Matching device for improving sonar sounding precision and high-precision sonar sounding method

Abstract

The invention relates to the field of depth detection, in particular to a matching device for improving sonar sounding precision and a high-precision sonar sounding method.The matching device comprises a rod body assembly, a connecting base, a mooring rope assembly, a rod body stabilizing piece, a mounting frame and a rotating holder; the rod body assembly is arranged in a vertical state, is fixedly connected with a surveying vessel through a connecting seat and is arranged at the side part of the surveying vessel, the sonar detector is mounted at the bottom of the rod body assembly, the antenna is mounted at the top of the rod body assembly, and the angle attitude instrument is mounted at the middle-upper section position of the rod body assembly and is close to the antenna. The distance between the angle attitude instrument and the sonar detector is more convenient, and the error of sonar measurement is reduced. The stability of the sonar detector in the dynamic sailing process is guaranteed through the cable assembly, shaking caused by scouring of ocean current to the sonar detector is reduced, and the stability of sonar measurement is improved. Multi-degree-of-freedom rotation of the sonar detector is realized through the rotating holder, and a vertical face scanning function can be realized on the premise of satisfying depth measurement.

Description

Technical Field

[0001] The present invention relates to the field of depth detection, and in particular to a matching device for improving the sonar depth measurement accuracy and a high-precision sonar depth measurement method. Background Art

[0002] The ocean underwater sonar detection system is composed of underwater sonar detectors, antennas, angle attitude indicators and deck control units. The common installation method is to use hemp ropes or ordinary extended connecting rods to tie or fix the sonar probe to one side of the ship and extend it underwater. However, ordinary extended connecting rods or rope bindings cannot be tightly combined with the hull. While the hull is shaking, the long connecting rod itself continues to shake, causing jitter errors in the detection results. The continuous impact of ocean currents often causes the sonar detector to tilt, deflect and shift. This distorts the positioning data and brings errors or even mistakes to the depth measurement work. In particular, ordinary connecting devices cannot guarantee the stability of the sonar probe under complex conditions such as high speed or high waves, which further affects the quality of underwater data and brings continuously increasing process errors to the depth measurement results.

[0003] During the measurement process, surveyors need to fix the antenna and angle attitude meter separately in the survey ship, and then measure the distance between the sonar detector, antenna and angle attitude meter in the same coordinate system in the XYZ directions to accurately calculate the sea terrain information and position information. Since the antenna and angle attitude meter are installed in the survey ship, the measurement accuracy of the distance between the sonar detector, antenna and angle attitude meter is difficult to guarantee, and the measurement difficulty increases with the increase of the survey ship's hull.

[0004] The angle attitude meter is used to record the attitude data of the sonar detector under navigation. The sonar transmitter located underwater shakes under the continuous erosion of the water flow. The position of the sonar transmitter relative to the angle attitude meter keeps changing, the attitude data error keeps accumulating, and the measurement error also increases accordingly. Summary of the invention

[0005] In order to solve the problems of the prior art, the present invention provides a supporting device for improving the sonar depth measurement accuracy, which is installed on the side of a survey ship and is used to install a sonar detector, an angle attitude meter and an antenna, including:

[0006] The rod assembly and the connecting seat are arranged in a vertical state and fixedly connected to the survey ship through the connecting seat and placed on the side of the survey ship. The sonar detector is installed at the bottom of the rod assembly, the antenna is installed at the top of the rod assembly, and the angle attitude meter is installed at the upper middle section of the rod assembly and close to the antenna.

[0007] A cable assembly, comprising at least three cables, one end of each cable being connected to the bottom of the rod assembly and the other end being connected to the side of the survey vessel;

[0008] A rod body stabilizing member, which is arranged on the rod body assembly and located above the connecting seat, and is used to connect the rod body assembly and the vertical railing on the survey ship;

[0009] A mounting frame, which is arranged on the rod body assembly and located above the rod body stabilizing member and is used to install an angle attitude meter;

[0010] The rotating platform is installed at the bottom of the rod body assembly, the sonar detector is installed on the rotating platform, and the sonar detector is installed on the rotating platform. The rotating platform provides at least two rotational degrees of freedom for the sonar detector.

[0011] Preferably, the connecting seat includes a horizontal connecting plate and a vertical connecting plate perpendicular to the horizontal connecting plate, the horizontal connecting plate is used to connect to the survey ship and is provided with a plurality of first mounting holes, and the vertical connecting plate is used to connect to the rod body assembly and is provided with a plurality of second mounting holes.

[0012] Preferably, the mounting frame is provided with a horizontal mounting plate and a vertical mounting plate perpendicular to the horizontal mounting plate, the horizontal mounting plate is used to install the angle attitude meter and is provided with a plurality of third mounting holes, and the vertical mounting plate is used to connect with the rod body assembly and is provided with a plurality of fourth mounting holes.

[0013] Preferably, the rod body stabilizer includes a first stabilizing block, a second stabilizing block, a double-headed screw and a clamp. The first stabilizing block and the second stabilizing block are both provided with threaded holes threadedly connected to the double-headed screw. The first stabilizing block and the second stabilizing block are both provided with U-shaped notches for cooperating with the rod body assembly or the vertical railings on the survey ship. In the installed state, the clamp is tightly clamped around the periphery of the rod body assembly and the vertical railings on the survey ship.

[0014] Preferably, the rod body assembly is provided with scale lines along its length direction.

[0015] Preferably, the rod body assembly is provided with a plurality of anti-rotation locking holes arranged along its length direction, and the vertical connecting plate and the vertical mounting plate are also provided with anti-rotation locking holes. The vertical connecting plate and the vertical mounting plate are both equipped with locking bolts that pass through the anti-rotation locking holes thereon and are connected to the anti-rotation locking holes on the rod body assembly.

[0016] Preferably, the rod assembly is a split rod structure, including an upper rod and a lower rod, the fixed rotating pan / tilt platform is installed at the bottom of the lower rod, and the top of the upper rod is provided with an antenna mounting rod for mounting the antenna.

[0017] Preferably, the cable assembly has three cables, and three anchor points for fixing one end of the cables are arranged on the side of the survey ship, two of which are on the same side of the survey ship, and the third is on the other side of the survey ship.

[0018] Preferably, the pan-tilt table has a vertical rotation component, a horizontal rotation component and a connecting piece, the vertical rotation component is connected to the bottom of the rod body component and has a vertical rotation axis coaxial with the rod body component, the horizontal rotation component is connected to the vertical rotation axis through the connecting piece and has a horizontal rotation axis perpendicular to the vertical rotation axis, the sonar detector is installed at the end of the horizontal rotation axis, the pan-tilt table is in an initialized state, the sonar detector is on the axis of the vertical rotation axis and the detection end of the sonar detector is vertically facing downward.

[0019] A high-precision sonar depth measurement method is implemented by a supporting device for improving the sonar depth measurement accuracy. The specific depth measurement method is as follows:

[0020] Step 1: Establish a carrier coordinate system (X, Y, Z) with the geometric center of the sonar detector as the origin of the coordinate system; establish a local coordinate system (X uu , Y uu , Z);

[0021] Step 2: Assume that the vertical angle between the moving direction of the survey ship and the plane of the sonar detector after the sonar detector beam is emitted is θ0, and the slant distance in the θ0 direction is r; the rotation angle of the pan-tilt table in the carrier coordinate system (X, Y, Z) is (λδσ); the survey ship in the local coordinate system (X uu , Y uu The attitude components in ( , Z ) are roll angle Rl, pitch angle Pt and heading angle Aw;

[0022] Step 3: In the carrier coordinate system (X, Y, Z), the coordinates of the depth point q to be measured are (xq, yq, zq); the local coordinate system (X uu , Y uu , Z), the coordinates of the depth point q to be measured are corrected to (△Xat, △Yat, △Zat) through dynamic eccentricity correction, and the center of the angle attitude instrument is in the local coordinate system (X uu , Y uu , Z) are (xa, ya, za);

[0023] Then, the expression of the precise coordinates (xuq, yuq, zuq) of the depth point q to be measured is:

[0024]

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. Install the antenna, angle attitude meter and sonar detector on the pole assembly from top to bottom, which is more convenient for the distance between the angle attitude meter and the sonar detector and reduces the error of sonar measurement.

[0027] 2. The rod stabilization assembly ensures the stability of the angle attitude indicator relative to the hull during dynamic navigation.

[0028] 3. The cable assembly ensures the stability of the sonar detector during dynamic navigation, reduces the shaking caused by the scouring of the sonar detector by the ocean current, and improves the stability of the sonar measurement.

[0029] 4. The multi-degree-of-freedom rotation of the sonar detector can be achieved through the rotating pan-tilt platform, and the facade scanning function can be realized under the premise of satisfying the depth measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The invention is a three-dimensional structural schematic diagram of a matching device for improving sonar depth measurement accuracy installed on a survey ship.

[0031] Figure 2 The invention is a side view of a matching device for improving sonar depth measurement accuracy installed on a survey ship.

[0032] Figure 3 The invention is a rear view of a matching device for improving sonar depth measurement accuracy installed on a survey ship.

[0033] Figure 4 The invention is a three-dimensional structural schematic diagram of a matching device for improving the sonar depth measurement accuracy.

[0034] Figure 5 The invention is a side view of a matching device for improving the sonar depth measurement accuracy.

[0035] Figure 6 The present invention is a schematic diagram of the exploded structure of a rod assembly in a matching device for improving sonar depth measurement accuracy.

[0036] Figure 7 The invention discloses a three-dimensional structural schematic diagram of a connecting seat in a matching device for improving sonar depth measurement accuracy.

[0037] Figure 8 The invention discloses a stereoscopic structural diagram of a mounting frame in a matching device for improving sonar depth measurement accuracy.

[0038] Fig. 9 The invention discloses a stereoscopic structural diagram of a rotating pan-tilt platform in a matching device for improving the sonar depth measurement accuracy.

[0039] The numbers in the figure are: 1, survey ship; 1a, vertical railing; 2, sonar detector; 3, angle attitude meter; 4, antenna; 5, rod body assembly; 5a, upper rod body, 5b, lower rod body; 5b1, connecting plate, 5b2, connecting ring; 5c, antenna mounting rod; 6, connecting seat; 6a, horizontal connecting plate; 6a1, first mounting hole; 6a2, avoidance gap; 6b, vertical connecting plate; 6b1, second mounting hole; 7, cable; 8, rod body stabilization assembly; 8a, first stabilization block, 8b, second stabilization block; 8c, double-headed screw; 8d, clamp; 9, mounting frame; 9a, horizontal mounting plate; 9a1, third mounting hole; 9b, vertical mounting plate; 9b1, fourth mounting hole; 10, rotating pan / tilt; 10a, vertical rotation assembly; 10b, horizontal rotation assembly; 10c, connecting piece; 11, U-shaped screw. DETAILED DESCRIPTION

[0040] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0041] Reference Figures 1 to 4 and Fig. 9 The device shown is a supporting device for improving the accuracy of sonar sounding, which is installed on the side of a survey ship 1 and is used to install a sonar detector 2, an angle attitude meter 3 and an antenna 4. It includes a rod assembly 5, a connecting seat 6, a rope assembly, a rod stabilizer, a mounting frame 9 and a rotating pan-tilt head 10.

[0042] The rod assembly 5 is arranged in a vertical state and is fixedly connected to the survey ship 1 through the connection seat 6 and is placed on the side of the survey ship 1. The sonar detector 2 is installed at the bottom of the rod assembly 5, the antenna 4 is installed at the top of the rod assembly 5, and the angle attitude meter 3 is installed in the upper middle section of the rod assembly 5 and close to the antenna 4. Figure 2 and Figure 3 As shown, unlike the prior art in which the angle attitude meter 3 is set at the center of gravity of the survey ship 1 (i.e., inside the cabin), the angle attitude meter 3 is directly installed on the rod assembly 5 and is located above the sonar measuring instrument, which makes it convenient for technicians to directly measure the distance between the angle attitude meter 3 and the sonar measuring instrument, and the measurement accuracy will not change due to the size of the survey ship 1 hull.

[0043] like Figure 2 and Figure 3As shown, the cable assembly has at least three cables, one end of all cables 7 is connected to the bottom of the rod assembly 5, and the other end is connected to the side of the survey ship 1. Since the sonar measuring instrument is installed at the bottom of the rod assembly 5 and is placed in the water when working, the sonar measuring instrument underwater will be washed by a large water flow (ocean current) during the navigation of the survey ship 1, which will cause the shaking of the lower rod body 5b, thereby causing the position of the sonar measuring instrument relative to the angle attitude meter 3 to change, causing distortion of the measurement data. By connecting the bottom of the rod assembly 5 to the side of the ship through at least three cables 7, the shaking of the lower rod body 5b during dynamic navigation measurement is greatly reduced, effectively avoiding distortion of the measurement data.

[0044] like Figure 4 As shown, the rod stabilizer is arranged on the rod assembly 5 and is located above the connecting seat 6, and is used to connect the rod assembly 5 and the vertical railing 1a on the survey ship 1. The rod stabilizer cooperates with the connecting seat 6 to form a two-point fixed structure between the rod assembly 5 and the survey ship 1, because the simple connecting seat 6 can only realize the connection between the rod assembly 5 and the survey ship 1, and cannot ensure the stability of the connection between the rod assembly 5 and the survey ship 1. Because the antenna 4 is installed on the top of the rod assembly 5, in order to ensure the stability of the wireless signal, the rod assembly 5 is relatively long. If the rod assembly 5 and the survey ship 1 are only connected through the connecting seat 6, the longer rod assembly 5 will produce a large shake during the navigation process, that is, the part of the rod assembly 5 located above the connecting seat 6 will produce a large swing due to the swing of the survey ship 1 during the navigation process, the effect of wind force, etc., and then cause the angle attitude meter 3 installed on the rod assembly 5 to shake, which will lead to errors in the measurement data. The number of rod stabilizers installed can be increased according to actual needs, Figure 4 Two rod stabilizers are installed in the middle.

[0045] More specifically, the rod body stabilizer includes a first stabilizing block 8a, a second stabilizing block 8b, a double-headed screw 8c and a clamp 8d. The first stabilizing block 8a and the second stabilizing block 8b are both provided with threaded holes threadedly connected to the double-headed screw 8c. The first stabilizing block 8a and the second stabilizing block 8b are both provided with U-shaped notches for cooperating with the rod body assembly 5 or the vertical railing 1a on the survey ship 1. In the installed state, the clamp 8d is tightly clamped around the periphery of the rod body assembly 5 and the vertical railing 1a on the survey ship 1.

[0046] During the installation process, the first stabilizing block 8a and the second stabilizing block 8b are firstly threadedly connected to the two ends of the double-headed screw 8c respectively, and the distance between the first stabilizing block 8a and the second stabilizing block 8b is adjusted by rotating the first stabilizing block 8a or the second stabilizing block 8b relative to the double-headed screw 8c, and then the U-shaped notches of the first stabilizing block 8a and the second stabilizing block 8b are respectively matched with the rod body assembly 5 and the vertical railing 1a on the survey ship 1, and finally the rod body and the vertical railing 1a on the survey ship 1 are fastened by the clamp 8d.

[0047] like Figure 4 and Figure 8 As shown, the mounting bracket 9 is disposed on the pole assembly 5 and is located above the pole stabilizer and is used to mount the angle attitude meter 3 .

[0048] More specifically, the mounting frame 9 is provided with a horizontal mounting plate 9a and a vertical mounting plate 9b perpendicular to the horizontal mounting plate 9a. The horizontal mounting plate 9a is used to install the angle attitude meter 3 and is provided with a plurality of third mounting holes 9a1. The vertical mounting plate 9b is used to connect with the rod body assembly 5 and is provided with a plurality of fourth mounting holes 9b1.

[0049] like Figure 4 As shown, the rotating platform 10 is installed at the bottom of the rod assembly 5, the sonar detector 2 is installed on the rotating platform 10, and the sonar detector 2 is installed on the rotating platform 10, and the rotating platform 10 provides at least two rotational degrees of freedom for the sonar detector 2. Specifically, the rotating platform 10 has a vertical rotation component 10a, a horizontal rotation component 10b and a connecting member 10c, the vertical rotation component 10a is connected to the bottom of the rod assembly 5 and has a vertical rotation axis coaxial with the rod assembly 5, the horizontal rotation component 10b is connected to the vertical rotation axis through the connecting member 10c and has a horizontal rotation axis perpendicular to the vertical rotation axis, the sonar detector 2 is installed at the end of the horizontal rotation axis, the rotating platform 10 is in the initialization state, the sonar detector 2 is on the axis of the vertical rotation axis and the detection end of the sonar detector 2 is vertically facing downward.

[0050] like Figure 4 and Figure 7 As shown, the connecting seat 6 includes a horizontal connecting plate 6a and a vertical connecting plate 6b perpendicular to the horizontal connecting plate 6a. The horizontal connecting plate 6a is used to connect with the survey ship 1 and is provided with a plurality of first mounting holes 6a1. The vertical connecting plate 6b is used to connect with the rod body assembly 5 and is provided with a plurality of second mounting holes 6b1.

[0051] like Figure 4 , Figure 5 , Figure 7 and Figure 8 As shown, the horizontal connecting plate 6a is provided with an avoidance notch 6a2 for avoiding the vertical railing 1a on the survey ship 1. The vertical connecting plate 6b is connected to the rod assembly 5 by a U-bolt. The vertical mounting plate 9b is connected to the rod assembly 5 by a U-bolt. The vertical mounting plate 9b is arranged perpendicularly to the horizontal mounting plate 9a and a reinforcing rib or a reinforcing side plate is arranged between the two. The vertical mounting plate 9b is arranged perpendicularly to the horizontal mounting plate 9a and a reinforcing rib or a reinforcing side plate is arranged between the two.

[0052] The rod assembly 5 is provided with scale lines along its length. Since the rod assembly 5 is provided with scale lines throughout, the distance between the position where the mounting bracket 9 is installed on the rod assembly 5 and the bottom of the rod assembly 5 can be converted into the distance between the angle attitude meter 3 and the sonar measuring instrument. Since the scale lines are provided, the distance between the angle attitude meter 3 and the sonar measuring instrument can be easily read and converted.

[0053] like Figure 5 and Figure 6 As shown, the rod body assembly 5 is provided with a plurality of anti-rotation locking holes arranged along its length direction, and the vertical connecting plate 6b and the vertical mounting plate 9b are also provided with anti-rotation locking holes. The vertical connecting plate 6b and the vertical mounting plate 9b are both installed with locking bolts passing through the anti-rotation locking holes thereon and connected with the anti-rotation locking holes on the rod body assembly 5. The anti-rotation locking holes on the rod body assembly 5 are provided with internal threads matching with the locking bolts, and the anti-rotation locking holes of the vertical connecting plate 6b are smooth holes or threaded holes.

[0054] During the dynamic navigation measurement, since the rotating pan-tilt platform 10 is installed at the bottom of the rod assembly 5, the rod assembly 5 may rotate at a small angle around its axis under the action of water flow. Therefore, by setting an anti-rotation locking hole and retracting the locking bolt, the rod assembly 5 is prevented from rotating relative to the connecting seat 6, and the rod assembly 5 can be effectively prevented from slipping in the up-and-down direction relative to the connecting seat 6. Similarly, the relative rotation and relative movement of the mounting frame 9 relative to the rod assembly 5 can also be prevented, and the position change between the angle attitude meter 3 and the sonar detector 2 can be prevented.

[0055] like Figure 6 As shown, the rod assembly 5 is a split rod structure, including an upper rod 5a and a lower rod 5b, the fixed rotating platform 10 is installed at the bottom of the lower rod 5b, and the top of the upper rod 5a is provided with an antenna 4 mounting rod 5c for mounting the antenna 4. More specifically, the bottom of the lower rod 5b is provided with a connecting plate 5b1 for mounting the rotating platform 10, and the lower rod 5b is also provided with a plurality of connecting rings 5b2 for connecting the cable 7.

[0056] like Figure 2 and Figure 3 As shown, the cable assembly has three cables 7, and three anchor points for fixing one end of the cables 7 are set on the side of the survey ship 1, two of which are on the same side of the survey ship 1, and the third is on the other side of the survey ship 1. Specifically, one end of the cable 7 is connected to the connecting ring 5b2 on the lower rod body 5b, and the other end is connected to the anchor point on the side of the ship. In order to ensure that the cable 7 is in a taut state, a fine-tuning bolt is set between the cable 7 and the anchor point.

[0057] A high-precision sonar depth measurement method is implemented by a matching device for improving the sonar depth measurement accuracy. The specific depth measurement method is as follows:

[0058] Step 1: Establish a carrier coordinate system (X, Y, Z) with the geometric center of the sonar detector 2 as the origin of the coordinate system; establish a local coordinate system (X, Y, Z) with the survey ship 1 as the center uu , Y uu , Z).

[0059] Step 2: Assume that the vertical angle between the moving direction of the survey ship 1 and the plane of the sonar detector 2 after the beam of the sonar detector 2 is θ0, and the slant distance in the θ0 direction is r; the rotation angle of the pan-tilt platform 10 in the carrier coordinate system (X, Y, Z) is (λδσ); the survey ship 1 in the local coordinate system (X uu , Y uu , Z) are the roll angle Rl, pitch angle Pt and heading angle Aw respectively.

[0060] Step 3: In the carrier coordinate system (X, Y, Z), the coordinates of the depth point q to be measured are (xq, yq, zq); the local coordinate system (X uu , Y uu , Z), the coordinates of the depth point q to be measured are corrected to (△Xat, △Yat, △Zat) by dynamic eccentricity correction, and the center of the angle attitude instrument 3 is in the local coordinate system (X uu , Y uu , Z) are (xa, ya, za); then, the expression of the precise coordinates (xuq, yuq, zuq) of the depth point q to be measured is:

[0061]

[0062] The above embodiments only express one or several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A supporting device for improving the sonar depth measurement accuracy, installed on the side of a survey ship (1), used for installing a sonar detector (2), an angle attitude meter (3) and an antenna (4), characterized in that: include: A rod assembly (5) and a connecting seat (6), wherein the rod assembly (5) is arranged in a vertical state and is fixedly connected to the survey vessel (1) via the connecting seat (6) and is placed on the side of the survey vessel (1), the sonar detector (2) is installed at the bottom of the rod assembly (5), the antenna (4) is installed at the top of the rod assembly (5), and the angle attitude meter (3) is installed at the middle and upper part of the rod assembly (5) and close to the antenna (4); A cable assembly, comprising at least three cables, one end of each cable (7) being connected to the bottom of the rod assembly (5) and the other end being connected to the side of the survey vessel (1); A rod body stabilizing member, arranged on the rod body assembly (5) and located above the connecting seat (6), and used for connecting the rod body assembly (5) and a vertical railing (1a) on the survey vessel (1); A mounting frame (9) is arranged on the rod assembly (5) and is located above the rod stabilizing member and is used to mount the angle attitude meter (3); The rotating platform (10) is mounted at the bottom of the rod assembly (5), the sonar detector (2) is mounted on the rotating platform (10), and the sonar detector (2) is mounted on the rotating platform (10), and the rotating platform (10) provides at least two rotational degrees of freedom for the sonar detector (2).

2. The device for improving sonar depth measurement accuracy according to claim 1, characterized in that: The connecting seat (6) comprises a horizontal connecting plate (6a) and a vertical connecting plate (6b) perpendicular to the horizontal connecting plate (6a); the horizontal connecting plate (6a) is used to connect to the survey ship (1) and is provided with a plurality of first mounting holes (6a1); and the vertical connecting plate (6b) is used to connect to the rod body assembly (5) and is provided with a plurality of second mounting holes (6b1).

3. The device for improving sonar depth measurement accuracy according to claim 2, characterized in that: The mounting frame (9) is provided with a horizontal mounting plate (9a) and a vertical mounting plate (9b) perpendicular to the horizontal mounting plate (9a); the horizontal mounting plate (9a) is used for mounting the angle attitude meter (3) and is provided with a plurality of third mounting holes (9a1); and the vertical mounting plate (9b) is used for connecting with the rod body assembly (5) and is provided with a plurality of fourth mounting holes (9b1).

4. A device for improving sonar depth measurement accuracy according to claim 1 or 2, characterized in that: The rod body stabilizing member comprises a first stabilizing block (8a), a second stabilizing block (8b), a double-headed screw (8c) and a clamp (8d); the first stabilizing block (8a) and the second stabilizing block (8b) are both provided with threaded holes threadedly connected to the double-headed screw (8c); the first stabilizing block (8a) and the second stabilizing block (8b) are both provided with U-shaped notches for matching with the rod body assembly (5) or the vertical railing (1a) on the survey ship (1); in the installed state, the clamp (8d) clamps tightly around the periphery of the rod body assembly (5) and the vertical railing (1a) on the survey ship (1).

5. The device for improving sonar depth measurement accuracy according to claim 3, characterized in that: The rod body assembly (5) is provided with scale lines along its length direction.

6. The device for improving sonar depth measurement accuracy according to claim 3, characterized in that: The rod body assembly (5) is provided with a plurality of anti-rotation locking holes arranged along its length direction, and the vertical connecting plate (6b) and the vertical mounting plate (9b) are also provided with anti-rotation locking holes. The vertical connecting plate (6b) and the vertical mounting plate (9b) are both provided with locking bolts passing through the anti-rotation locking holes thereon and connected with the anti-rotation locking holes on the rod body assembly (5).

7. A device for improving sonar depth measurement accuracy according to claim 5 or 6, characterized in that: The rod assembly (5) is a split rod structure, comprising an upper rod (5a) and a lower rod (5b), wherein a fixed rotating platform (10) is mounted at the bottom of the lower rod (5b), and an antenna (4) mounting rod (5c) for mounting an antenna (4) is provided at the top of the upper rod (5a).

8. The device for improving sonar depth measurement accuracy according to claim 1, characterized in that: The cable assembly comprises three cables (7), and three anchor points for fixing one end of the cables (7) are arranged on the side of the survey ship (1), two of which are on the same side of the survey ship (1), and the third anchor point is on the other side of the survey ship (1).

9. The device for improving sonar depth measurement accuracy according to claim 1, characterized in that: The rotating platform (10) comprises a vertical rotating assembly (10a), a horizontal rotating assembly (10b) and a connecting piece (10c); the vertical rotating assembly (10a) is connected to the bottom of the rod body assembly (5) and has a vertical rotating axis coaxial with the rod body assembly (5); the horizontal rotating assembly (10b) is connected to the vertical rotating axis via the connecting piece (10c) and has a horizontal rotating axis perpendicular to the vertical rotating axis; the sonar detector (2) is mounted at the end of the horizontal rotating axis; the rotating platform (10) is in an initialization state, the sonar detector (2) is on the axis of the vertical rotating axis and the detection end of the sonar detector (2) is facing vertically downward.

10. A high-precision sonar depth measurement method, characterized in that: By implementing the supporting device for improving the sonar depth measurement accuracy as claimed in claim 1, the specific depth measurement method is as follows: Step 1: Establish a carrier coordinate system (X, Y, Z) with the geometric center of the sonar detector (2) as the origin of the coordinate system; establish a local coordinate system (X, Y, Z) with the survey ship (1) as the center uu , Y uu , Z); Step 2: Assume that the vertical angle between the moving direction of the measuring vessel (1) and the plane of the sonar detector (2) after the beam of the sonar detector (2) is emitted is θ0, and the slant distance in the θ0 direction is r; the rotation angle of the rotating platform (10) in the carrier coordinate system (X, Y, Z) is (λδσ); the measuring vessel (1) in the local coordinate system (X uu , Y uu The attitude components in ( , Z ) are roll angle Rl, pitch angle Pt and heading angle Aw; Step 3: In the carrier coordinate system (X, Y, Z), the coordinates of the depth point q to be measured are (xq, yq, zq); the local coordinate system (X uu , Y uu , Z), the coordinates of the depth point q to be measured are corrected to (△Xat, △Yat, △Zat) by dynamic eccentricity correction, and the center of the angle attitude instrument (3) is in the local coordinate system (X uu , Y uu , Z) are (xa, ya, za); Then, the expression of the precise coordinates (xuq, yuq, zuq) of the depth point q to be measured is:

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