River dredging detection method based on multi-beam measurement system

Abstract

The invention discloses a river dredging detection method based on a multi-beam measurement system, and the method achieves the quick and high-precision detection operation based on a network RTK-GNSS system and a multi-beam detection technology, obtains the Boolean parameters through space coordinate conversion, and improves the elevation calculation precision of a multi-beam echo sounding technology. A real-time difference correction value is solved by combining phase observation data obtained through sampling of a local GNSS chip with input difference station RTCM data and adopting a partial ambiguity fixed solution algorithm, so that a 3D coordinate with cm-level precision is quickly obtained, the high-precision requirements of river dredging construction for horizontal positioning and tide level positioning can be met without erecting a reference station, and the accuracy of river dredging construction is improved. And real-time and accurate feedback is provided for on-site construction operation, so that the construction efficiency and precision are improved.

Description

Technical Field

[0001] The invention relates to the technical field of river dredging, and in particular to a river dredging detection method based on a multi-beam measurement system. Background Art

[0002] Silt blockage is one of the main factors hindering the smooth operation of waterways. It is necessary to carry out dredging and slag removal work regularly, excavate underwater earth in the waterway area, remove the blocked silt, and allow ships on the waterway to sail safely and stably, which plays an important role in ensuring the operating capacity of the waterway.

[0003] Although the existing rapid detection technology for river dredging has widely adopted the global satellite navigation system GNSS combined with a single-beam echo measurement system to monitor river terrain, this solution still faces some challenges in actual operation. Specifically, it relies on the establishment of fixed reference stations to ensure measurement accuracy, which not only increases the complexity of deployment, but also significantly reduces the detection efficiency due to the need to frequently relocate reference stations to cover different operating areas. In addition, the traditional method lacks real-time performance and is difficult to provide immediate and accurate feedback for on-site construction operations, thus limiting the further improvement of construction efficiency and accuracy. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above-mentioned problems of the river dredging detection method based on the multi-beam measurement system, the present invention is proposed.

[0006] Therefore, the purpose of the present invention is to provide a river dredging detection method based on a multi-beam measurement system, which is used to solve the problem that "the existing rapid detection technology for river dredging has widely adopted the global satellite navigation system GNSS combined with a single-beam echo measurement system to monitor river topography, but this solution still faces some challenges in actual operation. Specifically, it relies on the establishment of fixed reference stations to ensure measurement accuracy, which not only increases the complexity of deployment, but also significantly reduces the detection efficiency due to the need to frequently relocate reference stations to cover different operating areas. In addition, the traditional method lacks real-time performance and it is difficult to provide instant and accurate feedback for on-site construction operations, thereby limiting the further improvement of construction efficiency and accuracy."

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: A river dredging detection method based on a multi-beam measurement system, comprising:

[0008] Step S1, survey ship selection: select a suitable survey ship according to the natural conditions of the river, and the survey ship is equipped with a high-performance network RTK-GNSS system to ensure positioning accuracy;

[0009] Step S2, multi-beam echo sounder installation: install the multi-beam echo sounder on the bottom of the survey ship. During installation, pay attention to the draft of the transducer and mark it accurately to reduce measurement errors.

[0010] Step S3, data collection: start the multi-beam echo sounder, network RTK-GNSS system, attitude sensor and sound velocity profiler to collect the depth, position, attitude and sound velocity data of the river terrain in real time;

[0011] Step S4, data correction: using the ship attitude data measured by the attitude sensor to perform real-time compensation and correction on the multi-beam bathymetric data to improve the measurement accuracy;

[0012] Step S5, data processing and analysis: the collected data is transmitted to a computer, multi-beam bathymetric technology is optimized based on the Bursa seven-parameter algorithm, and data processing and analysis are performed using dedicated software to generate a river channel topographic map and a siltation analysis report;

[0013] Step S6, river channel excavation and filling: guiding the movement trajectory of the excavator bucket through the excavator bucket posture control system to complete the excavation and filling of the river channel;

[0014] Step S7, siltation monitoring: After the river dredging project is completed, the multi-beam measurement system is used to regularly monitor the siltation of the river, and the siltation of the river is evaluated by comparing and analyzing the measurement data of different time periods.

[0015] As a preferred solution of the river dredging detection method based on the multi-beam measurement system of the present invention, wherein: the natural conditions of the river include openness, wave conditions, and water depth;

[0016] The surveying ships include bucket dredgers, grab dredgers, suction dredgers, cutter suction dredgers and chain bucket dredgers.

[0017] As a preferred solution of the river dredging detection method based on the multi-beam measurement system of the present invention, wherein: the network RTK system is a new real-time positioning technology based on the continuously operating GNSS reference station network system CORS;

[0018] The network RTK technology includes four types: virtual reference station technology VRS, FKP technology, master-auxiliary station technology MAC, and comprehensive interpolation technology CBI. The joint single reference station differential calculation technology composed of multiple single reference stations belongs to the limited network RTK technology.

[0019] As a preferred solution of the river dredging detection method based on the multi-beam measurement system of the present invention, the multi-beam bathymetric system is composed of four parts: a basic system, auxiliary equipment, a real-time data acquisition and processing system, and a data post-processing software package;

[0020] The basic system includes a transmitting transducer array, a receiving transducer array, a posture sensor, and a sound velocity meter;

[0021] The auxiliary equipment includes ship surveying and navigation equipment;

[0022] The real-time data acquisition and processing system is used to acquire and process measurement data in real time;

[0023] The data post-processing software package is used to post-process and analyze the measurement data and generate topographic maps and reports.

[0024] As a preferred solution of the river dredging detection method based on the multi-beam measurement system of the present invention, wherein: the measurement ship is equipped with a stable generator set, radar, and communication equipment;

[0025] The generator set adopts a gas generator set, which uses natural gas and liquefied petroleum gas as fuel and has the advantages of environmental protection and economy;

[0026] The communication equipment includes a high-frequency call, and the high-frequency call realizes high-speed data transmission;

[0027] The radar adopts a microwave radar, which includes a transmitter, an antenna, a receiver and a signal processor.

[0028] As a preferred solution of the river dredging detection method based on the multi-beam measurement system described in the present invention, the multi-beam echo sounder is installed in a "moon pool" style or a ship's side hanging style to ensure the stability of the transducer's posture.

[0029] As a preferred solution of the river dredging detection method based on the multi-beam measurement system of the present invention, the Bursa seven-parameter algorithm is specifically:

[0030]

[0031] Among them, ΔX0, ΔY0, and ΔZ0 are three translation parameters; εX, εY, and εZ are three rotation parameters; m is a scale change parameter. ΔX0, ΔY0, ΔZ0, εX, εY, and εZ are all obtained through attitude sensors. Coincidence points with uniform distribution and high accuracy in the measurement area are selected. When the number of coincidence points is greater than 3, the least squares method is used to calculate the most likely value of the conversion parameter.

[0032] As a preferred solution of the river dredging detection method based on the multi-beam measurement system of the present invention, wherein: the attitude sensor is installed on a horizontal platform on the ship deck, and includes an accelerometer, a gyroscope and a magnetometer;

[0033] The accelerometer measures the acceleration of the object in three axes, which is used to determine the tilt angle of the ship;

[0034] The gyroscope measures the angular velocity of an object in three axes and is used to determine the rotation direction and speed of the ship;

[0035] The magnetometer measures the direction of the vessel in the earth's magnetic field and is used to calibrate and correct the direction data.

[0036] Beneficial effects of the present invention:

[0037] This application realizes fast and high-precision detection operations based on the network RTK-GNSS system and multi-beam detection technology, and uses spatial coordinate transformation to obtain the seven parameters of Bursa to improve the elevation calculation accuracy of the multi-beam echo sounding technology; the phase observation data obtained by sampling the local GNSS chip is combined with the input differential station RTCM data, and the partial ambiguity fixed solution algorithm is used to solve the real-time differential correction value, so as to quickly obtain 3D coordinates with cm-level accuracy. It can meet the high-precision requirements of river dredging construction for horizontal positioning and tidal positioning without setting up reference stations, and provide instant and accurate feedback for on-site construction operations, thereby improving construction efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0039] Figure 1 It is a flow chart of the river dredging detection method based on the multi-beam measurement system of the present invention. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0041] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0042] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0043] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0044] Embodiment 1

[0045] Reference Figure 1 , as one embodiment of the present invention, provides a river dredging detection method based on a multi-beam measurement system, which includes:

[0046] Step S1, survey ship selection: select a suitable survey ship according to the natural conditions of the river, and the survey ship is equipped with a high-performance network RTK-GNSS system to ensure positioning accuracy;

[0047] Step S2, multi-beam echo sounder installation: the multi-beam echo sounder is installed on the bottom of the survey ship. During installation, attention should be paid to the draft of the transducer and accurate marking should be performed to reduce measurement errors;

[0048] Step S3, data collection: start the multi-beam echo sounder, network RTK-GNSS system, attitude sensor and sound velocity profiler to collect the depth, position, attitude and sound velocity data of the river terrain in real time;

[0049] Step S4, data correction: using the ship attitude data measured by the attitude sensor to perform real-time compensation and correction on the multi-beam bathymetric data to improve the measurement accuracy;

[0050] Step S5, data processing and analysis: the collected data is transmitted to a computer, multi-beam bathymetric technology is optimized based on the Bursa seven-parameter algorithm, and data processing and analysis are performed using dedicated software to generate a river channel topographic map and a siltation analysis report;

[0051] Step S6, river channel excavation and filling: guiding the movement trajectory of the excavator bucket through the excavator bucket posture control system to complete the excavation and filling of the river channel;

[0052] Step S7, siltation monitoring: After the river dredging project is completed, the multi-beam measurement system is used to regularly monitor the siltation of the river, and the siltation of the river is evaluated by comparing and analyzing the measurement data of different time periods.

[0053] This application realizes fast and high-precision detection operations based on the network RTK-GNSS system and multi-beam detection technology, and uses spatial coordinate transformation to obtain the seven parameters of Bursa to improve the elevation calculation accuracy of the multi-beam echo sounding technology; the phase observation data obtained by sampling the local GNSS chip is combined with the input differential station RTCM data, and the partial ambiguity fixed solution algorithm is used to solve the real-time differential correction value, so as to quickly obtain 3D coordinates with cm-level accuracy. It can meet the high-precision requirements of river dredging construction for horizontal positioning and tidal positioning without setting up reference stations, and provide instant and accurate feedback for on-site construction operations, thereby improving construction efficiency and accuracy.

[0054] The natural conditions of the river include openness, wave conditions, and water depth;

[0055] The surveying ships include bucket dredgers, grab dredgers, suction dredgers, cutter suction dredgers and chain bucket dredgers.

[0056] The network RTK system is a new real-time positioning technology based on the continuously operating GNSS reference station network system CORS;

[0057] The network RTK technology includes four types: virtual reference station technology VRS, FKP technology, master-auxiliary station technology MAC, and comprehensive interpolation technology CBI. The joint single reference station differential calculation technology composed of multiple single reference stations belongs to the limited network RTK technology.

[0058] The multi-beam bathymetric system consists of four parts: basic system, auxiliary equipment, real-time data acquisition and processing system, and data post-processing software package;

[0059] The basic system includes a transmitting transducer array, a receiving transducer array, a posture sensor, and a sound velocity meter;

[0060] The auxiliary equipment includes ship surveying and navigation equipment;

[0061] The real-time data acquisition and processing system is used to acquire and process measurement data in real time;

[0062] The data post-processing software package is used to post-process and analyze the measurement data and generate topographic maps and reports.

[0063] Wherein, the survey ship is equipped with a stable generator set, radar, and communication equipment;

[0064] The generator set adopts a gas generator set, which uses natural gas and liquefied petroleum gas as fuel and has the advantages of environmental protection and economy;

[0065] The communication equipment includes high-frequency calls, which can achieve high-speed data transmission, ensure the real-time nature of communication, and ensure the stability and reliability of communication in various complex environments, ensuring the continuity and quality of communication;

[0066] The radar adopts a microwave radar, which includes a transmitter, an antenna, a receiver and a signal processor.

[0067] The multi-beam echo sounder is installed in a "moon pool" style or a ship's side hanging style to ensure the stability of the transducer's posture.

[0068] The Bursa seven-parameter algorithm is specifically:

[0069]

[0070] Among them, ΔX0, ΔY0, and ΔZ0 are three translation parameters; εX, εY, and εZ are three rotation parameters; m is a scale change parameter. ΔX0, ΔY0, ΔZ0, εX, εY, and εZ are all obtained through attitude sensors. Coincidence points with uniform distribution and high accuracy in the measurement area are selected. When the number of coincidence points is greater than 3, the least squares method is used to calculate the most likely value of the conversion parameter.

[0071] Wherein, the attitude sensor is installed on a horizontal platform on the ship deck, and includes an accelerometer, a gyroscope and a magnetometer;

[0072] The accelerometer measures the acceleration of the object in three axes and is used to determine the tilt angle of the ship;

[0073] The gyroscope measures the angular velocity of an object in three axes and is used to determine the rotation direction and speed of the ship;

[0074] The magnetometer measures the direction of the vessel in the earth's magnetic field and is used to calibrate and correct the direction data.

[0075] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced without departing from the spirit and scope of the technical solutions of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A river dredging detection method based on a multi-beam measurement system, characterized in that: include: Step S1, survey ship selection: select a suitable survey ship according to the natural conditions of the river, and the survey ship is equipped with a high-performance network RTK-GNSS system to ensure positioning accuracy; Step S2, multi-beam echo sounder installation: the multi-beam echo sounder is installed on the bottom of the survey ship. During installation, attention should be paid to the draft of the transducer and accurate marking should be performed to reduce measurement errors; Step S3, data collection: start the multi-beam echo sounder, network RTK-GNSS system, attitude sensor and sound velocity profiler to collect the depth, position, attitude and sound velocity data of the river terrain in real time; Step S4, data correction: using the ship attitude data measured by the attitude sensor to perform real-time compensation and correction on the multi-beam bathymetric data to improve the measurement accuracy; Step S5, data processing and analysis: the collected data is transmitted to a computer, the multi-beam bathymetric technology is optimized based on the Bursa seven-parameter algorithm, and the data is processed and analyzed using dedicated software to generate a river channel topography map and a siltation analysis report; Step S6, river channel excavation and filling: guiding the movement trajectory of the excavator bucket through the excavator bucket posture control system to complete the excavation and filling of the river channel; Step S7, siltation monitoring: After the river dredging project is completed, the multi-beam measurement system is used to regularly monitor the siltation of the river, and the siltation of the river is evaluated by comparing and analyzing the measurement data of different time periods.

2. The river dredging detection method based on the multi-beam measurement system according to claim 1 is characterized in that: The natural conditions of the river include openness, wave conditions, and water depth; The surveying ships include bucket dredgers, grab dredgers, suction dredgers, cutter suction dredgers and chain bucket dredgers.

3. The river dredging detection method based on the multi-beam measurement system according to claim 1 is characterized in that: The network RTK system is a new real-time positioning technology based on the continuously operating GNSS reference station network system CORS; The network RTK technology includes four types: virtual reference station technology VRS, FKP technology, master-auxiliary station technology MAC, and comprehensive interpolation technology CBI. The joint single reference station differential calculation technology composed of multiple single reference stations belongs to the limited network RTK technology.

4. The river dredging detection method based on a multi-beam measurement system according to claim 1 is characterized in that: The multi-beam bathymetric system consists of four parts: basic system, auxiliary equipment, real-time data acquisition and processing system, and data post-processing software package; The basic system includes a transmitting transducer array, a receiving transducer array, a posture sensor, and a sound velocity meter; The auxiliary equipment includes ship surveying and navigation equipment; The real-time data acquisition and processing system is used to acquire and process measurement data in real time; The data post-processing software package is used to post-process and analyze the measurement data and generate topographic maps and reports.

5. The river dredging detection method based on the multi-beam measurement system according to claim 1 is characterized in that: The survey ship is equipped with a stable generator set, radar, and communication equipment; The generator set adopts a gas generator set, which uses natural gas and liquefied petroleum gas as fuel and has the advantages of environmental protection and economy; The communication equipment includes a high-frequency call, and the high-frequency call realizes high-speed data transmission; The radar adopts a microwave radar, which includes a transmitter, an antenna, a receiver and a signal processor.

6. The river dredging detection method based on the multi-beam measurement system according to claim 1 is characterized in that: The multi-beam echo sounder is installed in a "moon pool" style or a ship's side hanging style to ensure that the transducer is stable.

7. The river dredging detection method based on a multi-beam measurement system according to claim 1 is characterized in that: The Bursa seven-parameter algorithm is specifically: Among them, ΔX0, ΔY0, and ΔZ0 are three translation parameters; εX, εY, and εZ are three rotation parameters; m is a scale change parameter. ΔX0, ΔY0, ΔZ0, εX, εY, and εZ are all obtained through attitude sensors. Coincidence points with uniform distribution and high accuracy in the measurement area are selected. When the number of coincidence points is greater than 3, the least squares method is used to calculate the most likely value of the conversion parameter.

8. The river dredging detection method based on a multi-beam measurement system according to claim 1, characterized in that: The attitude sensor is installed on a horizontal platform on the ship deck, and includes an accelerometer, a gyroscope and a magnetometer; The accelerometer measures the acceleration of the object in three axes and is used to determine the tilt angle of the ship; The gyroscope measures the angular velocity of an object in three axes and is used to determine the rotation direction and speed of the ship; The magnetometer measures the direction of the vessel in the earth's magnetic field and is used to calibrate and correct the direction data.

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