Underwater positioning data processing method, device, equipment and storage medium

Abstract

The present invention discloses an underwater positioning data processing method, device, equipment and storage medium, and belongs to the field of underwater positioning technology. The method acquires underwater positioning data; performs data decoding according to the underwater positioning data, extracts the mother ship stern center positioning data and the underwater towed body beacon positioning data; uses the mother ship stern center positioning data and the underwater towed body beacon positioning data to perform offset correction calculation on the underwater positioning data; performs wild value elimination processing on the underwater positioning data by setting a positioning error threshold to obtain relevant data; and performs underwater positioning according to the relevant data. The present invention acquires underwater positioning data, and uses the stern center positioning data and the underwater towed body beacon positioning data to perform offset correction calculation, which can effectively improve the accuracy of positioning. By correcting potential offset errors, the target position can be determined more accurately.

Description

Technical Field

[0001] The present invention relates to the field of underwater positioning technology, and in particular to an underwater positioning data processing method, device, equipment and storage medium. Background Art

[0002] In recent years, with the deepening of ocean surveys, more and more near-seabed underwater equipment (such as deep towing, seabed cameras, ROV, AUV, etc.) are used for seabed detection, and the corresponding underwater acoustic positioning technology is developing faster and faster.

[0003] High-precision acoustic underwater positioning systems solve the positioning problem of near-seabed surveys, but due to factors such as acoustic noise and underwater working environment, large random errors may occur, or even jumps and discontinuities may occur. In the past, these underwater positioning data were directly used without processing, and these data had jumps (errors) and discontinuities (data omissions). Summary of the invention

[0004] The purpose of the present invention is to overcome the problems existing in the related art and to provide an underwater positioning data processing method, device, equipment and storage medium.

[0005] The technical solution adopted by the present invention is:

[0006] On the one hand, an embodiment of the present invention provides a method for processing underwater positioning data, comprising the following steps:

[0007] Obtain underwater positioning data;

[0008] Decoding the underwater positioning data to extract the mother ship stern center positioning data and the beacon positioning data of the underwater towed body;

[0009] Using the mother ship stern center positioning data and the beacon positioning data of the underwater towed body, performing offset correction calculation on the underwater positioning data;

[0010] The underwater positioning data is subjected to outlier elimination processing by using a set positioning error threshold to obtain relevant data;

[0011] Underwater positioning is performed according to the relevant data.

[0012] Furthermore, the data decoding is performed according to the underwater positioning data to extract the mother ship stern center positioning data and the beacon positioning data of the underwater towed body, including:

[0013] Extracting the mother ship stern center positioning data and the beacon positioning data of the underwater towed body from the underwater positioning data according to the format and protocol of the underwater positioning data;

[0014] The center positioning data of the mother ship's stern and the beacon positioning data of the underwater towed body are input into a database.

[0015] Further, the use of the mother ship stern center positioning data and the beacon positioning data of the underwater towed body to perform offset correction calculation on the underwater positioning data includes:

[0016] Obtaining a first distance; the first distance is a distance value from the center of the mother ship's stern to the beacon of the underwater towed body;

[0017] Acquire a second distance; the second distance is a horizontal distance value from the beacon of the underwater towing body to the magnetic towing fish;

[0018] Obtaining a first azimuth; the first azimuth is the geodetic azimuth from the center of the mother ship's stern to the beacon of the underwater towed body;

[0019] Obtaining a second orientation; the second orientation is a geodesic azimuth angle from the beacon of the underwater towed body to the center of the stern of the mother ship;

[0020] The first distance is updated using the Gaussian mean argument inverse calculation formula;

[0021] The first orientation is updated using the Gaussian mean argument inverse calculation formula;

[0022] The position of the magnetic towfish is solved using the Gaussian mean derivative forward calculation formula.

[0023] Furthermore, the first distance is updated using a Gaussian mean argument back calculation formula, and the formula used includes:

[0024]

[0025] Wherein, the left side of the equation in formula (1) is the intermediate variable; A2 is the second orientation;

[0026] B1 is the geodetic latitude of the center of the mother ship's stern; B2 is the geodetic latitude of the beacon of the underwater towed body;

[0027] a is the length of the major semi-axis of the earth ellipsoid; e is the first eccentricity; e′ is the second eccentricity;

[0028] S 12 is the first distance; S′ 12 is to calculate the updated first distance;

[0029] ΔS is the slant distance from the second distance to the first azimuth;

[0030] A1 is the first orientation.

[0031] Furthermore, the first position is updated using a Gaussian mean argument back calculation formula, and the formula used includes:

[0032]

[0033] Wherein, ΔA is an intermediate variable, A′1 is the first orientation after calculation and update, and A′2 is the second orientation after calculation and update.

[0034] Furthermore, the Gaussian mean derivative forward calculation formula is used to calculate the position of the magnetic towfish, and the formula used includes:

[0035]

[0036] Wherein, L1 is the geodetic longitude of the center of the stern of the mother ship; L2 is the geodetic longitude of the beacon of the underwater towed body.

[0037] On the other hand, an embodiment of the present invention further provides an underwater positioning data processing device, comprising:

[0038] The first module is used to obtain underwater positioning data;

[0039] The second module is used to decode the underwater positioning data and extract the mother ship stern center positioning data and the beacon positioning data of the underwater towed body;

[0040] The third module is used to use the stern center positioning data of the mother ship and the beacon positioning data of the underwater towed body to perform offset correction calculation on the underwater positioning data;

[0041] The fourth module performs outlier elimination processing on the underwater positioning data by using a set positioning error threshold to obtain relevant data;

[0042] The fifth module is used to perform underwater positioning according to the relevant data.

[0043] On the other hand, an embodiment of the present invention further provides an electronic device, including a processor and a memory;

[0044] The memory is used to store programs;

[0045] The processor executes the program to implement the underwater positioning data processing method described above.

[0046] On the other hand, an embodiment of the present invention further provides a computer storage medium, in which a program executable by a processor is stored, characterized in that the program executable by the processor is used to implement the underwater positioning data processing method described above when executed by the processor.

[0047] The beneficial effects of the present invention are: providing an underwater positioning data processing method, device, equipment and storage medium, by acquiring underwater positioning data; performing data decoding according to the underwater positioning data, extracting the mother ship stern center positioning data and the underwater towed body beacon positioning data; using the mother ship stern center positioning data and the underwater towed body beacon positioning data, performing offset correction calculation on the underwater positioning data; performing wild value elimination processing on the underwater positioning data by a set positioning error threshold to obtain relevant data; performing underwater positioning according to the relevant data. The present invention can effectively improve the accuracy of positioning by acquiring underwater positioning data and performing offset correction calculation using the stern center positioning data and the underwater towed body beacon positioning data. By correcting potential offset errors, the target position can be determined more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a flow chart of an underwater positioning data processing method provided by an embodiment of the present invention;

[0049] Figure 2 is a flowchart of underwater positioning data processing provided by an embodiment of the present invention;

[0050] Figure 3 is a composition diagram of a deep-tow magnetic system provided by an embodiment of the present invention;

[0051] Figure 4 is an error point map provided by an embodiment of the present invention;

[0052] Figure 5 is a depth point map provided by an embodiment of the present invention;

[0053] Figure 6 is the original point map provided by the embodiment of the present invention;

[0054] Figure 7 is a comparison diagram before and after smoothing provided by an embodiment of the present invention;

[0055] Figure 8 is a comparison diagram of interpolation results provided by an embodiment of the present invention;

[0056] Fig. 9 is a schematic diagram comparing the results before and after the treatment of the present invention provided by an embodiment of the present invention;

[0057] Fig.10 It is a schematic diagram of a computer device and a storage medium provided in an embodiment of the present invention.

[0058] The markings of the various parts of the structure in the attached drawings are as follows: 100 - center of the stern of the mother ship, 200 - underwater towing body, 300 - optical fiber line, 400 - beacon, 500 - magnetic towing fish, 600 - terminal equipment, 700 - network, 800 - server. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0060] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0061] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0063] Underwater positioning technology is crucial in many fields because the special nature of the underwater environment makes it impossible to directly apply traditional ground or aerial positioning technology. The following are some of the main backgrounds and reasons for the need for underwater positioning technology:

[0064] Marine resource exploration: Underwater positioning technology is crucial for the exploration and development of marine resources. This includes oil and gas resources, mineral resources, and other potential economic and ecological resources. Underwater positioning helps scientists and engineers better understand the seabed topography and locate potential resource points.

[0065] Underwater archaeology and cultural heritage protection: Underwater archaeology requires accurate positioning technology to find, protect and study underwater cultural heritage such as sunken ships and sunken cities. Underwater positioning technology helps determine the exact location and status of these cultural relics.

[0066] Seabed geological research: Research on seabed geological structures requires underwater positioning technology to help scientists understand processes such as the formation of the seabed crust, geological structure and geodynamics.

[0067] Marine scientific research: Underwater positioning is of great significance to the research of marine ecology, marine meteorology and marine geophysics. Scientists need accurate underwater positioning data to track the migration of marine animals and study changes in the marine environment.

[0068] Underwater communication and measurement: In the field of underwater communication and measurement, accurate underwater positioning is a key factor to ensure that communication equipment, sensors and measurement tools can be correctly positioned underwater.

[0069] Underwater engineering and maintenance: In the fields of marine engineering, submarine pipeline laying, submarine cable laying, etc., underwater positioning technology is crucial to ensure the accurate implementation and subsequent maintenance of the project.

[0070] Marine safety and disaster prevention: In marine environments, such as natural disasters such as submarine earthquakes and tsunamis, underwater positioning technology helps to quickly and accurately locate potential disaster sources and improve marine safety.

[0071] In general, underwater positioning technology is the basis for in-depth research and effective utilization of the underwater environment. Whether it is scientific research, resource development, engineering implementation or environmental monitoring, accurate underwater positioning data is the basis for various underwater activities and research.

[0072] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0073] On the one hand, an embodiment of the present invention provides an underwater positioning data processing method. The embodiment of the present invention can extract the mother ship stern center positioning data and the underwater towed body beacon positioning data, and perform correlation calculation, so that the underwater positioning system can better understand the underwater position of the target. The extraction and correlation of relevant data helps to establish more complete and accurate positioning information.

[0074] The embodiment of the present invention provides a method for processing underwater positioning data. Specifically, referring to Figure 1 , the method comprises the following steps:

[0075] S100, acquiring underwater positioning data;

[0076] S200, performing data decoding according to the underwater positioning data, extracting the mother ship stern center positioning data and the beacon positioning data of the underwater towed body;

[0077] S300, using the mother ship stern center positioning data and the beacon positioning data of the underwater towed body, performing offset correction calculation on the underwater positioning data;

[0078] S400, performing outlier elimination processing on the underwater positioning data by using the set positioning error threshold to obtain relevant data;

[0079] S500: Perform underwater positioning according to relevant data.

[0080] Underwater positioning data processing refers to the process of analyzing, interpreting and processing data obtained from underwater sensors and equipment. These data usually include sonar reflection data, underwater images, water temperature, water pressure and other information, aiming to achieve accurate positioning and understanding of the underwater environment. The following are the main aspects of underwater positioning data processing:

[0081] Sonar data processing: Sonar is one of the commonly used technologies for underwater positioning. The sonar system transmits sound waves and measures their propagation time and reflection intensity in the water. Sonar data processing involves parsing the signals returned by the sonar to identify the location, shape and characteristics of underwater targets.

[0082] Topographic Mapping and Geographic Information System (GIS): Underwater positioning data is used to create underwater topographic maps that show the elevation, features, and structure of the seabed terrain. These topographic data can be integrated into geographic information systems to provide useful information for scientific research, resource exploration, and navigation.

[0083] Navigation algorithm application: Underwater navigation requires accurate positioning information. By combining data from underwater sensors, navigation algorithms can determine the location of underwater equipment and provide real-time navigation support.

[0084] Target recognition and tracking: Use underwater positioning data to identify and track underwater targets, such as submersibles, underwater vehicles, sunken ships, etc. This is important for applications in ocean exploration and scientific research.

[0085] Error correction and filtering: Processing underwater positioning data also includes error correction and filtering of the data to remove noise, errors or other interference to ensure the accuracy and reliability of the positioning results.

[0086] 3D modeling: Using underwater data, 3D modeling can be performed to create a virtual representation of the underwater environment. This is of great significance in both scientific research and engineering design.

[0087] Data visualization: presenting processed underwater data in a visual form to make it easier for users to understand and analyze the data. This can include charts, images, animations, etc.

[0088] The goal of underwater positioning data processing is to extract useful information from various data obtained from oceans, lakes or other waters to support scientific research, resource exploration, navigation and other underwater applications. This process involves the intersection of multiple technologies and fields to ensure accuracy and practicality.

[0089] By executing the process shown in the above steps S100-S500, the purpose of the embodiment of the present invention is to obtain, analyze and interpret underwater position information to accurately locate underwater targets, terrain or equipment. Data processing in this regard usually involves using sonar, underwater sensors, GPS (Global Positioning System) and other technologies to obtain relevant information about the underwater environment.

[0090] The following are the main purposes of underwater positioning data processing:

[0091] Underwater target positioning: Data obtained by underwater sensors, such as sonar reflection data, can be used to locate underwater targets such as submarines, underwater vehicles, sunken ships, etc. Underwater target positioning is crucial for both marine exploration and underwater resource development.

[0092] Underwater topographic mapping: Processing underwater data can be used to create underwater topographic maps that show the elevation, features, and structure of the seafloor terrain. This is important for marine geology, geographic information system (GIS) applications, and seafloor resource exploration.

[0093] Navigation and positioning: Underwater positioning data processing helps realize underwater navigation systems. By integrating underwater sensors and navigation algorithms, underwater devices can accurately navigate without direct visual references.

[0094] Marine scientific research: Processing underwater positioning data helps conduct marine scientific research, including marine ecology, marine geology, and marine meteorology. These studies may require accurate underwater position information to understand changes and impacts on the marine environment.

[0095] Resource exploration: Accurate positioning of underwater geology and topography is crucial for the exploration and development of underwater resources such as oil, natural gas, minerals, etc. Underwater positioning data can be used to determine the location and distribution of potential resources.

[0096] Marine engineering: In marine engineering projects, underwater positioning data processing is an important step in the design and maintenance of submarine facilities, submarine cables, pipelines, etc.

[0097] Search and Rescue and Emergency Response: In search and rescue missions and emergency response, underwater positioning data can help locate missing vessels, aircraft wreckage, or other targets in emergency situations.

[0098] In general, the purpose of underwater positioning data processing is to use various underwater sensors and technologies to achieve accurate understanding and effective management of the underwater environment through data analysis and interpretation. This has wide applications in many fields, including scientific research, resource exploration, marine engineering and security applications.

[0099] The embodiment of the present invention discloses step S200 of performing data decoding according to underwater positioning data to extract the mother ship stern center positioning data and the beacon positioning data of the underwater towed body, including:

[0100] S210, extracting the mother ship stern center positioning data and the beacon positioning data of the underwater towed body from the underwater positioning data according to the format and protocol of the underwater positioning data;

[0101] S220, inputting the mother ship stern center positioning data and the underwater towed body beacon positioning data into a database.

[0102] As an optional implementation, to decode the underwater positioning data and extract the mother ship stern center positioning data and the beacon positioning data of the underwater towed body, the following steps are usually required:

[0103] Data collection: Use underwater sensors and equipment, such as sonar systems, water temperature sensors, etc., to collect underwater data.

[0104] Data preprocessing: Preprocess the collected raw data, including removing noise, correcting errors and filtering the data. This helps to improve the quality and reliability of the data.

[0105] Sonar data analysis: If a sonar system is used, analyze the signal returned by the sonar. Identify underwater targets in the sonar signal, including the beacon at the center of the mother ship's stern and the underwater towed body.

[0106] Positioning data extraction: Extract the positioning data of the mother ship's stern center and the positioning data of the underwater towed body's beacon from the parsed data. This may involve specific algorithms and techniques to ensure that the required position information is accurately extracted.

[0107] Data association: The positioning data of the mother ship's stern center and the positioning data of the underwater towed body's beacon are associated to ensure their consistency in time and space. This can be achieved by matching timestamps or other identifiers.

[0108] Data Verification: Validate the extracted data to ensure its accuracy and credibility. This may involve comparing other sensors or ground-based measurements to verify the accuracy of underwater positioning data.

[0109] Data storage and reporting: Store the extracted and validated data and generate reports or visualizations. This facilitates further analysis and application of underwater positioning data.

[0110] Update and optimize: Update and optimize the data decoding process as needed. This includes improving algorithms, calibrating sensors, and handling new data sources.

[0111] The specific steps and methods will vary depending on the specific technology and equipment used. Specific underwater positioning systems, sensors or data formats require detailed operation steps and algorithms.

[0112] As an optional implementation, step S220 of the present invention inputs the mother ship stern center positioning data and the beacon positioning data of the underwater towed body into the database, which has the following main functions:

[0113] Data storage and management: Databases allow large amounts of positioning data to be stored and managed efficiently. This ensures that data can be organized, retrieved and updated, facilitating subsequent data processing and analysis.

[0114] Data sharing and access: The database provides a centralized storage location where multiple users or systems can easily access and share these location data. This helps team collaboration and ensures data consistency within the organization.

[0115] Query and Analysis: The database supports powerful query and analysis functions, enabling users to extract the required information from large amounts of data. This is very important for trend analysis, pattern recognition, and other data mining tasks.

[0116] Real-time monitoring and decision support: If data is entered into the database in real time, the database can be used for real-time monitoring and decision support. This is critical for real-time management and adjustment of underwater activities.

[0117] History and backtracking: The database records past data, making it possible to go back to previous points in time for historical analysis and review. This is very useful for understanding the development of events and troubleshooting.

[0118] Data consistency and integrity: Database management systems usually have strong transaction support to ensure data consistency and integrity. This means that when data is entered, updated, or deleted, the database will maintain the correctness of the data and avoid data inconsistency or loss.

[0119] Security and access control: Database systems usually provide security and access control features to ensure that only authorized users can access sensitive location data. This helps to protect the privacy and security of data.

[0120] In general, inputting the mother ship's stern center positioning data and the beacon positioning data of the underwater towed body into the database is helpful for effectively managing, analyzing and utilizing these data, and providing more powerful support and functions for related applications.

[0121] The embodiment of the present invention discloses that step S300 uses the mother ship stern center positioning data and the beacon positioning data of the underwater towed body to perform offset correction calculation on the underwater positioning data, including:

[0122] S310, obtaining a first distance; the first distance is a distance value from the center of the mother ship's stern to the beacon of the underwater towed body;

[0123] S320, obtaining a second distance; the second distance is a horizontal distance value from the beacon of the underwater towed body to the magnetic towed fish;

[0124] S330, obtaining a first azimuth; the first azimuth is the general azimuth angle from the center of the mother ship's stern to the beacon of the underwater towed body;

[0125] S340, obtaining a second position; the second position is a general azimuth angle from the beacon of the underwater towed body to the center of the stern of the mother ship;

[0126] S350, updating the first distance using the Gaussian mean argument inverse calculation formula;

[0127] S360, updating the first position using the Gaussian mean argument inverse calculation formula;

[0128] S370, using the Gaussian mean derivative forward calculation formula to calculate the position of the magnetic towfish.

[0129] In the field of underwater positioning technology, "magnetic towfish" refers to a device used for underwater magnetic measurement, also known as magnetic towing or magnetic towing. This device is usually composed of a group of magnets that generate magnetic fields to measure the magnetic characteristics of underwater geological structures. Here is some basic information about magnetic towfish:

[0130] Composition and design: Magnetic towfish usually consist of a set of magnets, which can be strong magnetic materials. They are designed to be towed underwater to perform magnetic measurements in underwater environments.

[0131] Principle of magnetic measurement: The basic principle of magnetic towfish is to use the magnetic properties of underwater geological structures to obtain relevant information. Different geological structures, rocks or ore bodies may have different magnetic properties. By measuring the changes in the magnetic field, the underwater geological conditions can be inferred.

[0132] Underwater exploration applications: Magnetic towfish are widely used in underwater exploration, including marine geology, resource exploration, shipwreck archaeology, underwater pipeline and cable laying, etc. By analyzing the magnetic information of underwater geological structures, scientists and engineers can better understand the underground or underwater environment.

[0133] Resource exploration: In resource exploration, magnetic towfish can be used to find underground mineral resources, such as magnetite, copper, etc. Magnetic measurements can provide the location and approximate size of underground ore bodies.

[0134] Pipeline and cable positioning: Magnetic towfish are also commonly used to locate underwater pipelines and cables. Underwater pipelines are usually made of magnetic materials, and their location and direction can be accurately determined through magnetic measurements.

[0135] In general, magnetic towfish plays an important role in underwater exploration and investigation, and can obtain information about underground or underwater structures. This is of substantial help to scientific research, resource exploration, and the planning and execution of engineering projects.

[0136] As an optional implementation, in the embodiment of the present invention, the underwater positioning data is offset and corrected by using the mother ship stern center positioning data and the beacon positioning data of the underwater towed body, so as to improve the accuracy and precision of underwater positioning. Specific purposes include:

[0137] Precise positioning: Using the mother ship's stern center positioning data and the underwater towed body's beacon positioning data for offset correction can correct possible errors in the underwater positioning system. This helps to improve the accuracy of underwater equipment in geographic space and make the positioning results more accurate.

[0138] Real-time adjustment: If data is input in real time, the positioning information of underwater equipment can be adjusted in real time by performing offset correction calculations regularly. This is very important for dynamically adjusting the position of underwater equipment during operation, especially in complex or changing underwater environments.

[0139] Hull motion compensation: Ships in the water are affected by waves, tides and other factors, which may cause the positioning data of underwater equipment to be offset. By considering the positioning data of the center of the mother ship's stern, the hull motion can be compensated to improve the position accuracy of the underwater equipment.

[0140] Integrated multi-source data: Combining the positioning data of the mother ship's stern center and the underwater towed beacon, it is possible to use information from multiple sources to improve the understanding of underwater positioning. This helps to reduce the error that may be caused by single-source data and improve the overall data credibility.

[0141] Environmental adaptability: In different underwater environments, there may be different influencing factors, such as water temperature, salinity, etc. By performing offset correction calculations, the adaptability of the underwater positioning system to different environments can be improved to ensure the stability and consistency of the positioning results.

[0142] In general, the purpose of calculating the offset correction of underwater positioning data is to improve the performance of the underwater positioning system and ensure that it can provide accurate and reliable position information in practical applications. This is of great significance to underwater exploration, marine research, resource collection and other fields.

[0143] refer to Figure 2The data processing flow chart of the embodiment of the present invention, the embodiment of the present invention can execute data input: extract relevant data from the original data (underwater positioning data) and input it into the database, and complete data decoding and offset correction during the data input process.

[0144] Data decoding: According to the format and protocol of the original data (underwater positioning data), relevant data is extracted for subsequent processing.

[0145] Offset correction: The positioning data is based on the position of the beacon on the towed body. The offset correction is performed according to the relative position of the beacon and the towed fish to obtain the positioning data of the underwater towed fish and enter it into the database.

[0146] The embodiment of the present invention discloses that in step S350, the first distance is updated using a Gaussian mean argument back calculation formula, and the formula used includes:

[0147]

[0148] Wherein, the left side of the equation in formula (1) is the intermediate variable; A2 is the second position;

[0149] B1 is the geodetic latitude of the center of the mother ship's stern; B2 is the geodetic latitude of the beacon of the underwater towed body;

[0150] a is the length of the major semi-axis of the earth ellipsoid; e is the first eccentricity; e′ is the second eccentricity;

[0151] S 12 is the first distance; S′ 12 is the first distance after calculating the update;

[0152] ΔS is the slant distance in the direction from the second distance to the first azimuth;

[0153] A1 is the first position.

[0154] The embodiment of the present invention discloses that in step S360, the first orientation is updated using a Gaussian mean argument back calculation formula, and the formula used includes:

[0155]

[0156] Among them, ΔA is an intermediate variable, A′1 is the first orientation after calculation and update, and A′2 is the second orientation after calculation and update.

[0157] The embodiment of the present invention discloses that step S370 uses the Gaussian mean derivative forward calculation formula to calculate the position of the magnetic towfish, and the formula used includes:

[0158]

[0159] Among them, L1 is the geodetic longitude of the center of the mother ship's stern; L2 is the geodetic longitude of the beacon of the underwater towed body (the position of the magnetic towfish).

[0160] refer to Figure 3 A composition diagram of a deep-towed magnetic system according to an embodiment of the present invention, a mother ship stern center 100 (B1, L1), a beacon 400 (B2, L2) of an underwater towing body 200, and a distance S from the mother ship stern center 100 to the beacon 400 12 , the direction from the center 100 of the mother ship's stern to the beacon 400 is A1, and the direction from the beacon 400 to the center 100 of the mother ship's stern is A2.

[0161] The offset correction steps of step S300 of the embodiment of the present invention are as follows:

[0162] A. Use the Gaussian mean derivative inverse calculation formula to calculate the distance (first distance) and azimuth (first azimuth) from the center of the mother ship's stern 100 to the beacon 400:

[0163]

[0164] The first distance is calculated using the Gaussian mean inverse formula:

[0165]

[0166] Wherein, the left side of the equation in formula (1) is an intermediate variable; A1 is the geodetic azimuth (first azimuth) from the center 100 of the mother ship's stern to the beacon 400 of the underwater towing body 200; A2 is the geodetic azimuth (second azimuth) from the beacon 400 of the underwater towing body 200 to the center 100 of the mother ship's stern;

[0167] B1 is the geodetic latitude of the center 100 of the mother ship's stern; B2 is the geodetic latitude of the beacon 400 of the underwater towed body 200;

[0168] a is the length of the major semi-axis of the earth ellipsoid; e is the first eccentricity; e′ is the second eccentricity;

[0169] S 12 is the geodetic length (first distance) from the center of the mother ship's stern 100 to the beacon 400 of the underwater towing body 200, S′ 12 is the first distance after calculating the update;

[0170] ΔS is the slant distance in the direction from the second distance to the first azimuth;

[0171] A1 is the first position.

[0172] The first position is calculated using the Gaussian mean inverse formula:

[0173]

[0174] Among them, ΔA is an intermediate variable, A′1 is the first orientation after calculation and update, and A′2 is the second orientation after calculation and update.

[0175] B. Use the Gaussian mean derivative forward calculation formula to calculate the position of the magnetic towfish 500:

[0176]

[0177] Among them, L1 is the geodetic longitude of the center of the mother ship's stern; L2 is the geodetic longitude of the beacon of the underwater towed body.

[0178] As an optional implementation, the embodiment of the present invention can perform outlier elimination: methods for eliminating outliers (erroneous data) include threshold elimination method, filter elimination method and manual intervention elimination method.

[0179] Threshold elimination method: including error elimination method and depth elimination method. Unqualified data are eliminated by setting positioning error and depth threshold values.

[0180] Error elimination method: The basis for setting the positioning error threshold is: the nominal positioning accuracy (DRMS) of the underwater positioning system is 0.2% of the slant range, and the measurement value with an error greater than 3 times DRMS ​​can be considered as erroneous data.

[0181] During the deep-towed magnetic measurement acquisition process, the distance between the underwater towed body and the mother ship is about 7000 meters, and the DRMS ​​is 14 (7000*0.2%) meters. Points with errors greater than 3 times the DRMS, i.e. 42 meters, can be directly eliminated, such as Figure 4 As shown, the red points are points with errors greater than 42 meters. By removing the red points, some erroneous points can be deleted.

[0182] Depth elimination method: If the depth error of the underwater target is too large, the positioning can be considered invalid. The quality of underwater positioning data can also be improved by eliminating data points with large depth deviations. Figure 5 The middle red points are the points with large depth deviation.

[0183] Filter elimination method: Use previous numerical values ​​according to a certain mathematical model (such as Kalman filtering) to infer the estimate of the next point. If the difference between the measured value and the estimate exceeds a certain limit, it is considered that there is a problem with the measured data and the measured value is deleted.

[0184] Deep-towed measurement is carried out in a line-surveying mode. Its heading and speed do not change much and have the characteristics of discreteness and linearity. Its underwater positioning data is suitable for Kalman filtering processing.

[0185] Manual intervention elimination method: After the above processing is completed, it is necessary to manually eliminate the few erroneous data reference figures that have not been eliminated. The method is to partially zoom in on the area where data needs to be eliminated in the "Edit Modification" window, and then determine the error point ( Figure 6 Select the red dot in the bitmap) and use the window selection method to select it, then click the "Delete" button on the toolbar. Figure 6 This is the state before deletion.

[0186] As an optional implementation, the embodiment of the present invention can perform smoothing on the data: since the underwater positioning system is relatively independent in each positioning of the underwater towed fish, an arithmetic moving average method is used to perform data smoothing, and the average radius can be set to 1 to 9. It has been verified that the smoothing result with an average radius of 5 is the most realistic, such as Figure 7 shown. Figure 7 The black line in the middle is the unsmoothed towfish track, and the blue line is the moving average smoothed line.

[0187] As an optional implementation, the embodiment of the present invention can perform interpolation processing on the data: there are many reasons why the positioning points of the underwater towed fish are sparse and cannot be continuously positioned. Therefore, the data needs to be interpolated to meet the requirements of data analysis.

[0188] Interpolation methods include nearest point interpolation, linear interpolation, cubic interpolation, and spline interpolation. For different data, the appropriate interpolation method may be different. Linear interpolation is a simple and direct interpolation method that assumes that the value change between two known data points is linear. Cubic interpolation uses a higher-order polynomial to approximate the data change.

[0189] According to experiments of embodiments of the present invention, the following describes what interpolation method is suitable for interpolating towfish navigation data.

[0190] The nearest point interpolation is the fastest, but it is only applicable to the interpolation of survey vessels with good sea conditions and uniform speed and isotropic navigation. During deep towing operations, due to the ups and downs of the seabed topography, it is necessary to retract and release the cable for the safety of the deep towing vehicle. Even if the mother ship on the water surface sails at a uniform speed and isotropic navigation, the deep towing vehicle working on the seabed will not sail at a uniform speed and isotropic navigation, so the nearest point interpolation is not suitable for the interpolation of deep towing positioning.

[0191] For towfish navigation data, linear interpolation is faster and smoother; cubic interpolation is slower and much smoother; spline interpolation is slower and smoother, but the interpolation is obviously distorted. Therefore, the embodiment of the present invention believes that cubic interpolation is the most suitable interpolation method for towfish navigation data.

[0192] Figure 8 It is the navigation track near the location where the collision with the seabed occurred during deep towing work. The black * points are the original data, and the blue Δ points are the data points after smoothing. Figure 8The top one is the result of linear interpolation, the middle one is the result of spline interpolation, and the bottom one is the result of cubic interpolation. As can be seen from the figure, linear interpolation is not as smooth as spline interpolation and cubic interpolation, but spline interpolation is smoother than cubic interpolation, but it is obviously distorted.

[0193] The towfish data processing adopts cubic interpolation, and its curve smoothness is between linear interpolation and spline interpolation, with high precision and good smoothness.

[0194] As an optional implementation manner, the underwater positioning data processed by filtering, smoothing, interpolation, etc. in the embodiment of the present invention is output in the form of graphics (point map, track map) and text files, providing a strong guarantee for more accurate interpretation of towed fish data. The functions of the embodiment of the present invention include:

[0195] Visualization: Graphical output can provide intuitive visualization, making it easier for people to understand the results of underwater positioning. Point maps and track maps can show the location, trajectory and movement trend of underwater equipment in space, providing users with intuitive geographic information.

[0196] Fault detection: By observing the graphical representation, it is easier to detect abnormal or unreasonable positioning data. Abnormal points, drifting or sudden changes in trajectory may indicate problems with the underwater positioning system, so the graphical representation can be used for fault detection and system performance evaluation.

[0197] Data analysis: By analyzing point maps and track maps, users can obtain more information about the underwater environment. This includes underwater topography, object distribution, movement trends, etc. This provides valuable data for research and decision-making in the fields of marine science, exploration, resource management, etc.

[0198] Navigation support: Track maps can be used for navigation planning and path optimization. The trajectory of a vessel or underwater device can guide future navigation decisions and ensure safe and efficient movement in underwater environments.

[0199] Recording and Reporting: The text file output contains the processed positioning data, which can be used for recording and reporting. This is important for real-time monitoring, subsequent analysis, and result sharing. The text file can save historical positioning information for future reference and comparison.

[0200] Integration with other applications: The output graphics and text files can be integrated into other applications or systems to provide support for more complex underwater tasks. This helps integrate underwater positioning data into the entire system to achieve more advanced applications.

[0201] In general, the role of graphic and text output is to make underwater positioning data easier to understand, analyze and use, and provide users and systems with detailed information about the underwater environment. This has important application value for underwater exploration, marine research, navigation and related fields.

[0202] In view of the defects of the related art, the method provided by the present invention has the following advantages:

[0203] (1) Fast data processing:

[0204] The present invention has the characteristics of modularization and programming, and can quickly and conveniently process underwater positioning data. By adding and modifying the data decoding module, the present invention can also quickly process data of other underwater positioning systems.

[0205] (2) Smoothness and continuous lines are significantly improved:

[0206] Fig. 9 The red line in the middle is the result after being processed by the present invention, and the gray line is the result without being processed by the present invention.

[0207] On the other hand, reference Fig.10 The embodiment of the present invention further provides an underwater positioning data processing device, comprising:

[0208] The first module is used to obtain underwater positioning data;

[0209] The second module is used to decode the underwater positioning data and extract the mother ship stern center positioning data and the beacon positioning data of the underwater towed body;

[0210] The third module is used to use the mother ship stern center positioning data and the beacon positioning data of the underwater towed body to perform offset correction calculation on the underwater positioning data;

[0211] The fourth module performs outlier elimination processing on the underwater positioning data by using a set positioning error threshold to obtain relevant data;

[0212] The fifth module is used for underwater positioning based on relevant data.

[0213] It can be understood that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0214] On the other hand, an embodiment of the present invention further provides an electronic device, including a processor and a memory;

[0215] The memory is used to store programs;

[0216] The processor executes the program to implement the underwater positioning data processing method described above.

[0217] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0218] The memory may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage. Among them, ROM can store static data or instructions required by the processor or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0219] The memory stores executable codes, and when the executable codes are processed by the processor, the processor can execute part or all of the methods described above.

[0220] On the other hand, an embodiment of the present invention further provides a computer storage medium, in which a program executable by a processor is stored, characterized in that the program executable by the processor is used to implement the underwater positioning data processing method described above when executed by the processor.

[0221] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0222] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0223] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0224] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0225] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A method for processing underwater positioning data, characterized in that: The following steps are involved: Obtain underwater positioning data; Decoding the underwater positioning data to extract the mother ship stern center positioning data and the beacon positioning data of the underwater towed body; Using the mother ship stern center positioning data and the beacon positioning data of the underwater towed body, performing offset correction calculation on the underwater positioning data; Performing outlier elimination processing on the underwater positioning data by using a set positioning error threshold to obtain relevant data; Perform underwater positioning according to the relevant data; The step of performing data decoding according to the underwater positioning data to extract the mother ship stern center positioning data and the beacon positioning data of the underwater towed body includes: Extracting the mother ship stern center positioning data and the beacon positioning data of the underwater towed body from the underwater positioning data according to the format and protocol of the underwater positioning data; Inputting the center positioning data of the mother ship's stern and the beacon positioning data of the underwater towed body into a database; The method of using the mother ship stern center positioning data and the beacon positioning data of the underwater towed body to perform offset correction calculation on the underwater positioning data includes: Obtaining a first distance; the first distance is a distance value from the center of the mother ship's stern to the beacon of the underwater towed body; Acquire a second distance; the second distance is a horizontal distance value from the beacon of the underwater towing body to the magnetic towing fish; Obtaining a first azimuth; the first azimuth is the geodetic azimuth from the center of the mother ship's stern to the beacon of the underwater towed body; Obtaining a second orientation; the second orientation is a geodesic azimuth angle from the beacon of the underwater towed body to the center of the stern of the mother ship; The first distance is updated using the Gaussian mean argument inverse calculation formula; The first orientation is updated using the Gaussian mean argument inverse calculation formula; The position of the magnetic towfish is solved using the Gaussian mean derivative forward calculation formula.

2. The underwater positioning data processing method according to claim 1, characterized in that: The first distance is updated using a Gaussian mean argument back calculation formula, and the formula used includes: Wherein, the left side of the equation in formula (1) is the intermediate variable; A2 is the second orientation; B1 is the geodetic latitude of the center of the mother ship's stern; B2 is the geodetic latitude of the beacon of the underwater towed body; a is the length of the major semi-axis of the earth ellipsoid; e is the first eccentricity; e′ is the second eccentricity; S 12 is the first distance; S′ 12 is to calculate the updated first distance; ΔS is the slant distance from the second distance to the first azimuth; A1 is the first orientation.

3. The underwater positioning data processing method according to claim 2, characterized in that: The first position is updated using a Gaussian mean argument back calculation formula, and the formula used includes: Wherein, ΔA is an intermediate variable, A′1 is the first orientation after calculation and update, and A′2 is the second orientation after calculation and update.

4. The underwater positioning data processing method according to claim 1, characterized in that: The Gaussian mean derivative forward calculation formula is used to calculate the position of the magnetic towfish, and the formula used includes: Wherein, L1 is the geodetic longitude of the center of the stern of the mother ship; L2 is the geodetic longitude of the beacon of the underwater towed body.

5. An underwater positioning data processing device, characterized in that: include: The first module is used to obtain underwater positioning data; The second module is used to decode the underwater positioning data and extract the mother ship stern center positioning data and the beacon positioning data of the underwater towed body; The third module is used to use the stern center positioning data of the mother ship and the beacon positioning data of the underwater towed body to perform offset correction calculation on the underwater positioning data; The fourth module performs outlier elimination processing on the underwater positioning data by using a set positioning error threshold to obtain relevant data; A fifth module is used for performing underwater positioning according to the relevant data; The step of performing data decoding according to the underwater positioning data to extract the mother ship stern center positioning data and the beacon positioning data of the underwater towed body includes: Extracting the mother ship stern center positioning data and the beacon positioning data of the underwater towed body from the underwater positioning data according to the format and protocol of the underwater positioning data; Inputting the center positioning data of the mother ship's stern and the beacon positioning data of the underwater towed body into a database; The method of using the mother ship stern center positioning data and the beacon positioning data of the underwater towed body to perform offset correction calculation on the underwater positioning data includes: Obtaining a first distance; the first distance is a distance value from the center of the mother ship's stern to the beacon of the underwater towed body; Acquire a second distance; the second distance is a horizontal distance value from the beacon of the underwater towing body to the magnetic towing fish; Obtaining a first azimuth; the first azimuth is the geodetic azimuth from the center of the mother ship's stern to the beacon of the underwater towed body; Obtaining a second orientation; the second orientation is a geodesic azimuth angle from the beacon of the underwater towed body to the center of the stern of the mother ship; The first distance is updated using the Gaussian mean argument inverse calculation formula; The first orientation is updated using the Gaussian mean argument inverse calculation formula; The position of the magnetic towfish is solved using the Gaussian mean derivative forward calculation formula.

6. An electronic device, characterized in that: including a processor and a memory; The memory is used to store programs; The processor executes the program to implement the method according to any one of claims 1 to 4.

7. A computer storage medium storing a program executable by a processor, characterized in that: The program executable by the processor is used to implement the method according to any one of claims 1 to 4 when executed by the processor.

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