Underwater topographic mapping and correcting method adopting AUV (autonomous underwater vehicle) equipped with multi-beam sonar

Abstract

The invention provides an underwater topographic mapping and correcting method adopting an AUV (autonomous underwater vehicle) equipped with multi-beam sonar. The method comprises steps as follows: multi-beam sonar and a depth gauge are started to collect data, and each ping is corrected according to sound velocity information collected by a sound velocity section plotter; an accurate relative position between two moments is determined with a topographic matching method, so that a final navigation error of an inertial navigation system is obtained; the inertial navigation system is simplified into a spring model, a relationship between each node error and an actual final navigation error is calculated according to a stiffness coefficient formula of a spring; weight of each time node relative to the final error is determined with a topography continuity method; a final moment error is distributed to each time node. The method is independent of GPS (global position system) information in a submarine topographical map establishing process, the multi-beam sonar can be carried by the AUV for completing submarine topographic mapping of a deeper sea area, the consistency of an established map is better, the time node error is small, and the submarine topographical map can be taken as a priori topography map to be applied to the underwater topographic matching navigation.

Description

technical field [0001] The invention relates to a seabed terrain surveying and mapping correction method carried by an AUV equipped with multi-beam sonar, and belongs to the technical field of surveying and mapping of seabed topography. Background technique [0002] With the development of multi-beam technology, the application of high-precision seabed topographic mapping and underwater robot terrain matching navigation technology becomes possible. Terrain matching for underwater robots relies on the construction of a priori map of the seabed. The current seabed map construction method usually scans the seabed terrain by ship-borne multi-beam sonar, but due to the limitation of the length of the multi-beam sonar survey line, it is impossible to complete the topographic mapping of deep sea areas. [0003] At present, the existing multi-beam submarine topographic mapping methods all need to rely on the communication with GPS satellites or shore-based units, which not only inc...

AI Technical Summary

Problems solved by technology

Due to the need to communicate with shore-based units, the effective working water depth of this method is about 100 meters, and it is impossible to realize topographic and geomorphic survey operations in deep water areas

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