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Kalman filtering-based multi-beam data sound velocity overall error correction method

A Kalman filter and overall error technology, applied in complex mathematical operations, radio wave measurement systems, instruments, etc., can solve the problems of difficult acquisition and realization of prior information, and achieve the effect of systematic error correction

Pending Publication Date: 2020-04-28
PLA DALIAN NAVAL ACADEMY
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Problems solved by technology

However, the difficulty in processing seabed topographic survey data is that it is difficult to obtain prior information on the seabed, and without prior information, classical algorithms such as Kalman filtering are difficult to implement in multi-beam bathymetric data processing

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  • Kalman filtering-based multi-beam data sound velocity overall error correction method
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  • Kalman filtering-based multi-beam data sound velocity overall error correction method

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Embodiment Construction

[0048] The multi-beam data speed of sound overall error correction method based on Kalman filtering of the present invention comprises the following steps, as Figure 7 Shown:

[0049] figure 1 Schematic diagram of the application of Kalman filter in strip splicing. A and B are two adjacent main survey lines, of which the gray part is the central beam, and its coverage area can represent the relatively real seabed terrain; C is the detection line, of which pink The central beam, which is partly a detection line, can also represent the relatively real bottom topography of the area.

[0050] Step 1: Extract the central beam data of the adjacent main survey line of the multi-beam strip bathymetry system as relatively real seabed data;

[0051] Step 2: Connect the measuring points parallel to the central beam bathymetry data of the adjacent strips to obtain the trend line expression, and use it as the prior information of the area to establish the terrain information expression,...

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Abstract

This Kalman filtering-based multi-beam data sound velocity overall error correction method comprises the following steps: firstly, extracting central beam data of adjacent strips with relatively highaccuracy of sounding data, and constructing a trend line in an approximate trend for the submarine topography of an area where each ping sounding point of multiple beams is located; secondly, obtaining the deviation of the observed value and the deviation of the constructed submarine topography trend line by utilizing the data of the crossed and overlapped part of the central wave beam of the detection line and the main detection line; and finally, correcting the sounding data by Kalman filtering by taking the constructed trend line as priori information in combination with the obtained deviation. According to the invention, the application limitation that a post-processing mode of a traditional multi-beam sounding system for adjustment from an error source is greatly influenced by factorssuch as sound velocity errors is overcome, and for submarine topographic distortion caused by sound velocity overall errors, the systematic errors of edge beams can be effectively corrected by utilizing Kalman filtering.

Description

technical field [0001] The invention relates to the technical field of marine surveying and mapping. Background technique [0002] Multi-beam bathymetry has now become the main method of hydrographic survey, realizing the full-coverage survey of seabed topography. Because the multi-beam bathymetry system has the advantages of wide coverage, high density and high efficiency, how to deal with the massive measurement data it generates is one of the hot research areas of hydrographic data processing. [0003] Multi-beam bathymetry data is greatly affected by the speed of sound in seawater. Although a variety of research algorithms can relatively improve the accuracy of sound velocity profile data, the accumulation of residual errors will have a greater impact on the accuracy of edge beam data. Data usage is not high. However, if only the central beam bathymetric data with high precision is extracted to express the seabed topography, some important topographic features containe...

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Application Information

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IPC IPC(8): G06F17/16G06F17/18G01S7/539
CPCG06F17/16G06F17/18G01S7/539
Inventor 彭认灿董箭肖元弼唐露露杨一曼
Owner PLA DALIAN NAVAL ACADEMY