A survey line layout method for full coverage scanning of submarine cable routes

Abstract

This invention relates to the field of submarine cable route surveying technology, and discloses a method for laying out survey lines for full-coverage submarine cable route surveying. The method includes the following steps: establishing a measurement coordinate system, a cable route coordinate system, and their inter-coordinate relationships; calculating the theoretical spacing and theoretical laying direction of the cable survey lines; calculating the actual spacing D and actual laying direction of the cable survey lines; comparing the theoretical spacing D0 with the actual spacing D; laying out the cable survey lines on the cable route coordinate system based on the comparison results; establishing a survey line object set; judging the distance between the boundary of the survey area in the cable route coordinate system and the nearest survey line; laying out the survey lines based on the judgment results; converting the coordinates of the cable survey lines on the cable route coordinate system into coordinates in the measurement coordinate system according to the established relationship between the cable route coordinate system and the measurement coordinate system; and drawing a schematic diagram. This invention features improved uniformity of the survey point cloud density, stability of accuracy, and guaranteed survey quality.

Description

Technical Field

[0001] The invention relates to the technical field of submarine cable route survey, and in particular to a survey line laying method for full coverage scanning of submarine cable routes. Background Art

[0002] Submarine cables have many advantages over land cables. They do not require tunnels or supports, so they require less investment and are faster to build. Submarine cables are mostly located at a certain depth on the seabed and are less affected by human activities. Therefore, submarine cables are safer, more stable, have strong anti-interference capabilities, and have good confidentiality.

[0003] At present, there are two common wiring design methods in the industry for submarine cable wiring: one is manual wiring based on experience, which is limited by the simple situation of submarine cable wiring and can barely meet industry requirements, but there is a huge cost waste problem; the other is a foreign submarine cable path optimization method that takes the path into consideration. It uses a single optimization algorithm to design the wiring, but because the influencing factors considered are too single and the optimization scenario is single, it is only applicable to path optimization in fixed scenarios and cannot perform reasonable wiring according to user needs.

[0004] Due to the constraints of construction safety requirements, submarine cable current carrying capacity, power balance and other factors, domestic manual wiring design methods based on experience are mostly adopted. That is, the wiring form is mostly directly parallel to the submarine cable route direction, and the spacing is fixed. This design method is simple to operate, but there is obvious uneven density of scanning point clouds for scanning at different water depths, and there are obvious differences in the accuracy of results in different regions. At the same time, it increases the operation time interval between tracks, has a greater impact on areas with large tidal changes, and increases the difficulty of tidal correction in the later data processing process. Summary of the invention

[0005] In view of this, the present invention provides a survey line layout method for full coverage scanning of submarine cable routes.

[0006] In order to solve the above technical problems, the technical solution of the present invention is: a survey line layout method for full coverage scanning of submarine cable routes, comprising the following steps:

[0007] Establish measurement coordinate system and cable routing coordinate system;

[0008] Establish the relationship between the cable routing coordinate system and the measurement coordinate system;

[0009] The theoretical spacing D0 of the cable survey line is calculated based on the data water depth H0, the maximum beam opening angle θ0 of the cable survey line and the basic overlap β0, and the theoretical layout direction B0 of the cable survey line is determined based on the cable routing coordinate system;

[0010] The actual spacing D of the cable survey lines is calculated according to the measured water depth H, the incident opening angle θ of the cable survey line beam and the overlap β, and the actual laying direction B of the cable survey line is calculated according to the laying direction B0 of the cable survey line;

[0011] Compare the theoretical spacing D0 with the actual spacing D, perform cable line measurement on the cable routing coordinate system according to the comparison result, and establish a line measurement object set;

[0012] Determine the distance between the boundary of the survey area of ​​the cable routing coordinate system and the nearest survey line, and lay out the survey line based on the determination result;

[0013] The coordinates of the cable survey line on the cable routing coordinate system are converted into coordinates in the measurement coordinate system according to the established relationship between the cable routing coordinate system and the measurement coordinate system, and a survey line layout schematic diagram is drawn.

[0014] Furthermore, the method for establishing a measurement coordinate system includes establishing a YX measurement coordinate system adapted to the range of the deployment location according to the range of the deployment location, wherein Y represents the east coordinate and X represents the north coordinate.

[0015] Furthermore, the method for establishing the cable routing coordinate system includes establishing a routing vector group of each segment of the cable routing according to the coordinate values ​​of each endpoint of the cable routing line in the YX measurement coordinate system, and taking the starting point of each cable routing line segment as the coordinate origin of the routing coordinate system, and the direction of the routing vector corresponding to it as the new Y-axis direction, and establishing the X-axis of the routing coordinate system perpendicular to the Y-axis in the counterclockwise direction, thereby establishing a new routing coordinate system Y n -X n Cable routing coordinate system, Y represents the east coordinate, X represents the north coordinate, Y n Represents Y n -X n East coordinate in the cable routing coordinate system, X n Represents Y n -X n The north coordinate in the cable routing coordinate system, n represents the number of cable routing coordinate systems to be established, n=1, 2, ..., ∞.

[0016] Further, the method for establishing the relationship between the cable routing coordinate system and the measurement coordinate system includes calculating according to the following formula:

[0017] X=X0+X n si nA n cosA

[0018] Y=Y0-X n cosA+Y n s i

[0019] Converted into matrix form:

[0020]

[0021] Where Y represents the east coordinate in the YX measurement coordinate system, in meters, X represents the north coordinate in the YX measurement coordinate system, in meters, and Y n Represents Y n -X n East coordinate in the cable routing coordinate system, in meters, X n Represents Y n -X n The north coordinate in the cable routing coordinate system, in meters, Y0 represents Y n -X n The east coordinate of the origin of the cable routing coordinate system in the YX measurement coordinate system, in meters, X0 represents Y n -X n The north coordinate of the origin of the cable routing coordinate system in the YX measurement coordinate system, in meters, where A represents Y n -X n The azimuth of the Y axis of the cable routing coordinate system in the YX measurement coordinate system, in radians, where n represents the number of cable routing coordinate systems to be established, n = 1, 2, ..., ∞;

[0022] The azimuth angle A is calculated according to the following formula:

[0023]

[0024] Among them, Y1 represents the east coordinate in the Y1-X1 cable routing coordinate system, in m, X1 represents the north coordinate in the Y1-X1 cable routing coordinate system, in m, Y0 represents the east coordinate of the origin of the Y1-X1 cable routing coordinate system in the YX measurement coordinate system, in m, X0 represents the north coordinate of the origin of the Y1-X1 cable routing coordinate system in the YX measurement coordinate system, in m, and n represents the number of cable routing coordinate systems that need to be established, n = 1, 2, ..., ∞.

[0025] Furthermore, the method for calculating the theoretical spacing D0 of the cable measurement lines and the theoretical layout direction B0 of the cable measurement lines includes calculating according to the following formula:

[0026]

[0027] B0=A

[0028] Among them, H0 represents the data water depth, which is obtained according to the water area data of the deployment site, θ0 represents the maximum beam opening angle of the cable survey line, which is obtained according to the parameters of the cable used, β0 represents the basic overlap, that is, the scanning density within the route scanning range, and A represents the azimuth.

[0029] Furthermore, the method for calculating the actual spacing D of the cable measurement lines and the actual laying direction B of the cable measurement lines includes calculating according to the following formula:

[0030]

[0031] B=B0

[0032] Among them, H represents the measured water depth, which is obtained according to the actual measurement data of the deployment site, θ represents the incident opening angle of the cable survey line beam, which is obtained according to the parameters of the cable used, β represents the overlap, that is, the scanning density within the route scanning range, and B0 represents the theoretical deployment direction of the cable survey line.

[0033] Furthermore, the method of comparing the theoretical spacing D0 with the actual spacing D, performing cable line measurement on the cable routing coordinate system according to the comparison result, and establishing a line measurement object set includes calculating the dD value, dD=D-D0, and then judging whether dD is less than the actual spacing D*10% value. If so, the cable line measurement is performed according to the theoretical spacing D0 at Y n -X n The cable routing coordinate system is evenly distributed from the coordinate origin to the cable routing direction, and each measurement line is determined to be aligned with the routing range line at Y. n -X n The intersection coordinates (mD0, F) and (mD0, -F) in the cable routing coordinate system constitute a survey line object set; if it is greater than, then the actual spacing D is used in Y n -X n The cable routing coordinate system is evenly distributed from the coordinate origin to the cable routing direction, and each measurement line is determined to be aligned with the routing range line at Y. n -X n The intersection coordinates (mD, F) and (mD, -F) in the cable routing coordinate system constitute a survey line object set;

[0034] Where F represents Y n -X n The distance that the cable routing center line extends parallel to both sides in the cable routing coordinate system, m = 0, 1, 2, ..., ∞.

[0035] Further, the distance between the measurement area boundary of the cable routing coordinate system and the nearest measurement line is judged, and the method for laying out the measurement line according to the judgment result includes: n -X n Cable routing coordinate system Y n The end point of the axis segment is used as the coordinate origin of the next cable routing coordinate system, and the Y n+1 -X n+1 Cable routing coordinate system, and Y n -X nThe distance D1 and Y from the outermost point at the measurement area boundary of the cable routing coordinate system to the nearest measurement line n -X n The cable routing coordinate system is compared with the measurement line spacing used, that is, with the Y n -X n The cable routing coordinate system is compared with the theoretical spacing D0 or the actual spacing D to determine whether the distance D1 is greater than half of the spacing of the survey lines used. If so, the survey line layout is stopped; if so, the survey line layout continues.

[0036] Furthermore, the Y n -X n The measurement area of ​​the cable routing coordinate system is a closed surface formed by connecting the endpoints of the measurement line object set.

[0037] Furthermore, after the deployment of the survey line is stopped, n -X n The coordinates of the cable survey line on the cable routing coordinate system are based on the established Y n -X n The relationship between the cable routing coordinate system and the YX measurement coordinate system is converted into coordinates in the YX measurement coordinate system, and a survey line layout schematic diagram is drawn.

[0038] Compared with the prior art, the advantages of the present invention are:

[0039] The present invention provides a survey line layout method for full coverage scanning of submarine cable routes. The method determines the best survey line layout method by combining information of a certain range on both sides of the cable route, water depth information, cable multi-beam performance information, survey line layout direction information and the like. The method also combines the overlap degree to improve the uniformity of the scan point cloud density and the stability of the accuracy under the subsequent full coverage scanning of multi-beam equipment, thereby ensuring the layout quality, reducing the difficulty of tide level correction in the later data processing process, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0041] Figure 1 It is a schematic diagram of the process of the present invention;

[0042] Figure 2 This is a schematic diagram of the measurement line layout of the present invention. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Example: Please refer to Figure 1 and Figure 2 This embodiment provides a survey line layout method for full coverage scanning of submarine cable routes, comprising the following steps:

[0045] Step S1: Establishing a measurement coordinate system and a cable routing coordinate system; the method for establishing the measurement coordinate system includes establishing a YX measurement coordinate system that is adapted to the range of the deployment location according to the range of the deployment location, wherein Y represents the east coordinate and X represents the north coordinate; the method for establishing the cable routing coordinate system includes obtaining the coordinate values ​​of each endpoint of the cable routing straight line in the YX measurement coordinate system according to the known deployment position of the cable routing straight line designed by the designer in the early stage, and moving it to the established YX measurement coordinate system to generate the corresponding endpoint coordinate value, and establishing the routing vector group of each segment of the cable routing through the coordinate value, and taking the starting point of each cable routing line segment as the coordinate origin of the routing coordinate system, and the direction of the corresponding routing vector is the new Y-axis direction, and the X-axis of the routing coordinate system is established in a counterclockwise direction perpendicular to the Y-axis, thereby establishing a new routing coordinate system Y n -X n Cable routing coordinate system, Y represents the east coordinate, X represents the north coordinate, Y n Represents Y n -X n East coordinate in the cable routing coordinate system, X n Represents Y n -X n The north coordinate in the cable routing coordinate system, n=1, 2, ..., ∞; n represents the number of cable routing coordinate systems to be established; in this embodiment, the Y1-X1 cable routing coordinate system is first established;

[0046] Step S2: Establishing the relationship between the cable routing coordinate system and the measurement coordinate system; the method for establishing the relationship between the cable routing coordinate system and the measurement coordinate system includes calculating according to the following formula:

[0047] X=X0+X1s inA-Y1cosA

[0048] Y=Y0-X1cosA+Y1s inA

[0049] Converted into matrix form:

[0050]

[0051] Wherein, Y represents the east coordinate in the YX measurement coordinate system, in m, X represents the north coordinate in the YX measurement coordinate system, in m, Y1 represents the east coordinate in the Y1-X1 cable routing coordinate system, in m, X1 represents the north coordinate in the Y1-X1 cable routing coordinate system, in m, Y0 represents the east coordinate of the origin of the Y1-X1 cable routing coordinate system in the YX measurement coordinate system, in m, X0 represents the north coordinate of the origin of the Y1-X1 cable routing coordinate system in the YX measurement coordinate system, in m, A represents the azimuth of the Y axis of the Y1-X1 cable routing coordinate system in the YX measurement coordinate system, in radians, and n represents the number of cable routing coordinate systems to be established, n=1, 2, ..., ∞;

[0052] The azimuth angle A is calculated according to the following formula:

[0053]

[0054] Wherein, Y1 represents the east coordinate in the Y1-X1 cable routing coordinate system, in m, X1 represents the north coordinate in the Y1-X1 cable routing coordinate system, in m, Y0 represents the east coordinate of the origin of the Y1-X1 cable routing coordinate system in the YX measurement coordinate system, in m, X0 represents the north coordinate of the origin of the Y1-X1 cable routing coordinate system in the YX measurement coordinate system, in m, and n represents the number of cable routing coordinate systems to be established, n=1, 2, ..., ∞;

[0055] Step S3: Calculate the theoretical spacing D0 of the cable survey lines according to the data water depth H0, the maximum beam opening angle θ0 of the cable survey lines, and the basic overlap β0, and determine the theoretical layout direction B0 of the cable survey lines according to the cable routing coordinate system; the method for calculating the theoretical spacing D0 of the cable survey lines and the theoretical layout direction B0 of the cable survey lines includes calculating according to the following formula:

[0056]

[0057] B0=A

[0058] Among them, H0 represents the data water depth, which is obtained according to the water data of the deployment site, θ0 represents the maximum beam opening angle of the cable survey line, which is obtained according to the parameters of the used cable, β0 represents the basic overlap, that is, the scanning density within the route scanning range, which is determined according to the requirements of the actual deployment site, and A represents the azimuth;

[0059] Step S4: Calculate the actual spacing D of the cable survey lines according to the measured water depth H, the incident opening angle θ of the cable survey line beam, and the overlap β, and calculate the actual laying direction B of the cable survey lines according to the laying direction B0 of the cable survey lines; the method for calculating the actual spacing D of the cable survey lines and the actual laying direction B of the cable survey lines includes calculating according to the following formula:

[0060]

[0061] B=B0

[0062] Among them, H represents the measured water depth, which is obtained according to the actual measurement data of the deployment site, θ represents the incident opening angle of the cable survey line beam, which is obtained according to the parameters of the used cable, β represents the overlap, that is, the scanning density within the route scanning range, which is determined according to the requirements of the actual deployment site, and B0 represents the theoretical deployment direction of the cable survey line;

[0063] Step S5: compare the theoretical spacing D0 with the actual spacing D, perform cable line measurement on the cable routing coordinate system according to the comparison result, and establish a line measurement object set; the method of comparing the theoretical spacing D0 with the actual spacing D, performing cable line measurement on the cable routing coordinate system according to the comparison result, and establishing a line measurement object set includes calculating the dD value, dD=D-D0, and then judging whether dD is less than the actual spacing D*10% value. If so, starting from the coordinate origin in the Y1-X1 cable routing coordinate system according to the theoretical spacing D0, the cable line measurement is carried out. The measurement lines are evenly laid out in the direction of the cable route, and then the intersection coordinates (mD0, F) and (mD0, -F) of each measurement line and the routing range line in the Y1-X1 cable routing coordinate system are determined, and a measurement line object set is formed; if it is greater than, the measurement is evenly laid out in the Y1-X1 cable routing coordinate system from the coordinate origin to the direction of the cable route according to the actual spacing D, and the intersection coordinates (mD, F) and (mD, -F) of each measurement line and the routing range line in the Y1-X1 cable routing coordinate system are determined, and a measurement line object set is formed;

[0064] Wherein, F represents the distance that the cable routing center line extends in parallel to both sides in the Y1-X1 cable routing coordinate system. The cable routing center line is a line with direction formed by connecting the midpoints of adjacent survey lines in the Y1-X1 cable routing coordinate system. The routing range line is the edge line of the closed surface formed by extending the cable routing center line in parallel to both sides by a distance F. m=0, 1, 2, ..., ∞; m represents the number of survey lines in the Y1-X1 cable routing coordinate system.

[0065] Step S6: judging the distance between the boundary of the measurement area of ​​the cable routing coordinate system and the nearest measurement line, and laying out the measurement line according to the judgment result; the method for judging the distance between the boundary of the measurement area of ​​the cable routing coordinate system and the nearest measurement line, and laying out the measurement line according to the judgment result includes taking the end point of the Y1 axis segment in the Y1-X1 cable routing coordinate system as the coordinate origin of the next cable routing coordinate system, establishing the Y2-X2 cable routing coordinate system, and comparing the distance D1 from the outermost point at the boundary of the measurement area of ​​the Y1-X1 cable routing coordinate system to the nearest measurement line with the measurement line spacing used by the Y1-X1 cable routing coordinate system, that is, comparing the distance D1 from the outermost point at the boundary of the measurement area of ​​the Y1-X1 cable routing coordinate system to ... 1 The theoretical spacing D0 or the actual spacing D used in the Y1-X1 cable routing coordinate system is compared. The measurement area of ​​the Y1-X1 cable routing coordinate system is a closed surface formed by connecting the endpoints of the corresponding measurement line object set, that is, a closed surface formed by extending the cable routing center line to both sides in parallel by a distance F. Then, it is determined whether the distance D1 is greater than half of the measurement line spacing used in the Y1-X1 cable routing coordinate system. If it is greater, the layout of the measurement line is stopped. If it is less than, the layout of the measurement line is continued. The continued layout of the measurement line is repeated on the established Y2-X2 cable routing coordinate system, that is, steps S3 to S6 are repeated, and so on, until the layout of the measurement line is stopped;

[0066] Step S7: After the survey line layout is stopped, the coordinates of the cable survey lines in all cable routing coordinate systems are converted into coordinates in the measurement coordinate system according to the established relationship between the corresponding cable routing coordinate system and the YX measurement coordinate system, and a survey line layout schematic diagram is drawn. After that, the survey line layout can be carried out according to the drawn survey line layout schematic diagram.

[0067] The above are only typical examples of the present invention. In addition, the present invention may have many other specific implementations. Any technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of protection required by the present invention.

Claims

1. A survey line layout method for full coverage scanning of submarine cable routes, characterized in that: The following steps are involved: Establish measurement coordinate system and cable routing coordinate system; Establish the relationship between the cable routing coordinate system and the measurement coordinate system; The theoretical spacing D0 of the cable survey line is calculated based on the data water depth H0, the maximum beam opening angle θ0 of the cable survey line and the basic overlap β0, and the theoretical layout direction B0 of the cable survey line is determined based on the cable routing coordinate system; The actual spacing D of the cable survey lines is calculated according to the measured water depth H, the incident opening angle θ of the cable survey line beam and the overlap β, and the actual laying direction B of the cable survey line is calculated according to the laying direction B0 of the cable survey line; Compare the theoretical spacing D0 with the actual spacing D, perform cable line measurement on the cable routing coordinate system according to the comparison result, and establish a line measurement object set; Determine the distance between the boundary of the survey area of ​​the cable routing coordinate system and the nearest survey line, and lay out the survey line based on the determination result; The coordinates of the cable survey line on the cable routing coordinate system are converted into coordinates in the measurement coordinate system according to the established relationship between the cable routing coordinate system and the measurement coordinate system, and a survey line layout schematic diagram is drawn.

2. A survey line laying method for full coverage scanning of submarine cable routes according to claim 1, characterized in that: The method for establishing a measurement coordinate system includes establishing a YX measurement coordinate system adapted to the range of the deployment location according to the range of the deployment location, wherein Y represents the east coordinate and X represents the north coordinate.

3. A survey line laying method for full coverage scanning of submarine cable routes according to claim 2, characterized in that: The method for establishing a cable routing coordinate system includes establishing a routing vector group of each segment of the cable routing according to the coordinate values ​​of each endpoint of the cable routing line in the YX measurement coordinate system, and taking the starting point of each cable routing line segment as the coordinate origin of the routing coordinate system, and the direction of the routing vector corresponding to it as the new Y-axis direction, and establishing the X-axis of the routing coordinate system in a counterclockwise direction perpendicular to the Y-axis, thereby establishing a new routing coordinate system Y n -X n Cable routing coordinate system, Y represents the east coordinate, X represents the north coordinate, Y n Represents Y n -X n East coordinate in the cable routing coordinate system, X n Represents Y n -X n The north coordinate in the cable routing coordinate system, n represents the number of cable routing coordinate systems to be established, n=1, 2, ..., ∞.

4. A survey line laying method for full coverage scanning of submarine cable routes according to claim 3, characterized in that: The method for establishing the relationship between the cable routing coordinate system and the measurement coordinate system includes calculating according to the following formula: X=X0+X n sinA-Y n stuff Y=Y0-X n cosA+Y n sinA Converted to matrix form: Where Y represents the east coordinate in the YX measurement coordinate system, in meters, X represents the north coordinate in the YX measurement coordinate system, in meters, and Y n Represents Y n -X n East coordinate in the cable routing coordinate system, in meters, X n Represents Y n -X n The north coordinate in the cable routing coordinate system, in meters, Y0 represents Y n -X n The east coordinate of the origin of the cable routing coordinate system in the YX measurement coordinate system, in meters, X0 represents Y n -X n The north coordinate of the origin of the cable routing coordinate system in the YX measurement coordinate system, in meters, where A represents Y n -X n The azimuth of the Y axis of the cable routing coordinate system in the YX measurement coordinate system, in radians, where n represents the number of cable routing coordinate systems to be established, n = 1, 2, ..., ∞; The azimuth angle A is calculated according to the following formula: Among them, Y n Represents Y n -X n East coordinate in the cable routing coordinate system, in meters, X n Represents Y n -X n The north coordinate in the cable routing coordinate system, in meters, Y0 represents Y n -X n The east coordinate of the origin of the cable routing coordinate system in the YX measurement coordinate system, in meters, X0 represents Y n -X n The coordinate origin of the cable routing coordinate system is the north coordinate of the YX measurement coordinate system, with the unit being m, where n represents the number of specific cable routing coordinate systems to be established, n=1, 2, ..., ∞.

5. A survey line laying method for full coverage scanning of submarine cable routes according to claim 4, characterized in that: The method for calculating the theoretical spacing D0 of the cable measuring lines and the theoretical laying direction B0 of the cable measuring lines comprises calculating according to the following formula: B0=A Among them, H0 represents the data water depth, which is obtained according to the water area data of the deployment site, θ0 represents the maximum beam opening angle of the cable survey line, which is obtained according to the parameters of the cable used, β0 represents the basic overlap, that is, the scanning density within the route scanning range, and A represents the azimuth.

6. A survey line laying method for full coverage scanning of submarine cable routes according to claim 5, characterized in that: The method for calculating the actual distance D of the cable measuring line and the actual laying direction B of the cable measuring line includes calculating according to the following formula: B=B0 Among them, H represents the measured water depth, which is obtained according to the actual measurement data of the deployment site, θ represents the incident opening angle of the cable survey line beam, which is obtained according to the parameters of the cable used, β represents the overlap, that is, the scanning density within the route scanning range, and B0 represents the theoretical deployment direction of the cable survey line.

7. A survey line laying method for full coverage scanning of submarine cable routes according to claim 6, characterized in that: The method of comparing the theoretical spacing D0 with the actual spacing D, performing cable line measurement on the cable routing coordinate system according to the comparison result, and establishing a line measurement object set includes calculating the dD value, dD=D-D0, and then judging whether dD is less than the actual spacing D*10% value. If so, the cable line measurement is performed according to the theoretical spacing D0 at Y n -X n The cable routing coordinate system is evenly distributed from the coordinate origin to the cable routing direction, and each measurement line is determined to be aligned with the routing range line at Y. n -X n The intersection coordinates (mD0, F) and (mD0, -F) in the cable routing coordinate system constitute a survey line object set; if it is greater than, then the actual spacing D is used in Y n -X n The cable routing coordinate system is evenly distributed from the coordinate origin to the cable routing direction, and each measurement line is determined to be aligned with the routing range line at Y. n -X n The intersection coordinates (mD, F) and (mD, -F) in the cable routing coordinate system constitute a survey line object set; Where F represents Y n -X n The distance that the cable routing center line extends parallel to both sides in the cable routing coordinate system, m = 0, 1, 2, ..., ∞.

8. A survey line laying method for full coverage scanning of submarine cable routes according to claim 7, characterized in that: The distance between the measurement area boundary of the cable routing coordinate system and the nearest measurement line is judged, and the method for laying out the measurement line according to the judgment result includes: n -X n Cable routing coordinate system Y n The end point of the axis segment is used as the coordinate origin of the next cable routing coordinate system, and the Y n+1 -X n+1 Cable routing coordinate system, and Y n -X n The distance D1 and Y from the outermost point at the measurement area boundary of the cable routing coordinate system to the nearest measurement line n -X n The cable routing coordinate system is compared with the measurement line spacing used, that is, with the Y n -X n The cable routing coordinate system is compared with the theoretical spacing D0 or the actual spacing D to determine whether the distance D1 is greater than half of the spacing of the survey lines used. If so, the survey line layout is stopped; if so, the survey line layout continues.

9. A survey line laying method for full coverage scanning of submarine cable routes according to claim 8, characterized in that: The Y n -X n The measurement area of ​​the cable routing coordinate system is a closed surface formed by connecting the endpoints of the measurement line object set.

10. A survey line laying method for full coverage scanning of submarine cable routes according to claim 8, characterized in that: After the survey line is laid out, the Y n -X n The coordinates of the cable survey line on the cable routing coordinate system are based on the established Y n -X n The relationship between the cable routing coordinate system and the YX measurement coordinate system is converted into coordinates in the YX measurement coordinate system, and a survey line layout schematic diagram is drawn.

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