Side-scan sonar system based on unmanned ship and side-scan sonar equipment data processing method

Abstract

The invention provides a side-scan sonar system based on an unmanned ship and a side-scan sonar equipment data processing method, and belongs to the technical field of ships. The system comprises a shipborne side subsystem and a shore side subsystem; the shipborne side subsystem comprises an unmanned ship, and unmanned ship control equipment, side scan sonar equipment, an auxiliary sensor and a shipborne data processing server which are carried on the unmanned ship; the shore side subsystem is used for sending the sailing survey line to the shipborne side subsystem; the unmanned ship control equipment is used for controlling the unmanned ship to travel according to the navigation measuring line; the side-scan sonar equipment is used for carrying out seabed target measurement to obtain collected data; the auxiliary sensor is used for carrying out positioning and attitude acquisition on the unmanned ship to obtain positioning and attitude information; and the shipborne data processing server is used for carrying out seabed target coordinate conversion according to the positioning and attitude information, converting relative coordinates of the seabed target relative to the side-scan sonar equipment in the acquired data into coordinates in a world coordinate system and then storing the coordinates.

Description

technical field [0001] The present disclosure relates to the technical field of ships, in particular to a side-scan sonar system based on an unmanned ship and a data processing method for side-scan sonar equipment. Background technique [0002] Side-scan sonar technology uses the principle of echo sounding to detect seabed landforms and underwater objects, and can obtain a continuous two-dimensional seabed sound map with a certain width. Using side-scan sonar to measure the topography and landforms of some important ports, waterways, and sea areas, we can get Data such as seabed sediment images, landform erosion changes, and structural displacement evolution provide data support for activities such as seabed salvage, channel dredging, and maintenance of underwater parts of infrastructure facilities. [0003] When the side-scan sonar technology locates the submarine target, it generally takes the Global Positioning System (GPS) coordinates of the transceiver transducer center...

AI Technical Summary

Problems solved by technology

[0003] When the side-scan sonar technology locates the submarine target, it generally takes the Global Positioning System (GPS) coordinates of the transceiver transducer center as the origin, and calculates the coordinate position of the submarine target according to the time difference between the side-scan sonar sending and receiving signals, but there is no Affected by the wind and waves during the working process, the manned ship will change the hull attitude such as pitch, roll, and yaw. Each attitude change will affect the scanning range of the side scan sonar, thereby affecting the positioning accuracy of the seabed target

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