Method for measuring and eliminating delay between sounding data and positioning data of unmanned ship

Abstract

The invention discloses a method for measuring and eliminating delay between sounding data and positioning data of an unmanned ship. The method comprises the steps: providing an anechoic pool for single-beam precision measurement, installing a transducer of the unmanned ship on a support of the anechoic pool, transversely transmitting beams, and fixing a positioning module of the unmanned ship at the top of the support. Unique corresponding water depth values are positioned for different positions in the movement process of the unmanned ship, and synchronous change of the positioning data and the water depth data under the condition that the precision and the range are known is achieved. The invention realizesthe method for measuring and eliminating delay between sounding data and positioning data of the unmanned ship; and when GNSS data acquisition is carried out, a timestamp signal is transmitted to a depth finder, and after the time of transmitting a ping signal at the moment is recorded, and after the depth finder completes the ping search and returns depth data, packaging with previous waiting positioning data is carried out, so that the propagation time of sound waves and the processing delay of the data of the depth finder are eliminated.

Description

technical field [0001] The invention relates to the fields of unmanned ship measurement, single beam, GNSS, data fusion, system delay, measurement method, etc., and specifically relates to a method for measuring and eliminating the delay between unmanned ship sounding data and positioning data. Background technique [0002] The existing underwater topographic measurement methods currently used are mainly the traditional measurement method based on water level minus water depth and the GPS-RTK underwater topographic measurement method without tide level. In traditional underwater topographic surveying, the instantaneous water level at the survey ship is provided by the data of water level stations located around the survey area. The water level at the water level station only reflects the water level at its location, but cannot accurately reflect the water level at the location of the measuring ship. The water level model is usually designed based on the water level change l...

AI Technical Summary

Problems solved by technology

Although the cost of this solution is low, the processing depends on the accuracy of the post-processing algorithm, and the actual operation is inefficient, and the time delay varies due to underwater terrain changes, and the estimated system delay is usually a single fixed value or depends on Due to the adaptability of the algorithm to the environment, it is difficult to meet the complex and changeable underwater terrain requirements, so the reliability is not high in waters with large terrain changes

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