A method of underwater placing of stone mattresses

Abstract

The application discloses a method for underwater stone cage laying, and has the characteristics that the method comprises the following steps: A1, before laying the stone cage, the underwater three-dimensional sonar transducer is calibrated in precision; A2, the underwater three-dimensional sonar transducer and the stone cage are laid; A3, the underwater three-dimensional sonar transducer is corrected in real time, and the three-dimensional sonar image of the underwater laid stone cage is obtained in real time by using the underwater three-dimensional sonar transducer; A4, the stone cage is adjusted in position according to the three-dimensional sonar image, and the underwater laying of the stone cage is completed after the adjustment is completed. The technical scheme has the beneficial effects that the unique calibration method of the underwater three-dimensional sonar transducer is used to accurately obtain the coordinate information of the stone cage in water, and more accurate data is provided; the dynamic information and real-time data of the stone cage in water can be realized in real time, the dynamic information and real-time data of the stone cage in water are obtained in real time, and the stone cage can be laid in water more accurately and conveniently.

Description

Technical Field

[0001] This invention relates to the fields of marine surveying and engineering measurement technology, and specifically to a method for underwater deployment of gabions. Background Technology

[0002] Gabion deployment refers to the process of using boxes made of metal mesh to fix and reinforce soil or rock. Gabion deployment is commonly used in areas such as soil erosion prevention, river protection, bank revetment, and land reclamation. During construction, gabions are placed in the area requiring reinforcement, then filled with stones or other suitable materials, and finally secured together with lines or wires to form a robust structure. In the underwater deployment of gabions for bank revetment projects, the timeliness and accuracy of obtaining underwater status and positioning information for the gabions are becoming increasingly important.

[0003] Problems with existing technology:

[0004] Traditional underwater gabion deployment and inspection methods mainly include post-installation acoustic equipment inspection, manual real-time probing inspection, and real-time underwater camera imaging inspection. These methods have the following problems: inspection can only be conducted after the gabions are deployed, making it impossible to detect problems in a timely manner; the inspection results are affected by the underwater environment, potentially leading to misjudgments or missed detections; and they cannot operate normally in harsh water environments with high turbidity, low visibility, and rapid currents, thus failing to acquire high-resolution real-time three-dimensional image information of the structure. Summary of the Invention

[0005] In view of the above-mentioned problems in the existing technology, a method for underwater deployment of gabions is provided.

[0006] The specific technical solution is as follows: A method for underwater deployment of gabions, comprising:

[0007] Step A1: Before deploying the gabions, perform precision calibration on the underwater 3D sonar transducer;

[0008] Step A2: Deploy the underwater three-dimensional sonar transducer and the gabion;

[0009] Step A3: Perform real-time attitude correction on the underwater three-dimensional sonar transducer, and simultaneously use the underwater three-dimensional sonar transducer to acquire real-time three-dimensional sonar images of the underwater gabion.

[0010] Step A4: Adjust the position of the gabion based on the three-dimensional sonar image, and complete the underwater deployment of the gabion after the adjustment is completed.

[0011] Preferably, step A1 includes:

[0012] Step A11: Select a still water area, suspend the gabion above the still water area, and obtain the coordinates of the first corner point of the gabion;

[0013] Step A12: Place the gabion vertically into the still water area;

[0014] Step A13: Use the underwater three-dimensional sonar transducer to acquire a three-dimensional sonar image of the gabion, and obtain the coordinates of the second corner point of the gabion based on the three-dimensional sonar image;

[0015] Step A14: Adjust the coordinates of the second corner point to coincide with the coordinates of the first corner point, and record the calibration value obtained during the adjustment process;

[0016] Step A15: Perform accuracy calibration on the underwater three-dimensional sonar transducer according to the calibration value;

[0017] Step A16: Repeat steps A13-A15 to update the calibration value. Exit when the coordinates of the second corner point formed in step A13 coincide with the coordinates of the first corner point, so as to complete the accuracy calibration of the underwater three-dimensional sonar transducer.

[0018] Preferably, the calibration values ​​include translation calibration values ​​and rotation calibration values.

[0019] Preferably, in step A2, a first preset position for placing the gabion and a second preset position for placing the underwater three-dimensional sonar transducer are pre-set, such that the underwater three-dimensional sonar transducer is located directly in front of the gabion and facing the gabion after placement.

[0020] In step A2, after deploying the underwater three-dimensional sonar transducer, the absolute coordinates of the underwater three-dimensional sonar transducer are acquired using a GNSS system, and the actual deployment position of the underwater sonar transducer is adjusted to coincide with the second preset position based on the absolute coordinates.

[0021] Preferably, in step A3, the process of attitude correction for the underwater three-dimensional sonar transducer includes:

[0022] Step A31: Use an inertial sensing system to obtain the ship's attitude changes before and after deploying the underwater three-dimensional sonar transducer;

[0023] Step A32: Based on the ship's attitude change and the predetermined relative positional relationship between the ship and the underwater three-dimensional sonar transducer, perform real-time attitude correction on the underwater three-dimensional sonar transducer.

[0024] Preferably, the inertial sensing system is installed on the ship, and a three-dimensional coordinate system is established with the position of the star marker of the inertial sensing system as the origin;

[0025] The process of determining the relative positional relationship between the ship and the underwater three-dimensional sonar transducer in step A32 includes:

[0026] Step A321: Deploy the underwater three-dimensional sonar transducer underwater;

[0027] Step A322: Measure the distance between the center point of the flange of the underwater three-dimensional sonar transducer and the origin of the three-dimensional coordinate system multiple times using a tape measure, and process the values ​​to obtain the average value of the distance.

[0028] Step A323: Determine the relative positional relationship between the ship and the underwater three-dimensional sonar transducer based on the average value of the distance values.

[0029] Preferably, in the three-dimensional coordinate system, the positive X-axis direction is towards the front of the ship, the positive Y-axis direction is towards the right of the ship, and the positive Z-axis direction is towards the bottom of the ship.

[0030] Preferably, in step SA322, the average value is obtained by processing all the distance values ​​with an error of no more than 5 cm between them.

[0031] Preferably, in step A3, the attitude of the underwater three-dimensional sonar transducer is corrected in real time by adjusting the attitude parameters of the transducer.

[0032] The attitude parameters include the roll, pitch, yaw, and vertical motion values ​​of the underwater three-dimensional sonar transducer.

[0033] Preferably, the underwater three-dimensional sonar transducer is mounted on an underwater gimbal;

[0034] In step A3, the underwater gimbal is remotely controlled so that the underwater three-dimensional sonar transducer can perform omnidirectional scanning to acquire the three-dimensional sonar image.

[0035] The above technical solution has the following advantages or beneficial effects:

[0036] By using a unique calibration method for underwater three-dimensional sonar transducers, the coordinate information of gabions underwater can be accurately obtained, and their dynamic information and real-time data can be acquired in real time. This allows for more accurate and convenient underwater deployment of gabions. This method can eliminate the errors present in traditional calibration methods, thus providing more accurate data. Attached Figure Description

[0037] Embodiments of the invention will be described more fully with reference to the accompanying drawings. However, the drawings are for illustration and explanation only and do not constitute a limitation on the scope of the invention.

[0038] Figure 1 A schematic diagram of the overall process of underwater gabion deployment method in a preferred embodiment of the present invention;

[0039] Figure 2 A flowchart illustrating the sub-steps of step A1 in a preferred embodiment of the present invention;

[0040] Figure 3 In a preferred embodiment of the present invention, a flowchart of the sub-steps of step A3 is shown.

[0041] Figure 4 A flowchart illustrating the sub-steps of step A32 in a preferred embodiment of the present invention;

[0042] Figure 5 In one embodiment of the present invention, step A1 is a schematic diagram of the accuracy calibration of the underwater three-dimensional sonar transducer based on the coordinates of the first corner point and the second corner point. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0045] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0046] In a preferred embodiment of the present invention, a method for underwater deployment of gabions is provided, the method being as follows: Figure 1 As shown, it includes:

[0047] Step A1: Before deploying the gabions, perform precision calibration on the underwater 3D sonar transducer;

[0048] Step A2: Deploy underwater 3D sonar transducers and gabions;

[0049] Step A3: Perform real-time attitude correction on the underwater 3D sonar transducer, and simultaneously use the underwater 3D sonar transducer to acquire real-time 3D sonar images of the underwater gabions.

[0050] Step A4: Adjust the position of the gabion based on the 3D sonar image, and complete the underwater deployment of the gabion after the adjustment is completed.

[0051] Specifically, in the technical solution of this invention, after entering the water, the probe of the underwater three-dimensional sonar transducer is directly facing the gabion with a certain height difference, which will not be elaborated further below. The underwater three-dimensional sonar transducer in this invention includes a data acquisition module for underwater data collection and a front-end computing module for data processing on board.

[0052] During the underwater deployment of the aforementioned gabions, a gabion carrier was used to carry the gabions into the water. All the steps described above involved modifications to the gabions based on this carrier. In other words:

[0053] In step A2 above, before placing the gabions, it is necessary to first conduct an exploration of the open water area to determine the coordinates and depth of the gabion placement location, and then determine the placement location of the gabions in the construction drawings.

[0054] The process of placing the gabions is as follows:

[0055] Place the gabion into the gabion carrier and suspend the gabion carrier above the predetermined placement position;

[0056] Lower the gabion container vertically.

[0057] In step A3 above, the three-dimensional sonar image acquired in real time by the underwater three-dimensional sonar transducer is actually an image of the gabion carrier carrying the gabions. Since the gabion carrier and the gabions are very similar in size, the three-dimensional sonar image of the gabion carrier can be used to adjust the placement of the gabions.

[0058] In step A4 above, after the adjustment is completed, open the valve of the gabion carrier to release the restraints on the gabion, and then hoist the gabion carrier out of the sea to complete the underwater deployment of the gabion.

[0059] In the technical solution of this invention, since the gabions are carried in gabion carriers before being laid out, the three-dimensional sonar image acquisition of the gabions is all based on the three-dimensional sonar image acquisition of the gabion carriers, which will not be described in detail below.

[0060] In step A3 above, the probe of the underwater three-dimensional sonar is used to collect three-dimensional point cloud data in real time, and based on the front-end computing module of the underwater three-dimensional sonar transducer, three-dimensional sonar image information is synthesized using phased array technology.

[0061] In step A4 above, all the above information is sent to the instrument room of the ship. Then, the crane is controlled to adjust the position of the underwater gabion according to the real-time information. When the gabion is in the first preset position, the deployment command is issued to the terminal. After receiving the command, the terminal opens the mold valve and deploys the gabion.

[0062] Preferably, step A1 is as follows Figure 2 As shown, it includes:

[0063] Step A11: Select a still water area, suspend the gabion above the still water area, and obtain the coordinates (ABCD) of the first corner point of the gabion;

[0064] Step A12: Place the gabion vertically into the still water area;

[0065] Step A13: Use an underwater 3D sonar transducer to acquire a 3D sonar image of the gabion, and obtain the coordinates (abcd) of the second corner point of the gabion based on the 3D sonar image.

[0066] Step A14: Adjust the coordinates of the second corner point (abcd) to coincide with the coordinates of the first corner point (ABCD), and record the calibration value obtained during the adjustment process;

[0067] Step A15: Perform accuracy calibration on the underwater three-dimensional sonar transducer according to the calibration values;

[0068] Step A16: Repeat steps A13-A15 to update the calibration values. Exit when the coordinates of the second corner point (abcd) formed in step A13 coincide with the coordinates of the first corner point (ABCD) to complete the accuracy calibration of the underwater three-dimensional sonar transducer.

[0069] Specifically, the calibration of the underwater 3D sonar transducer needs to be carried out in a calm water area to minimize environmental impact. Since the gabion itself is quite heavy, under ideal conditions, we can assume that the placement of the underwater 3D sonar transducer remains essentially unchanged.

[0070] like Figure 5As shown, in a preferred embodiment of the present invention, before the gabion is lowered, a handheld RTK mobile station is used to collect the coordinates of the first corner point (ABCD) of the gabion and accurately measure the length of each side of the gabion with a steel ruler to obtain dimensional data. The collected first corner point coordinates (ABCD) and dimensional data are then used to create a first image S1. After the gabion is submerged, an underwater 3D sonar transducer is used to scan the gabion to obtain a complete 3D image of the gabion, thus obtaining 3D image data of the gabion underwater. The second corner point coordinates (abcd) of the gabion are extracted from the 3D image data, and a second image S2 is created. Feature point A of the first image S1 and feature point a of the second image S2 are selected, and a is translated to overlap with A to obtain the translation value. Next, rotate side ab to side AB so that the two sides coincide, thereby obtaining the rotation parameters. Input the obtained parameters into the front-end calculation module of the underwater three-dimensional sonar transducer to obtain the new corner coordinates. Compare the new corner coordinates with the first corner coordinates (ABCD) to check whether they are within the allowable error range. If they are within the allowable range, proceed with normal construction. If they are not within the allowable range, continue to optimize and adjust until the error is within the allowable error range.

[0071] In another preferred embodiment of the present invention, unlike the above-mentioned method of obtaining translation and rotation values ​​by image translation and rotation for precision calibration of the underwater three-dimensional sonar transducer, this preferred embodiment uses the first image S1 as a background reference image and collects the three-dimensional image information of the gabion in real time through the data acquisition module of the underwater three-dimensional sonar transducer. After the gabion is completely covered in water, the data acquisition module of the underwater three-dimensional sonar transducer obtains a top view of the gabion after it enters the water, and the front-end calculation module of the underwater three-dimensional sonar transducer collects the coordinates of the second corner point (abcd). The first image S1 is imported into the front-end calculation module of the underwater three-dimensional sonar transducer in .dxf format as a background image. Then, the calibration value of the second corner point coordinates (abcd) in the calibration interface is modified to coincide with the first corner point coordinates (ABCD) in the background image. The calibration value specifically includes RotateX, RotateY, RotateZ, X, and Y values.

[0072] In step A12 above, placing the gabion vertically increases its stability in the water and prevents it from being swept away or tilted by the water flow. The still water area is to better maintain the stability of the gabion during the lowering process and reduce the risk of tilting.

[0073] In step A16 above, repeating steps A13-A15 each time is to verify the accuracy of the single calibration value. In other words:

[0074] If the single calibration value is still not accurate enough, the difference between the coordinates of the second corner point (abcd) and the coordinates of the first corner point (ABCD) collected in step A13 above will still exceed the preset error allowable range. At this time, it means that the accuracy calibration is not yet complete, and steps A13-A15 still need to be performed.

[0075] If the single calibration value is relatively accurate, the coordinates of the second corner point (abcd) collected in step A13 above will coincide with the coordinates of the first corner point (ABCD) (ideally), or the difference between the coordinates of the second corner point (abcd) and the coordinates of the first corner point (ABCD) will be within the preset error allowable range. At this time, it means that the accuracy calibration is completed, and there is no need to continue to execute the steps after step A15. The accuracy calibration process can be skipped directly, and the actual gabion placement process can be executed.

[0076] Preferably, in step A2, a first preset position for placing the gabion and a second preset position for placing the underwater three-dimensional sonar transducer are pre-set, so that the underwater three-dimensional sonar transducer is located directly in front of the gabion and facing the gabion after placement.

[0077] In step A2, after deploying the underwater three-dimensional sonar transducer, the absolute coordinates of the underwater three-dimensional sonar transducer are acquired using a GNSS system, and the actual deployment position of the underwater sonar transducer is adjusted to coincide with the second preset position based on the absolute coordinates.

[0078] Specifically, during the deployment process, the underwater three-dimensional sonar transducer and the gabion are simultaneously lowered vertically to the water surface using a crane. The gabion is placed at the first preset position, and the underwater three-dimensional sonar transducer is placed at the second preset position based on the underwater gabion. Therefore, the underwater three-dimensional transducer is positioned directly in front of the gabion with a certain height difference.

[0079] The GNSS system is located directly above the ship's bridge. It can obtain centimeter-level positioning accuracy for gabions by receiving RTK differential signals, making the position coordinates of the gabions after they enter the water more accurate.

[0080] Preferably, in step A3, the process of attitude correction for the underwater three-dimensional sonar transducer includes:

[0081] Step A31: Use an inertial sensing system to obtain the ship's attitude changes before and after deploying the underwater three-dimensional sonar transducer;

[0082] Step A32: Perform real-time attitude correction on the underwater three-dimensional sonar transducer based on the ship's attitude change and the predetermined relative positional relationship between the ship and the underwater three-dimensional sonar transducer.

[0083] Specifically, such as Figure 3As shown, in step A31 above, attitude correction is performed by adding network differential correction to the inertial positioning module through the inertial sensing system in the inertial navigation system, thereby eliminating the effects of pitch and roll during ship navigation. The inertial sensing system can dynamically acquire attitude information such as roll, pitch, and depth during ship motion in real time, and the inertial sensor module can dynamically acquire heading information during ship motion in real time. By outputting this information in ASCII code form, real-time values ​​such as ROLL, PITCH, YAW, HEADING, and HEAVE can be transmitted to the front-end computing module of the underwater 3D sonar transducer. In this way, the front-end computing module of the underwater 3D sonar transducer can receive and process these values ​​in real time, thereby providing adjustment signals to the underwater gimbal, causing the underwater gimbal to rotate and thus correct the real-time attitude of the underwater 3D sonar transducer. Through this technical effect, the pitch and roll problem of ships during navigation can be effectively solved, improving the stability and safety of ships.

[0084] In step A32 above, during the actual application of underwater three-dimensional sonar transducers, the attitude changes of the ship will affect the measurement results and cause large measurement errors. Therefore, it is necessary to modify the attitude of the underwater three-dimensional sonar transducer in real time by rotating the underwater gimbal according to the attitude changes of the ship, so as to reduce the error and ensure the accuracy of the underwater three-dimensional sonar transducer.

[0085] Preferably, the inertial sensing system is installed on the ship, and a three-dimensional coordinate system is established with the position of the inertial sensing system's star marker as the origin;

[0086] In step A32, the process of pre-determining the relative positional relationship between the ship and the underwater three-dimensional sonar transducer is as follows: Figure 4 As shown, it includes:

[0087] Step A321: Deploy the underwater 3D sonar transducer underwater;

[0088] Step A322: Measure the distance between the center point of the flange of the underwater three-dimensional sonar transducer and the origin of the three-dimensional coordinate system multiple times using a tape measure, and process the data to obtain the average value of the distance values;

[0089] Specifically, the purpose of averaging the distance values ​​in step A322 above is to reduce the impact of measurement errors and improve the accuracy and reliability of the measurement results. By taking multiple measurements and averaging them, deviations in individual measurements can be eliminated, the influence of random errors can be reduced, and thus measurement results closer to the true values ​​can be obtained.

[0090] Preferably, in the three-dimensional coordinate system, the positive X-axis direction is towards the front of the ship, the positive Y-axis direction is towards the right of the ship, and the positive Z-axis direction is towards the bottom of the ship.

[0091] Specifically, defining a three-dimensional coordinate system allows for a clear description of the ship's orientation and direction, as well as the position of the underwater three-dimensional sonar transducer relative to the ship. The positive X-axis represents the ship's forward direction, the positive Y-axis represents the ship's right-hand side, and the positive Z-axis represents the ship's underside. This definition makes the description of positional relationships more accurate and consistent.

[0092] Preferably, in step SA322, the average value is obtained by processing all distance values ​​with an error of no more than 5 cm between them.

[0093] Specifically, in a preferred embodiment of the present invention, the process of averaging all distance values ​​with an error of no more than 5 cm between them is as follows:

[0094] First, select all distance values ​​within any given time period and calculate the average distance value.

[0095] Next, select the distance value closest to the average distance value as the median value;

[0096] The distance value of 5 centimeters from the midpoint is retained again;

[0097] Finally, the average of the retained distance values ​​is taken.

[0098] In another preferred embodiment of the present invention, unlike the preferred embodiment described above, the first distance value is selected as the median value among all distance values, and then all distance values ​​are compared with the median value. Only the distance values ​​that are 5 cm away from the median value are retained, and the average value of the retained distance values ​​is taken.

[0099] Preferably, in step A3, the attitude of the underwater three-dimensional sonar transducer is corrected in real time by adjusting the attitude parameters of the underwater three-dimensional sonar transducer.

[0100] Attitude parameters include the roll, pitch, yaw, and vertical motion values ​​of the underwater three-dimensional sonar transducer.

[0101] Specifically, by adjusting the attitude parameters of the underwater 3D sonar transducer in real time, it is possible to correct any attitude deviations that may occur during underwater operation, ensuring that the transducer's working attitude remains in a predetermined ideal state. At the same time, by correcting the attitude parameters of the underwater 3D sonar transducer in real time, it is possible to reduce the attitude errors that may occur during underwater operation, thereby improving the positioning accuracy of the transducer and enabling the data acquisition module of the transducer to more accurately determine the location of the gabion.

[0102] Preferably, the underwater three-dimensional sonar transducer is mounted on an underwater gimbal;

[0103] In step A3, the underwater gimbal is remotely controlled to enable the underwater 3D sonar transducer to conduct omnidirectional scanning and acquire 3D sonar images.

[0104] Specifically, the underwater gimbal receives data signals from the front-end computing module of the underwater 3D sonar transducer through the data receiving module, and then controls the control module to make adjustments in all directions based on the data signals, thereby realizing the position adjustment of the underwater 3D sonar transducer.

[0105] In one embodiment of the present invention, an underwater three-dimensional sonar transducer is mounted on an underwater gimbal, which can achieve a rotation range of 90° in all directions. The phased array technology of the underwater three-dimensional sonar transducer is used to synthesize three-dimensional sonar images. The aforementioned rotation range can achieve all-round coverage scanning, ensuring that complete image information of the underwater gabion and surrounding terrain is obtained.

[0106] The above description is merely a preferred embodiment of the present invention and does not limit the implementation and protection scope of the present invention. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for underwater deployment of gabions, characterized in that, include: Step A1: Before deploying the gabions, perform precision calibration on the underwater 3D sonar transducer; Step A2: Deploy the underwater three-dimensional sonar transducer and the gabion; Step A3: Perform real-time attitude correction on the underwater three-dimensional sonar transducer, and simultaneously use the underwater three-dimensional sonar transducer to acquire real-time three-dimensional sonar images of the underwater gabion. Step A4: Adjust the position of the gabion according to the three-dimensional sonar image, and complete the underwater deployment of the gabion after the adjustment is completed; Step A1 includes: Step A11: Select a still water area, suspend the gabion above the still water area, and obtain the coordinates of the first corner point of the gabion; Step A12: Place the gabion vertically into the still water area; Step A13: Use the underwater three-dimensional sonar transducer to acquire a three-dimensional sonar image of the gabion, and obtain the coordinates of the second corner point of the gabion based on the three-dimensional sonar image; Step A14: Adjust the coordinates of the second corner point to coincide with the coordinates of the first corner point, and record the calibration value obtained during the adjustment process; Step A15: Perform accuracy calibration on the underwater three-dimensional sonar transducer according to the calibration value; Step A16: Repeat steps A13-A15 to update the calibration value. Exit when the coordinates of the second corner point formed in step A13 coincide with the coordinates of the first corner point, so as to complete the accuracy calibration of the underwater three-dimensional sonar transducer.

2. The method according to claim 1, characterized in that, The calibration values ​​include translation calibration values ​​and rotation calibration values.

3. The method according to claim 1, characterized in that, In step A2, a first preset position for placing the gabion and a second preset position for placing the underwater three-dimensional sonar transducer are pre-set, so that the underwater three-dimensional sonar transducer is located directly in front of the gabion and facing the gabion after placement. In step A2, after deploying the underwater three-dimensional sonar transducer, the absolute coordinates of the underwater three-dimensional sonar transducer are acquired using a GNSS system, and the actual deployment position of the underwater three-dimensional sonar transducer is adjusted to coincide with the second preset position based on the absolute coordinates.

4. The method according to claim 1, characterized in that, In step A3, the process of attitude correction for the underwater three-dimensional sonar transducer includes: Step A31: Use an inertial sensing system to obtain the ship's attitude changes before and after deploying the underwater three-dimensional sonar transducer; Step A32: Based on the ship's attitude change and the predetermined relative positional relationship between the ship and the underwater three-dimensional sonar transducer, perform real-time attitude correction on the underwater three-dimensional sonar transducer.

5. The method according to claim 4, characterized in that, The inertial sensing system is installed on the ship, and a three-dimensional coordinate system is established with the star position of the inertial sensing system as the origin. The process of determining the relative positional relationship between the ship and the underwater three-dimensional sonar transducer in step A32 includes: Step A321: Deploy the underwater three-dimensional sonar transducer underwater; Step A322: Measure the distance between the center point of the flange of the underwater three-dimensional sonar transducer and the origin of the three-dimensional coordinate system multiple times using a tape measure, and process the values ​​to obtain the average value of the distance. Step A323: Determine the relative positional relationship between the ship and the underwater three-dimensional sonar transducer based on the average value of the distance values.

6. The method according to claim 5, characterized in that, In the three-dimensional coordinate system, the positive X-axis is the direction facing forward of the ship, the positive Y-axis is the direction facing to the right of the ship, and the positive Z-axis is the direction facing downward of the ship.

7. The method according to claim 5, characterized in that, In step A322, the average value is obtained by processing all the distance values ​​with an error of no more than 5 cm between them.

8. The method according to claim 1, characterized in that, In step A3, the attitude of the underwater three-dimensional sonar transducer is corrected in real time by adjusting the attitude parameters of the underwater three-dimensional sonar transducer. The attitude parameters include the roll, pitch, yaw, and vertical motion values ​​of the underwater three-dimensional sonar transducer.

9. The method according to claim 1, characterized in that, The underwater three-dimensional sonar transducer is mounted on an underwater gimbal. In step A3, the underwater gimbal is remotely controlled so that the underwater three-dimensional sonar transducer can perform omnidirectional scanning to acquire the three-dimensional sonar image.

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