Determination and Elimination Method of Delay Between Unmanned Ship Sounding Data and Positioning Data

Abstract

The invention discloses a method for measuring and eliminating the delay between unmanned ship depth data and positioning data, provides an anechoic pool for single-beam precision measurement, and installs the unmanned ship transducer on the support of the anechoic pool and horizontally Launch the beam, and at the same time fix the positioning module of the unmanned ship on the top of the bracket, and use the unmanned ship to locate the unique corresponding water depth value at different positions during the movement process, so as to realize the synchronization of positioning data and water depth data in the case of known accuracy and range Change, the present invention realizes a kind of measurement and elimination method of the delay between unmanned ship sounding data and positioning data, when carrying out GNSS data acquisition promptly sends time stamp signal to sounder, after recording the ping signal time of launching at this time , after the depth sounder completes the ping search and returns the depth data, it is packaged with the previously waiting positioning data, thereby eliminating the propagation time of the sound wave and the processing delay of the sounder data.

Description

technical field [0001] The invention relates to the fields of unmanned ship measurement, single beam, GNSS, data fusion, system delay, determination method and the like, in particular to a method for determining and eliminating the delay between unmanned ship bathymetric data and positioning data. Background technique [0002] The existing underwater topographic surveying methods are mainly the traditional surveying method based on water level minus water depth and the GPS-RTK underwater topographic surveying method without tidal water level. In traditional underwater topographic surveying, the instantaneous water level at the survey vessel is provided by data from water level stations located around the survey area. The water level at the water level station only reflects the water level at its location, and cannot accurately reflect the water level at the location of the surveying vessel. The water level model is usually designed based on the water level change law of the...

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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