A method for detecting multi-beam resolution and resolving power based on trapezoidal target objects

Abstract

The application discloses a kind of multi-beam resolution and resolving power detection method based on trapezoidal target, including reference float and multi-beam instrument, wherein: the reference float is multi-step structure, and each level of the upper and lower side length is respectively 1cm, 2cm, 5cm, 10cm, 20cm and 40cm cube.The invention utilizes the determination of beam resolution to be divided into horizontal and vertical two directions, the multi-beam resolution here is the minimum target that multi-beam can distinguish and detect, and the multi-beam resolving power is the minimum change value that multi-beam sounding can distinguish;Different specifications of square are constructed, the height difference in vertical direction can be used to determine the value of resolving power, the size of horizontal square can be used to determine the value of resolution, under the premise of guaranteeing the accuracy of detection data, greatly reduce the technical requirements for technical personnel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of multi-beam sounding, in particular to a multi-beam resolution and resolving power detection method based on trapezoidal targets. BACKGROUND

[0002] Multi-beam sounding systems have the characteristics of coverage, high efficiency and high precision, and are widely used in many fields such as ocean surveying and mapping, underwater ground object detection, channel dredging engineering quality detection, and underwater revetment engineering quality detection. With the increasing development of science and technology, the key indicators such as the nominal precision and resolution of the transducers of the new generation of multi-beam sounding systems have reached the centimeter level. However, due to the lack of corresponding calibration systems, survey personnel can only recognize the performance indicators of the multi-beam system "calibrated" by the manufacturer, and lack further understanding and knowledge of the performance indicators of the multi-beam. Moreover, in the complex system of multi-sensor combination, various system deviations are inevitable. In addition, the influence of the operating environment, hardware inherent faults, improper instrument maintenance and other factors affect the multi-beam sounding results, so there are still some quality problems that are difficult to solve. Therefore, studying the calibration method of the resolution and resolving power of the multi-beam sounding system can clearly understand the existing performance indicators of the multi-beam system and the precision requirements that can be met, and at the same time, can guarantee the accuracy and reliability of the data results, improve the confidence of the operating personnel, and provide a scientific basis for the third party to carry out inspection and acceptance.

[0003] Multi-beam resolution and resolving power are important indicators for measuring the detection capability of multi-beam. The multi-beam resolution is the smallest target that can be detected by multi-beam, and the multi-beam resolving power is the smallest change value that can be distinguished by multi-beam sounding. The "Echo Sounder Measurement and Calibration Regulations" issued in 2015 requires that when the water depth is less than or equal to 5m, the maximum allowable error is ±5cm, and when the water depth is greater than 5m, the maximum allowable error is ±%d (d is the measured water depth). Traditional multi-beam calibration methods mainly include water tank type sounding calibration and simulated sounding calibration. Although both methods can meet the precision requirements of multi-beam, both methods have their limitations, but more importantly, both methods only calibrate the sounding precision of multi-beam instruments and do not involve the calibration of their resolution and resolving power.

[0004] Moreover, using the simulated sounding system for calibration, the transducer cannot participate in the calibration test, the performance cannot be accepted, and the blind area cannot be measured. The water tank type sounding calibration has high construction and maintenance costs, and is difficult to install and operate, and is affected by the water tank boundary. Although both methods have good precision, they only meet the precision requirements of multi-beam sounding and do not calibrate the performance indicators of multi-beam resolution and resolving power. SUMMARY

[0005] The purpose of the present application is to provide a multi-beam resolution and resolving power detection method based on trapezoidal targets,

[0006] To achieve the above object, the present application provides the following technical solutions: a multi-beam resolution based on trapezoidal target objects, comprising a reference float and a multi-beam instrument, wherein:

[0007] The reference float is a multi-step structure, and each step from top to bottom is a cube with a side length of 1 cm, 2 cm, 5 cm, 10 cm, 20 cm and 40 cm.

[0008] A multi-beam resolution system based on trapezoidal target objects, comprising the multi-beam resolution device based on trapezoidal target objects described in the above solution, further comprising:

[0009] A data processing module for entering the observation angle, the length, width and height data of the reference float;

[0010] A data calculation module for calculating the observation values of the length, width and height based on the entered data

[0011] A data retrieval and comparison module for retrieving the true values stored in the memory based on the observation values and comparing them.

[0012] As a preferred, the data of the observation values are imported The length, width and height observation values of the reference float are calculated and stored respectively.

[0013] As a preferred, the data retrieval and comparison module further comprises a comparison module for importing the length, width and height observation values and the retrieved length, width and height true values respectively And Thus, the mean error of fitting is obtained.

[0014] A detection method for multi-beam resolution based on trapezoidal target objects, characterized in that it comprises the multi-beam resolution system based on trapezoidal target objects described in the above solution, and the operation method comprises the following steps:

[0015] 1) Set a reference float at an interval of 5 m;

[0016] 2) Observe each reference float in the direction of the proposed position respectively with the currently observed reference float as the center, each observation for 2 min, and upload the data;

[0017] 3) Continue to observe the remaining reference floats according to the 2);

[0018] 4) Measure the length, width and height of each square observed in each direction at each distance, and then compare the observation values with the true values, wherein:

[0019] μ i is the measurement set value, μij For the observed value, the formula is as follows:

[0020]

[0021] Wherein, The error mean of experimental detection, n is the number of observations. The error mean is twice fitted by using the least square principle, and The relationship between each square and

[0022]

[0023]

[0024]

[0025] As preferred, the 4) in the formula is Respectively represent the mean error of the length, width and height of the square;

[0026] S l , S w , S h Respectively represent the observed length, width and height of the square; a is the quadratic term coefficient;

[0027] b is the linear term coefficient;

[0028] c is the constant term.

[0029] As preferred, the 2) is observed in four directions of 0°, 90°, 180° and 270°, and the same direction needs to be repeated 12 times to obtain the measurement data with the same distance unit, and finally the average value of the 12 observation data of the observation point is taken.

[0030] As preferred, the proposed direction is specifically 0°, 90°, 180° and 270°.

[0031] An electronic device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to realize the detection method based on the multi-beam resolution of the trapezoidal target in the above-mentioned scheme.

[0032] A computer readable storage medium, having a computer program stored thereon, wherein the computer program is executed by a processor to realize the detection method based on the multi-beam resolution of the trapezoidal target in the above-mentioned scheme.

[0033] In the above technical solution, the multi-beam resolution and resolving power detection method based on the trapezoidal target provided by the application has the following beneficial effects: the performance indexes of multi-beam resolution and resolving power can be obtained more easily, the accuracy and reliability of data results are ensured, the confidence of operating personnel is improved, the operation of the detection method is simple, the measuring equipment is simple and easy to maintain, and the application lays a foundation for subsequent upgrading and reinforcement, and has high practicability, and the cost is greatly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0035] Figure 1 The trapezoidal target schematic diagram provided for the embodiments of the present application;

[0036] Figure 2 The trapezoidal target schematic diagram provided for the embodiments of the present application;

[0037] Figure 3 The trapezoidal target schematic diagram provided for the embodiments of the present application;

[0038] Figure 4 The program block diagram provided for the embodiments of the present application. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0040] As shown in Figures 1-3 A multi-beam resolution and resolving power detection method based on a trapezoidal target, comprising a reference float and a multi-beam instrument, wherein:

[0041] The reference float is a multi-step structure, and each step from top to bottom has a side length of 1cm, 2cm, 5cm, 10cm, 20cm and 40cm of a cube.

[0042] The operation method comprises the following steps:

[0043] 1) Set a reference float at an interval of 5m;

[0044] 2) with the current observation of a reference body as the center, respectively in 0°, 90°, 180°, 270° four directions, each observation 2min, and the data are uploaded, and need to note that: respectively in 0°, 90°, 180°, 270° four directions observation on the basis of, need to keep the same distance unit the same direction repeated 12 times to obtain the measurement data, finally take the average value of 12 observation data of the observation point

[0045] 3) in accordance with 2) continue to observe the rest of the reference body;

[0046] 4) measure each distance each direction each observation different square length, width, height, and then compare the observed value with the true value, wherein:

[0047] μ i is the measurement set value, μ ij is the observed value, then the formula is as follows:

[0048]

[0049] Wherein, is the average error of the experimental test, n is the number of observations. Using the least square principle to the average error of the quadratic fitting, the and the relationship of each square:

[0050]

[0051]

[0052]

[0053] Wherein: respectively represent the average error of the square length, width, height;

[0054] S l , S w , S h respectively represent the observed square length, width, height value; a is the quadratic coefficient;

[0055] b is the first order coefficient;

[0056] c is the constant term.

[0057] Further, in the above technical solution, the multi-beam resolution test is divided into horizontal and vertical directions, here, the multi-beam resolution is the smallest target that can be detected by the multi-beam, and the multi-beam resolution is the smallest change value that can be distinguished by the multi-beam sounding. The height difference in the vertical direction of the square of different specifications can be used to test the resolution value, and the size of the square in the horizontal direction can be used to test the resolution value.

[0058] As Figure 4 shown, a multi-beam resolution system based on trapezoidal target objects includes:

[0059] A data processing module, the entered observation angle, the length, width and height data of the reference floating body;

[0060] A data calculation module, based on the entered data, the length, width and height observation values are calculated respectively

[0061] A data retrieval and comparison module, based on the observation values, the true values stored in the memory are retrieved and compared.

[0062] Further, the data of the observation values are imported for calculation, and the length, width and height observation value data of the reference floating body are obtained respectively and stored.

[0063] More further, the data retrieval and comparison module further includes a comparison module, the comparison module is used for importing the length, width and height observation values and the retrieved length, width and height true values respectively and so as to obtain the fitting error mean value.

[0064] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0065] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The means for implementing the functions specified in one or more flows or blocks.

[0066] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0067] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions that are executed on the computer or other programmable apparatus provide steps for implementing the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0068] The principles and implementation manners of the present application are described in the embodiments, and the above embodiment descriptions are only used to help understand the method and core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application scopes can be changed, and the above description should not be understood as limitation on the present application.

[0069] The embodiments of the present application further provide a specific implementation manner of an electronic device capable of implementing all steps in the method in the above embodiments, and the electronic device specifically includes the following contents:

[0070] a processor, a memory, a communications interface and a bus;

[0071] The processor, the memory and the communications interface complete mutual communication through the bus.

[0072] The processor is used for calling a computer program in the memory, and the processor implements all steps in the method in the above embodiments when executing the computer program.

[0073] The embodiments of the present application further provide a computer readable storage medium capable of implementing all steps in the method in the above embodiments, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement all steps in the method in the above embodiments.

[0074] The various embodiments described in this specification are intended to be illustrative only and in no way limit the scope of the application. Thus, changes and modifications can be made by those skilled in the art, with the scope of the application being indicated by the following claims. For example, although the various embodiments have been described above in the context of fully functional devices, the implementation is equally applicable to distributed or networked implementations where tasks are performed by remote processing devices that are linked through a communications network. In other embodiments, various operational elements of the described embodiments can be combined or eliminated, and other operational elements can be added. Various embodiments can be implemented using hardware elements, software elements, or a combination of both. Examples of hardware elements can include devices, logic devices, components, processors, microprocessors, circuits, boards, memories, storage devices, buses, wires, communication devices, transmitters, receivers, and / or the like. Examples of software elements can include software components, programs, applications, computer programs, application programs, system programs, software development programs, machine programs, operating system Figure 1 one or more functions specified by one or more blocks or Figure 1 one or more blocks or

[0075] Those skilled in the art will appreciate that embodiments of the present specification can be devised for a method, a system, or a computer program product. Accordingly, embodiments of the present specification can be embodied in the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present specification can be in the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk memory, CD-ROM, optical storage medium, etc.) embodying computer usable program code. Each of the various embodiments of the present specification is described in a progressive manner, and reference can be made to other embodiments for the same or similar parts. Each embodiment focuses on the differences from other embodiments. In particular, for system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and reference can be made to the description of the method embodiments. In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present specification.

[0076] In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction. The above is only an embodiment of the embodiments of the present specification and is not intended to limit the embodiments of the present specification. The embodiments of the present specification can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the embodiments of the present specification shall be included in the scope of the claims of the embodiments of the present specification.

Claims

1. A detection method based on trapezoidal object multi-beam resolution, characterized in that, The method comprises the following steps: 1) setting a reference float body at an interval of 5 m; 2) observing in the direction of the proposed orientation one by one with the current observation of one of the reference float bodies as the center, each observation lasting 2 min, and uploading the data; 3) continuing to observe the remaining reference float bodies according to the 2); 4) measuring the length, width and height of each observation of different squares in each direction, and then comparing the observation value with the true value, wherein: The set value is measured, The observed value is measured, the formula is derived as follows: ； wherein The error mean for the experimental check, n is the number of observations; the error mean is fitted by the least square principle twice, and the following equation is obtained Relationship with each square: ； ； ； The 4) in , respectively represent the mean error of square length, width, height. , , a2is the quadratic coefficient; a3, a4, a5, a6, a7, a8, a9, a10, a11, a12, a13, a14, a15, a16, a17, a18, a19, a20, a21, a b is the coefficient of the first term; c is the constant term; On the basis of the observation in the 2) in the directions of 0°, 90°, 180° and 270°, the same direction needs to be repeated 12 times to obtain the measurement data at the same distance unit, and finally the average value of the 12 observation data of the observation point is taken.

2. The method of claim 1, wherein the trapezoidal target is a trapezoidal target having a height of 1.5 mm and a base of 2.5 mm. The proposed orientation is specifically 0°, 90°, 180° and 270°.

3. A multi-beam resolution device based on a trapezoidal target, characterized in that, The method for detecting the multi-beam resolution based on the trapezoidal target object according to any one of claims 1-2 further comprises a reference float body and a multi-beam instrument, wherein: The reference float body is a multi-step structure, and each step from top to bottom is a square with a side length of 1 cm, 2 cm, 5 cm, 10 cm, 20 cm and 40 cm.

4. A trapezoidal object based multi-beam resolving system comprising the trapezoidal object based multi-beam resolving apparatus of claim 3, characterized in that, Further comprising: a data processing module for entering the observation angle, the length, width and height data of the reference float body; a proposed data calculation module for calculating the observation values of the length, width and height based on the entered data a data retrieval and comparison module for retrieving the true value stored in the memory based on the observation value and comparing it.

5. A multi-beam resolution system based on trapezoidal targets according to claim 4, characterized in that, Import of data of the observation values The length, width and height observation values of the reference floating body are calculated respectively and stored.

6. A multi-beam resolution system based on trapezoidal targets according to claim 4, wherein, The data calling and comparing module further comprises a comparing module, which is used for respectively importing the observed values of length, width and height and the called true values of length, width and height into , and , so as to obtain the fitted error mean.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to realize the method for detecting the multi-beam resolution based on the trapezoidal target object according to any one of claims 1-2.

8. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the method for detecting the multi-beam resolution based on the trapezoidal target object according to any one of claims 1-2.

Images