Installation measurement method of deep water multi-beam sounding system

Abstract

The application discloses a kind of installation measurement methods of deepwater multi-beam sounding system, belong to surveying and mapping technical field, comprising: the coordinate information of measuring ship body, constructs ship body coordinate system, the coordinate point of all coordinate information is converted under ship body coordinate system;Measure the mounting bracket of multi-beam sounding system launch transducer and receiving transducer, make the installation plane of mounting bracket flat;Measure the position and attitude information of GNSS receiver, acoustic transducer sensor and attitude sensor of ship body.The present application can quickly and efficiently and accurately collect the position information required by ship and its sensor by reasonably arranging control network and guide line;Solved the problem of deepwater multi-beam installation measurement on floating dock, has good applicability for deepwater multi-beam installation measurement under different dock environment;Realize the calibration of spatial position and angle between large ship instrument and equipment and sensor, effectively solve the installation and calibration problem of deepwater multi-beam sounding system.

Description

TECHNICAL FIELD

[0001] The application discloses a deep-water multi-beam sounding system installation measurement method and belongs to the technical field of surveying and mapping. BACKGROUND

[0002] With more and more professional research vessels being used in water transportation and ocean investigation, in order to realize high-precision measurement results, accurately determining the positions and angle deviations of a plurality of sensors in a ship body and between each other is one of the problems to be solved in the research vessel industry. At present, the measurement precision of various sensors is higher and higher, and the measurement precision of the installation positions and angle deviations of the sensors in the ship body coordinate system has become one of the main factors restricting the precision of the final measurement results.

[0003] The ships on which the deep-water multi-beam is installed often have the following commonalities: 1) such comprehensive ships also carry other towed equipment or underwater sampling equipment, and have larger front and rear deck operation spaces, and the rear operation deck is often lower and closer to the waterline to meet the requirements of the launching and landing of the towed equipment or underwater sampling equipment; 2) more antenna heads are required for various instruments and equipment. In order to avoid interference between GNSS antenna heads and ensure the signal receiving strength of various antennas, such ships often have higher masts, and there are a plurality of antennas on the masts; 3) some sensors are placed at positions deep in the ship cabin. In order to meet the requirements of indoor conditions, small vibration, constant temperature and the like for some equipment, attitude sensors and gravimeters and the like are generally placed at positions close to the center of gravity of the ship body in the instrument room of the ship; 4) in order to ensure that the ship body has enough space to install the acoustic transducer array, the ship bottom is designed to have a special transducer area, or has a fairing or a Gondola structure, and the lower surface of the structure is large and flat. The commonalities have the following influences on the installation measurement of the deep-water multi-beam: (1) the visibility in the cabin is poor, the distances between the sensors are far, and multiple turning points are often required to measure, but multiple turning points easily affect the measurement precision; (2) during the construction of the ship, multiple departments often work collaboratively, and the scene is chaotic, which has a greater uncertain influence on the measurement work; (3) the measurement work cannot be completed in a short time, there are a plurality of sensors to be measured, and the spatial distances are far, so it is very important to ensure that each measurement is based on the original results; (4) such ships often perform construction on a floating dock, and the shaking of the floating dock has a great influence on the measurement results of the total station. Therefore, it is of great practical significance and good application prospect to quickly and efficiently perform the measurement work of the deep-water multi-beam sounding system under the premise of meeting the precision requirements of engineering practical applications. SUMMARY

[0004] The application discloses a deep-water multi-beam sounding system installation measurement method, and aims to solve the problem that the positions and angle deviations of sensors in a ship body and between each other are not easy to accurately measure in the prior art.

[0005] A kind of installation measurement method of deepwater multi-beam sounding system, comprising:

[0006] S1: the coordinate information of ship body is measured, constructs ship body coordinate system, and the coordinate point of all coordinate information is converted to under ship body coordinate system;

[0007] S2: the installation support of multi-beam sounding system transmitting transducer and receiving transducer is measured, so that the installation plane of installation support is flat;

[0008] S3: the position and attitude information of GNSS receiver, acoustic transducer sensor and attitude sensor of ship body is measured.

[0009] The ship body coordinate system is: Y axis points to the bow of ship as positive, with the vertical line that is perpendicular to XOY plane and passes through the origin as Z axis, Z axis is positive downward, under the constraint of left-hand coordinate system criterion, X axis passes through the origin and points to the right side as positive;

[0010] In the direction of top view, when the bow direction rotates clockwise, the yaw angle is positive;In the direction of side view, when Y axis rotates counterclockwise, the pitch angle is positive, and vice versa;In the direction of rear view, when the direction of X axis rotates clockwise, the roll angle is positive, and vice versa.

[0011] The waterline of ship body is selected as the reference surface XOY plane of ship body coordinate system, and multiple points are measured along the waterline around the ship body with total station, and XOY plane is constructed based on least square method.

[0012] The equation of XOY plane is: z=ax+by+c

[0013] Define the error term of single data point: δ i =ax i +by i -z i +c

[0014] For n groups of data, define the least square problem of all data:

[0015]

[0016]

[0017] F (a, b, c) is error equation, Respectively, the partial derivative of error equation;

[0018] Change to matrix form:

[0019] N is the number of equations.

[0020] If there is special marking in the bow and stern direction, the Y axis of ship body coordinate system is established by measuring the special marking;

[0021] If there is no special mark, Y axis is measured and calculated according to the symmetry of the hull;

[0022] In the case of known Y axis and Z axis, X axis is calculated according to the left-hand coordinate system relationship, all the measured data are converted to the ship coordinate system according to the selected origin and the obtained coordinate axes, and the components of (x i ,y i ,z i ) in three coordinate axes are obtained respectively:

[0023]

[0024] X1, X2, X3, Y1, Y2, Y3, Z1, Z2, Z3 are the coordinates on the X axis, Y axis and Z axis.

[0025] The installation process of the mounting bracket is:

[0026] Select multiple points on the mounting bracket for measurement, and calculate whether these points are on a plane, and the calculation formula of flatness is as follows:

[0027] If the flatness is poor, adjust and continue to repeat the measurement and calculation work until the flatness of these points meets the requirements.

[0028] S3 includes: using the total station without prism mode to observe, measuring the GNSS antenna at the central position of the hull coordinate system, using the total station without prism mode to observe multiple times on multiple traverse points, and then calculating the antenna center position according to mathematical relationship;

[0029] After the transmitting transducer is installed on its mounting bracket, four corner points are measured, and the corner point values are used for calculating the installation deviation angle. The installation deviation angle is calibrated in the order of first bow installation deviation, then longitudinal installation deviation, and finally transverse installation deviation.

[0030] The calculation process of the bow installation deviation is:

[0031] The bow direction vector of the transmitting transducer is calculated by using the point coordinates measured in the bow direction of the transmitting transducer;

[0032] The bow direction vector of the transmitting transducer is projected onto the XOY plane of the ship coordinate system;

[0033] The included angle between the projected bow direction vector of the transmitting transducer and the bow direction of the hull is calculated to obtain the bow installation deviation Δyaw of the transmitting transducer;

[0034] All observation points (x T ,y T ,zT ) rotating around Z axis by △yaw, get (x T1 ,y T1 ,z T1 ) :

[0035]

[0036] The longitudinal installation deviation calculation step is:

[0037] The direction vector of the Y axis of the transmitting transducer is calculated by using the measured point (x T1 ,y T1 ,z T1 ) on the bow of the rotating transmitting transducer; the installation deviation △pitch of the bow direction vector of the transmitting transducer and the XOY plane of the ship coordinate system is calculated;

[0038] The coordinate points measured on the transmitting transducer are converted according to the following rotation relationship, so as to obtain the coordinates (x T2 ,y T2 ,z T2 ) of each measured point:

[0039]

[0040] The transverse installation deviation calculation step is:

[0041] The direction vector of the Y axis of the transmitting transducer is calculated by using the measured point (x T2 ,y T2 ,z T2 ) on the rotating and transformed transmitting transducer;

[0042] The angle between the transmitting transducer and the XOY plane of the ship coordinate system, i.e. the installation deviation △roll of roll, is calculated;

[0043] According to the calculated △roll, the coordinate conversion is carried out according to the following formula:

[0044]

[0045] So as to calculate all the installation angle errors.

[0046] The main advantage of the present application is that high-precision total station or other related measuring equipment can provide good data to support the construction of related ship coordinate systems and the calculation of sensor spatial relationships, and through reasonable layout of control networks and guide lines, the position information required by the ship and its sensors can be quickly and efficiently and accurately collected; the problem of deep water multi-beam installation measurement on a floating dock is solved, and the method has good applicability for deep water multi-beam installation measurement in different dock environments; the spatial position and angle between large ship instruments and sensors are calibrated, and the installation and calibration problems of the deep water multi-beam sounding system are effectively solved. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 is a technical flowchart of the present application;

[0048] Figure 2 is a ship body coordinate system schematic diagram in the present application;

[0049] Figure 3 is a flatness measurement schematic diagram in the present application. DETAILED DESCRIPTION

[0050] The present application will be further described in detail below in combination with specific embodiments:

[0051] A deep water multi-beam sounding system installation measurement method, such as Figure 1 , comprising:

[0052] S1: measuring the coordinate information of the ship body, constructing the ship body coordinate system, and converting all coordinate points of the coordinate information to the ship body coordinate system;

[0053] S2: measuring the installation support of the multi-beam sounding system transmitting transducer and receiving transducer, and making the installation plane of the installation support flat;

[0054] S3: measuring the position and attitude information of the GNSS receiver, acoustic transducer sensor and attitude sensor of the ship body.

[0055] The ship body coordinate system is as follows Figure 2 : a self-defined ship coordinate system is equivalent to establishing a coordinate base point, and all measurement and calculation work is carried out with reference to this three-dimensional system, specifically including the spatial position and angle relationship of the sensor and the instrument, the Y axis points to the bow as positive, the vertical line perpendicular to the XOY plane and passing through the origin is the Z axis, the Z axis is downward as positive, under the constraint of the left-hand coordinate system criterion, the X axis passes through the origin and points to the right side as positive;

[0056] In the overhead direction, the yaw angle is positive when the bow direction is rotated clockwise; in the side view direction, the pitch angle is positive when the Y axis is rotated counterclockwise, and vice versa; in the rear view direction, the roll angle is positive when the X axis is rotated clockwise, and vice versa.

[0057] The hull waterline surface is selected as the reference surface XOY plane of the hull coordinate system, a plurality of points are measured along the hull waterline, and the XOY plane is constructed based on the least square method.

[0058] The equation of the XOY plane is: z=ax+by+c

[0059] The error term of a single data point is defined as: δ i =ax i +by i -z i +c

[0060] For n groups of data, the least square problem of all data is defined as:

[0061]

[0062]

[0063] F(a,b,c) is the error equation, are the partial derivatives of the error equation, respectively;

[0064] The matrix form is changed to:

[0065] n is the number of equations.

[0066] X1, X2, X3, Y1, Y2, Y3, Z1, Z2, Z3 are the coordinates on the X, Y and Z axes.

[0067] If there is a special mark in the bow and stern directions, the Y axis of the hull coordinate system is established by measuring the special mark;

[0068] If there is no special mark, the Y axis is measured and calculated according to the symmetry of the hull;

[0069] In the case where the Y axis and the Z axis are known, the X axis is calculated according to the left-hand coordinate system relationship, and all the measured data are converted to the ship coordinate system according to the selected origin and the obtained coordinate axes, and the components of (x i , y i , z i ) in the three coordinate axes are obtained respectively:

[0070]

[0071] A large transducer array such as a deep water multi-beam transducer array is composed of a plurality of modules spliced together, and a high-precision total station is used to measure the height difference of the key points of the installation support in the hull coordinate system. The installation process of the installation support is:

[0072] Select several points on the mounting bracket to measure, and calculate whether these points are on a plane. The formula for calculating flatness is as follows:

[0073] As Figure 3 , in the transducer mounting bracket, A is the measurement point on the bracket, and B is the surface of the bracket. When adjusting the flatness, multiple measurements of part A are taken, and calculations and adjustments are made until the technical specifications are met. If the flatness is poor, continue to repeat the measurement and calculation work after adjustment until the flatness of these points meets the requirements.

[0074] S3 includes: the ship internal structure is complex, and the guide line is laid to transmit coordinates and directions, so as to measure the sensor in the cabin. The measurement center of the sensor itself is not the same, some are located inside the sensor and are not easy to measure, so the equipment specifications need to be provided to calculate the eccentricity, and the sensor measurement center is obtained by combining the external observation information and the geometric relationship inside the sensor; some equipment measurement centers are located on the outer surface of the sensor, which is easy to measure, so the total station is used in the prism-free mode for observation. When the GNSS antenna head is measured, the GNSS antenna for measuring the central position of the ship coordinate system is used, the total station is used in the prism-free mode to observe multiple guide line points, and then the center position of the antenna head is calculated according to the mathematical relationship;

[0075] In order to measure the installation deviation angle between the transducer, the inertial navigation system and the ship coordinate system, taking the transmitting transducer as an example, after the transmitting transducer is installed on its mounting bracket, four corner points are measured, and the corner point values are used for calculating the installation deviation angle. The installation deviation angle is calibrated in the order of first bow installation deviation, then longitudinal installation deviation, and finally transverse installation deviation.

[0076] The calculation process of the bow installation deviation is as follows:

[0077] The bow direction vector of the transmitting transducer is calculated by using the coordinates of the points measured on the bow of the transmitting transducer;

[0078] The bow direction vector of the transmitting transducer is projected onto the XOY plane of the ship coordinate system;

[0079] The included angle between the projected bow direction vector of the transmitting transducer and the bow of the ship is calculated to obtain the bow installation deviation of the transmitting transducer △yaw;

[0080] Rotate all observation points (x T ,y T ,z T ) on the surface of the transmitting transducer around the Z axis by △yaw to obtain (x T1 ,y T1 ,z T1 ):

[0081]

[0082] The longitudinal installation deviation calculation step is:

[0083] The direction vector of the Y axis of the transmitting transducer is calculated by using the measured points (x T1 ,y T1 ,z T1 ) on the bow of the rotating transmitting transducer; and the included angle between the direction vector of the bow of the transmitting transducer and the XOY plane of the ship coordinate system is calculated, i.e. the longitudinal installation deviation pitch;

[0084] The coordinate points measured on the transmitting transducer are converted according to the following rotation relationship, so as to obtain the coordinate points (x T2 ,y T2 ,z T2 ):

[0085]

[0086] The transverse installation deviation calculation step is:

[0087] The direction vector of the Y axis of the transmitting transducer is calculated by using the measured points (x T2 ,y T2 ,z T2 ) on the transmitting transducer after the rotation transformation;

[0088] The included angle between the transmitting transducer and the XOY plane of the ship coordinate system is calculated, i.e. the roll installation deviation roll;

[0089] According to the calculated roll, the coordinate conversion is performed according to the following formula:

[0090]

[0091] So as to calculate all the installation angle errors.

[0092] Of course, the above description is not a limitation of the present application, and the present application is not limited to the above examples. Changes, modifications, additions or replacements made by the person skilled in the art within the essential scope of the present application shall also belong to the protection scope of the present application.

Claims

1. A method of installation survey for a deep water multi-beam bathymetric system, characterized by, The method comprises the following steps: S1: measuring the coordinate information of the ship body, constructing a ship body coordinate system, and converting all coordinate points of the coordinate information to the ship body coordinate system; S2: measuring the mounting bracket of the transmitting transducer and the receiving transducer of the multi-beam sounding system, and making the mounting plane of the mounting bracket flat; After the transmitting transducer is mounted on the mounting bracket, four corner points are measured, and the corner point values are used for calculation of the installation deviation angle, and the installation deviation angle is calibrated in the order of first bow direction installation deviation, then longitudinal installation deviation, and finally transverse installation deviation; S3: measuring the position and attitude information of the GNSS receiver, acoustic transducer sensor and attitude sensor of the ship body.

2. The installation measurement method of a deep water multi-beam bathymetric system according to claim 1, wherein, The ship body coordinate system is as follows: the Y axis points to the ship bow and is positive, the Z axis is a vertical line passing through the origin and perpendicular to the XOY plane, the Z axis is downward and positive, the X axis passes through the origin and points to the right side and is positive under the constraint of the left-hand coordinate system criterion; In the overhead direction, the yaw angle is positive when the ship bow direction rotates clockwise; in the side view direction, the Y axis rotates counterclockwise, and the pitch angle is positive, and vice versa; in the rear view direction, the X axis points to the right side, and the roll angle is positive when the X axis rotates clockwise, and vice versa.

3. The installation measurement method of a deep water multi-beam bathymetric system according to claim 2, wherein, The ship waterline is selected as the reference plane XOY plane of the ship body coordinate system, a plurality of points are measured along the ship waterline, and the XOY plane is constructed based on the least square method.

4. The installation measurement method of a deep water multi-beam bathymetric system according to claim 3, wherein, The equation of the XOY plane is z=ax+by+c, wherein a, b and c are plane equation coefficients, and x and y are plane coordinate values. Define error term δ for individual data points i : δ i = ax i + by i - z i + c, x i , y i , z i are three-dimensional coordinate values, respectively, define the least squares problem for all data for n groups of data: F(a,b,c) is the error equation, are the partial derivatives of the error equation, respectively; The equation is changed into a matrix form: n is the number of equations.

5. The installation measurement method of a deep water multi-beam bathymetric system according to claim 4, wherein, If there is a special mark in the bow and stern directions, the Y axis of the ship body coordinate system is established by measuring the special mark; If there is no special mark, the Y axis is measured and calculated according to the symmetry of the ship body; In the known Y-axis and Z-axis, according to the left-hand coordinate system relationship, the X-axis is calculated, and according to the selected origin and the obtained coordinate axis, all the measured data are converted to the ship coordinate system, and the components x i1 , y i1 , z i1 of (x i , y i , z i ) in three coordinate axes are obtained respectively: i i i i1 i1 i1 X1, X2, X3, Y1, Y2, Y3, Z1, Z2 and Z3 are coordinates on the X axis, the Y axis and the Z axis.

6. The installation measurement method of a deep water multi-beam bathymetric system according to claim 5, wherein, The mounting process of the mounting bracket is as follows: Select a plurality of points on the mounting bracket to measure, calculate whether these points are on a plane, the calculation formula of flatness is as follows: d i is the distance from a point to the plane equation, A, B, C, D are the coefficients of the plane equation; If the flatness is poor, the adjustment is continued to repeat the measurement and calculation until the flatness of the points meets the requirements.

7. The installation measurement method of a deep water multi-beam bathymetric system according to claim 6, wherein, S3 comprises: observing using the total station without prism mode, measuring the GNSS antenna of the central position of the ship body coordinate system, observing multiple times on a plurality of traverse points using the total station without prism mode, and then calculating the center position of the antenna according to the mathematical relationship.

8. The installation measurement method of a deep water multi-beam bathymetric system according to claim 7, wherein, The bow direction installation deviation calculation process is as follows: The point coordinates measured by the transmitting transducer in the bow direction are used to calculate the direction vector of the transmitting transducer bow direction; The transmitting transducer bow direction vector is projected onto the XOY plane of the ship coordinate system; The included angle between the projected transmitting transducer bow direction vector and the ship bow direction is calculated to obtain the transmitting transducer bow installation deviation angle △yaw; Rotate all the coordinate values (x T ,y T ,z T ) of the observation points on the surface of the transmitting transducer around the Z axis by △yaw to obtain the rotated coordinate values 9. The installation measurement method of a deep water multi-beam bathymetric system according to claim 8, wherein, The longitudinal installation deviation calculation steps are as follows: Using a rotating aft-emitting transducer to measure the bow heading The direction vector on the Y axis of the transmitting transducer is found; the angle between the bow direction vector of the transmitting transducer and the XOY plane of the ship coordinate system, i.e. the longitudinal installation deviation angle pitch, is calculated; The coordinate points measured on the transmitting transducer are converted according to the following rotation relationship, so as to obtain the coordinate values of each measuring point 10. The installation measurement method of a deep water multi-beam bathymetric system according to claim 9, wherein, The transverse installation deviation calculation steps are as follows: Using the rotational transformation on the measurement points on the transmitting transducer The direction vector of the Y axis of the transmitting transducer is found; The included angle between the transmitting transducer and the XOY plane of the ship body coordinate system is calculated, that is, the roll installation deviation angle △roll; According to the calculated △roll, the coordinate conversion is carried out according to the following formula: thereby calculating all the installation angle errors

Images