarine integrated measurement system
  • Field real-time calibration method for shipborne marine and submarine integrated measurement system

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Embodiment Construction

[0045] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0046] Such as figure 1 As shown, the designed rigid connection calibration target, in which: the diameter of the upper three spheres is a, the diameter of the lower three spheres is b, and the interval between the spheres is c (the above design dimensions are adjusted according to actual needs, and The number of balls can also be added appropriately according to the situation. The connecting rods between the balls are designed with threads, which can be screwed into the balls during use and can be disassembled after use. Once the connecting rods are used to connect the balls, the overall calibration target is used as the rigidity connected objects).

[0047] At first introduce the required theoretical basis of the present invention:

[0048] 1. Spherical Fitting Theory

[0049] According to the spherical formula

[0050] (x-a) 2 +(y-b) 2 ...

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Abstract

The invention discloses a field real-time calibration method for a shipborne marine and submarine integrated measurement system and belongs to the technical field of marine surveying and mapping. The method is implemented on the basis of acquisition of overall coarse calibration parameters of the shipborne overwater and underwater integrated measurement system and fine inspection parameters of a laser scanner. The measurement data of the laser scanner after fine inspection can be taken as accurate space point cloud data of a marine calibration target object, multi-beam measurement data and measurement data of the laser scanner are compared on this basis, the offset and the rotation angle of a multi-beam depth finder coordinate system obtained through coarse calibration relative to an inertial navigation system coordinate system are taken as initial values, accurate corrected values of the offset and the rotation angle of the multi-beam depth finder coordinate system relative to the inertial navigation system coordinate system are acquired, and overall correction of the measurement system is realized. According to the method, the laser scanner and a multi-beam depth finder are integrated, data of submarine topography and nearshore overwater topography can be acquired simultaneously, and the shipborne multi-sensor measurement system can be corrected in real time in the field.

Description

technical field [0001] The invention relates to the technical field of marine surveying and mapping, in particular to a field real-time calibration method for a ship-borne integrated above-water and underwater measurement system. Background technique [0002] The 3D laser scanning system can quickly obtain a large amount of topographic point cloud data above the water surface, and the multi-beam depth sounder can quickly obtain large-area topographic point cloud data on the seabed. The "Measuring System" can simultaneously acquire seabed topography and near-shore water topographic data, and solve the topographic measurement problems of near-shore coastal zones and tidal flats. The overall calibration of the "ship-borne integrated water and underwater measurement system" is an important aspect to ensure the measurement accuracy. In addition, when the ship-borne multi-sensor system is used for offshore operations, sometimes the operating conditions do not meet the overall cal...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/00G01C25/005
Inventor 卢秀山冯成凯石波阳凡林景冬马跃刘振李耀宗
Owner SHANDONG UNIV OF SCI & TECH
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