A matching device for improving the precision of a sonar depth measurement and a high-precision sonar depth measurement method

Abstract

This invention relates to the field of depth sounding, specifically to a supporting device and a high-precision sonar depth sounding method for improving sonar depth sounding accuracy. The device includes a pole assembly, a connecting seat, a cable assembly, a pole stabilizer, a mounting frame, and a rotating gimbal. The pole assembly is vertically positioned and fixedly connected to the survey vessel via the connecting seat, resting on the side of the vessel. The sonar detector is mounted at the bottom of the pole assembly, the antenna at the top, and an angle attitude sensor is mounted in the upper middle section of the pole assembly, close to the antenna. The distance between the angle attitude sensor and the sonar detector is more convenient, reducing sonar measurement errors. The cable assembly ensures the stability of the sonar detector during dynamic navigation, reducing swaying caused by ocean currents and improving the stability of sonar measurements. The rotating gimbal enables multi-degree-of-freedom rotation of the sonar detector, allowing for vertical scanning while maintaining depth measurement capabilities.

Description

Technical Field

[0001] This invention relates to the field of depth detection, specifically to a supporting device for improving the accuracy of sonar depth sounding and a high-precision sonar depth sounding method. Background Technology

[0002] A marine underwater sonar detection system consists of an underwater sonar detector, an antenna, an angle and attitude gauge, and a deck control unit. The common installation method involves binding or fixing the sonar probe to one side of the ship using ropes or ordinary extension rods, extending it underwater. However, ordinary extension rods or rope bindings cannot achieve a tight connection with the hull. As the ship rolls, the vibration of the extension rod itself intensifies, causing vibration errors in the detection results. The continuous impact of ocean currents often causes the sonar detector to tilt, deflect, and shift, distorting the positioning data and introducing errors or even erroneous conclusions into depth sounding. Especially under complex conditions such as high speeds or high waves, ordinary connecting devices cannot guarantee the stability of the sonar probe, further affecting the quality of underwater data and introducing a continuously increasing process error into the depth sounding results.

[0003] During the measurement process, the surveyors need to fix the antenna and the angle attitude instrument inside the survey vessel, and then measure the distance between the sonar detector, the antenna, and the angle attitude instrument in the XYZ directions in the same coordinate system to accurately calculate the topographic and location information of the sea area. Because the antenna and the angle attitude instrument are installed inside the survey vessel, it is difficult to guarantee the accuracy of the distance measurement between the sonar detector, the antenna, and the angle attitude instrument. Moreover, the measurement difficulty increases with the increase of the size of the survey vessel.

[0004] An angle attitude meter is used to record the attitude data of a sonar detector during navigation. The sonar transmitter located underwater is shaken by the continuous scouring of the water flow, and the position of the sonar transmitter relative to the angle attitude meter is constantly changing. The attitude data error continues to accumulate, and the measurement error also increases. Summary of the Invention

[0005] To address the problems of existing technologies, this invention provides a supporting device for improving the accuracy of sonar depth sounding. Installed on the side of a survey vessel, it is used to mount a sonar detector, an angle and attitude sensor, and an antenna, comprising:

[0006] The pole assembly and the connecting seat are arranged vertically and fixedly connected to the survey vessel via the connecting seat on the side of the survey vessel. The sonar detector is installed at the bottom of the pole assembly, the antenna is installed at the top of the pole assembly, and the angle attitude instrument is installed in the upper middle section of the pole assembly and close to the antenna.

[0007] The cable assembly has at least three ropes, with one end of each rope connected to the bottom of the pole assembly and the other end connected to the side of the survey vessel.

[0008] A pole stabilizer, mounted on the pole assembly and located above the connector, is used to connect the pole assembly to the vertical railing on the survey vessel.

[0009] Mounting bracket, set on the pole assembly and located above the pole stabilizer, is used to mount the angle attitude instrument;

[0010] A rotating gimbal is mounted at the bottom of the pole assembly, and a sonar detector is mounted on the rotating gimbal, which provides the sonar detector with at least two rotational degrees of freedom.

[0011] Preferably, the connecting seat includes a horizontal connecting plate and a vertical connecting plate perpendicular to the horizontal connecting plate. The horizontal connecting plate is used to connect with the survey vessel and is provided with a plurality of first mounting holes, and the vertical connecting plate is used to connect with the rod assembly and is provided with a plurality of second mounting holes.

[0012] Preferably, the mounting bracket has a horizontal mounting plate and a vertical mounting plate perpendicular to the horizontal mounting plate. The horizontal mounting plate is used to mount the angle attitude instrument and has several third mounting holes. The vertical mounting plate is used to connect to the rod assembly and has several fourth mounting holes.

[0013] Preferably, the pole stabilizer includes a first stabilizer block, a second stabilizer block, a double-ended screw, and a clamp. Both the first and second stabilizer blocks are provided with threaded holes for threaded connection with the double-ended screw. Both the first and second stabilizer blocks are provided with U-shaped notches for engaging with the pole assembly or the vertical railing on the survey vessel. In the installed state, the clamp is tightly gripped around the periphery of the pole assembly and the vertical railing on the survey vessel.

[0014] Preferably, the rod assembly has scale lines along its length.

[0015] Preferably, the rod assembly is provided with a number of anti-rotation locking holes arranged along its length direction, and the vertical connecting plate and the vertical mounting plate are also provided with anti-rotation locking holes. The vertical connecting plate and the vertical mounting plate are each equipped with locking bolts that pass through the anti-rotation locking holes and connect with the anti-rotation locking holes on the rod assembly.

[0016] Preferably, the pole assembly is a split pole structure, including an upper pole and a lower pole. A fixed rotating gimbal is installed at the bottom of the lower pole, and an antenna mounting pole for installing the antenna is provided at the top of the upper pole.

[0017] Preferably, the cable assembly has three cables, and three anchoring points are provided on the hull of the survey vessel for securing one end of the cables, with two anchoring points on the same side of the survey vessel and the third anchoring point on the other side of the survey vessel.

[0018] Preferably, the rotating gimbal has a vertical rotating component, a horizontal rotating component, and a connector. The vertical rotating component is connected to the bottom of the rod assembly and has a vertical rotating axis coaxial with the rod assembly. The horizontal rotating component is connected to the vertical rotating axis through the connector and has a horizontal rotating axis perpendicular to the vertical rotating axis. The sonar detector is installed at the end of the horizontal rotating axis. When the rotating gimbal is in the initialization state, the sonar detector is located on the axis of the vertical rotating axis and the detection end of the sonar detector is vertically downward.

[0019] A high-precision sonar depth sounding method is implemented using a matching device to improve the accuracy of sonar depth sounding. The specific depth sounding method is as follows:

[0020] Step 1: Establish a carrier coordinate system (X, Y, Z) with the geometric center of the sonar detector as the origin; establish a local coordinate system (X, Y, Z) centered on the survey vessel. uu Y uu 、Z);

[0021] Step 2: Let θ0 be the angle between the direction of motion of the surveying vessel and the vertical direction of the sonar detector plane after the sonar beam is emitted, and let r be the slant distance in the direction of θ0; let (λδσ) be the rotation angle of the rotating gimbal in the carrier coordinate system (X, Y, Z); and let (λδσ) be the rotation angle of the surveying vessel in the local coordinate system (X, Y, Z). uu Y uu The attitude components within (Z) are roll angle Rl, pitch angle Pt, and yaw angle Aw, respectively.

[0022] Step 3: In the carrier coordinate system (X, Y, Z), the coordinates of the depth point q to be measured are (xq, yq, zq); in the local coordinate system (X... uu Y uu Under the conditions of (X, Z), the coordinates of the depth point q to be measured are corrected to (△Xat, △Yat, △Zat) through dynamic eccentricity correction. The center of the angle attitude instrument is in the local coordinate system (X, Z). uu Y uu The coordinates in (x, y, za) are (xa, ya, za);

[0023] Then, the expression for the precise coordinates (xuq, yuq, zuq) of the depth point q to be measured is:

[0024]

[0025] The advantages of this invention compared to the prior art are:

[0026] 1. Mounting the antenna, attitude sensor, and sonar detector from top to bottom on the pole assembly makes it easier to measure the distance between the attitude sensor and the sonar detector, reducing sonar measurement errors.

[0027] 2. The stability of the angle attitude instrument relative to the hull is ensured by the rod stabilization component during dynamic navigation.

[0028] 3. The cable assembly ensures the stability of the sonar detector during dynamic navigation, reduces the shaking caused by ocean currents, and improves the stability of sonar measurements.

[0029] 4. By rotating the pan-tilt unit, the sonar detector can achieve multi-degree-of-freedom rotation, enabling facade scanning while meeting depth measurement requirements. Attached Figure Description

[0030] Figure 1 This is a three-dimensional structural diagram of a supporting device for improving sonar depth sounding accuracy, installed on a survey vessel.

[0031] Figure 2 This is a side view of a device for improving the accuracy of sonar depth sounding, as described in this invention, installed on a survey vessel.

[0032] Figure 3 This is a rear view of a device for improving sonar depth sounding accuracy, as described in this invention, installed on a survey vessel.

[0033] Figure 4 This is a three-dimensional structural diagram of a supporting device for improving the depth sounding accuracy of sonar according to the present invention.

[0034] Figure 5 This is a side view of a supporting device for improving the accuracy of sonar depth sounding according to the present invention.

[0035] Figure 6 This is an exploded structural diagram of the rod assembly in a supporting device for improving the accuracy of sonar depth sounding according to the present invention.

[0036] Figure 7 This is a three-dimensional structural diagram of the connecting seat in a supporting device for improving the accuracy of sonar depth sounding according to the present invention.

[0037] Figure 8 This is a three-dimensional structural diagram of the mounting frame in a supporting device for improving the accuracy of sonar depth sounding according to the present invention.

[0038] Figure 9 This is a three-dimensional structural diagram of the rotating gimbal in a supporting device for improving the accuracy of sonar depth sounding according to the present invention.

[0039] The diagram is labeled as follows: 1. Survey vessel; 1a. Vertical railing; 2. Sonar detector; 3. Angle and attitude instrument; 4. Antenna; 5. Pole assembly; 5a. Upper pole; 5b. Lower pole; 5b1. Connecting plate; 5b2. Connecting ring; 5c. Antenna mounting rod; 6. Connecting seat; 6a. Horizontal connecting plate; 6a1. First mounting hole; 6a2. Clearance notch; 6b. Vertical connecting plate; 6b1. Second mounting hole; 7. Cable; 8. Pole stabilizing assembly; 8a. First stabilizing block; 8b. Second stabilizing block; 8c. Double-ended screw; 8d. Clamp; 9. Mounting frame; 9a. Horizontal mounting plate; 9a1. Third mounting hole; 9b. Vertical mounting plate; 9b1. Fourth mounting hole; 10. Rotating gimbal; 10a. Vertical rotating assembly; 10b. Horizontal rotating assembly; 10c. Connector; 11. U-shaped screw. Detailed Implementation

[0040] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0041] Reference Figures 1 to 4 and Figure 9 The device shown is an auxiliary device for improving the accuracy of sonar depth sounding. It is installed on the side of the survey vessel 1 and is used to install the sonar detector 2, the angle attitude instrument 3 and the antenna 4. It includes a pole assembly 5, a connecting seat 6, a rope assembly, a pole stabilizer, a mounting frame 9 and a rotating gimbal 10.

[0042] The pole assembly 5 is vertically positioned and fixedly connected to the survey vessel 1 via a connecting seat 6, located on the side of the survey vessel 1. The sonar detector 2 is installed at the bottom of the pole assembly 5, the antenna 4 is installed at the top of the pole assembly 5, and the angle and attitude sensor 3 is installed in the upper middle section of the pole assembly 5, close to the antenna 4. Figure 2 and Figure 3 As shown, unlike the prior art where the angle and attitude instrument 3 is set at the center of gravity of the measuring vessel 1 (i.e., inside the cabin), the angle and attitude instrument 3 is directly mounted on the rod assembly 5 and located above the sonar measuring instrument. This makes it convenient for technicians to directly measure the distance between the angle and attitude instrument 3 and the sonar measuring instrument, and the measurement accuracy will not change due to the size of the measuring vessel 1.

[0043] like Figure 2 and Figure 3As shown, the rigging assembly has at least three rigging lines. One end of each line 7 is connected to the bottom of the pole assembly 5, and the other end is connected to the hull of the survey vessel 1. Since the sonar measuring instrument is mounted on the bottom of the pole assembly 5 and operates underwater, it is subject to significant currents (ocean currents) during the navigation of the survey vessel 1. This causes the lower pole 5b to sway, resulting in a change in its position relative to the angle attitude instrument 3 and distorting the measurement data. Connecting the bottom of the pole assembly 5 to the hull via at least three lines 7 significantly reduces the swaying of the lower pole 5b during dynamic navigation measurements, effectively preventing data distortion.

[0044] like Figure 4 As shown, the pole stabilizer is mounted on the pole assembly 5 and located above the connecting seat 6, used to connect the pole assembly 5 and the vertical railing 1a on the measuring vessel 1. The pole stabilizer, together with the connecting seat 6, forms a two-point fixing structure between the pole assembly 5 and the measuring vessel 1. This is because the connecting seat 6 alone can only connect the pole assembly 5 and the measuring vessel 1, and cannot guarantee the stability of the connection. Since the antenna 4 is mounted on the top of the pole assembly 5, and the pole assembly 5 is relatively long to ensure stable wireless signals, if the pole assembly 5 and the measuring vessel 1 are only connected by the connecting seat 6, the longer pole assembly 5 will experience significant swaying during navigation. Specifically, the portion of the pole assembly 5 above the connecting seat 6 will sway considerably due to the swaying of the measuring vessel 1 during navigation, wind forces, etc., causing the angle and attitude instrument 3 mounted on the pole assembly 5 to also sway, leading to errors in the measurement data. The number of pole stabilizers can be increased according to actual needs. Figure 4 Two rod stabilizers are installed in the middle.

[0045] More specifically, the pole stabilizer includes a first stabilizer block 8a, a second stabilizer block 8b, a double-ended screw 8c, and a clamp 8d. Both the first stabilizer block 8a and the second stabilizer block 8b are provided with threaded holes that are threadedly connected to the double-ended screw 8c. Both the first stabilizer block 8a and the second stabilizer block 8b are provided with U-shaped notches for engaging with the vertical railing 1a on the pole assembly 5 or the measuring vessel 1. In the installed state, the clamp 8d is tightly wrapped around the periphery of the vertical railing 1a on the pole assembly 5 and the measuring vessel 1.

[0046] During installation, the first stabilizing block 8a and the second stabilizing block 8b are first threaded to both ends of the double-ended screw 8c, and the distance between the first stabilizing block 8a and the second stabilizing block 8b is adjusted by rotating the first stabilizing block 8a or the second stabilizing block 8b relative to the double-ended screw 8c. Then, the U-shaped notches of the first stabilizing block 8a and the second stabilizing block 8b are respectively matched with the pole assembly 5 and the vertical railing 1a on the measuring vessel 1. Finally, the pole and the vertical railing 1a on the measuring vessel 1 are fastened by the clamp 8d.

[0047] like Figure 4 and Figure 8 As shown, the mounting bracket 9 is mounted on the rod assembly 5 and located above the rod stabilizer, and is used to mount the angle attitude instrument 3.

[0048] More specifically, the mounting bracket 9 is provided with a horizontal mounting plate 9a and a vertical mounting plate 9b perpendicular to the horizontal mounting plate 9a. The horizontal mounting plate 9a is used to mount the angle attitude instrument 3 and is provided with a number of third mounting holes 9a1. The vertical mounting plate 9b is used to connect with the rod assembly 5 and is provided with a number of fourth mounting holes 9b1.

[0049] like Figure 4 As shown, a rotating gimbal 10 is mounted on the bottom of the rod assembly 5, and a sonar detector 2 is mounted on the rotating gimbal 10. The rotating gimbal 10 provides the sonar detector 2 with at least two rotational degrees of freedom. Specifically, the rotating gimbal 10 has a vertical rotating component 10a, a horizontal rotating component 10b, and a connector 10c. The vertical rotating component 10a is connected to the bottom of the rod assembly 5 and has a vertical rotating axis coaxial with the rod assembly 5. The horizontal rotating component 10b is connected to the vertical rotating axis through the connector 10c and has a horizontal rotating axis perpendicular to the vertical rotating axis. The sonar detector 2 is mounted on the end of the horizontal rotating axis. When the rotating gimbal 10 is in the initialization state, the sonar detector 2 is located on the axis of the vertical rotating axis, and the detection end of the sonar detector 2 is vertically downward.

[0050] like Figure 4 and Figure 7 As shown, the connecting seat 6 includes a horizontal connecting plate 6a and a vertical connecting plate 6b perpendicular to the horizontal connecting plate 6a. The horizontal connecting plate 6a is used to connect with the measuring vessel 1 and is provided with a plurality of first mounting holes 6a1. The vertical connecting plate 6b is used to connect with the rod assembly 5 and is provided with a plurality of second mounting holes 6b1.

[0051] like Figure 4 , Figure 5 , Figure 7 and Figure 8 As shown, the horizontal connecting plate 6a has a clearance notch 6a2 to avoid the vertical railing 1a on the survey vessel 1. The vertical connecting plate 6b is connected to the pole assembly 5 by U-bolts. The vertical mounting plate 9b is connected to the pole assembly 5 by U-bolts. The vertical mounting plate 9b is perpendicular to the horizontal mounting plate 9a, and a reinforcing rib or reinforcing side plate is provided between them.

[0052] The rod assembly 5 has scale lines along its length. Since the rod assembly 5 has scale lines throughout, the distance between the position of the mounting bracket 9 on the rod assembly 5 and the bottom of the rod assembly 5 can be converted into the distance between the angle attitude instrument 3 and the sonar measuring instrument. Because of the scale lines, the distance between the angle attitude instrument 3 and the sonar measuring instrument can be easily read and calculated.

[0053] like Figure 5 and Figure 6 As shown, the rod assembly 5 is provided with several anti-rotation locking holes arranged along its length direction. The vertical connecting plate 6b and the vertical mounting plate 9b are also provided with anti-rotation locking holes. The vertical connecting plate 6b and the vertical mounting plate 9b are each equipped with locking bolts that pass through the anti-rotation locking holes and connect with the anti-rotation locking holes on the rod assembly 5. The anti-rotation locking holes on the rod assembly 5 are provided with internal threads that mate with the locking bolts. The anti-rotation locking holes on the vertical connecting plate 6b are smooth holes or threaded holes.

[0054] During dynamic navigation and measurement, because the rotating gimbal 10 is installed at the bottom of the pole assembly 5, the pole assembly 5 may rotate slightly around its axis under the action of water flow. Therefore, by setting anti-rotation locking holes and retracting them with locking bolts, rotation of the pole assembly 5 relative to the connecting seat 6 is prevented, and vertical slippage of the pole assembly 5 relative to the connecting seat 6 is also effectively prevented. Similarly, relative rotation and movement of the mounting frame 9 relative to the pole assembly 5 can be prevented, thus preventing changes in the position between the angle attitude instrument 3 and the sonar detector 2.

[0055] like Figure 6 As shown, the pole assembly 5 is a split pole structure, including an upper pole 5a and a lower pole 5b. The fixed rotating gimbal 10 is installed at the bottom of the lower pole 5b, and the top of the upper pole 5a is provided with an antenna 4 mounting rod 5c for mounting the antenna 4. More specifically, the bottom of the lower pole 5b is provided with a connecting plate 5b1 for mounting the rotating gimbal 10, and the lower pole 5b is also provided with several connecting rings 5b2 for connecting the cable 7.

[0056] like Figure 2 and Figure 3 As shown, the cable assembly has three cables 7. Three anchor points are set on the hull of the survey vessel 1 to secure one end of each cable 7. Two anchor points are on the same side of the survey vessel 1, and the third anchor point is on the other side. Specifically, one end of the cable 7 is connected to the connecting ring 5b2 on the lower rod 5b, and the other end is connected to the anchor point on the hull. To ensure the cable 7 is taut, a fine-tuning bolt is installed between the cable 7 and the anchor point.

[0057] A high-precision sonar depth sounding method is implemented through a matching device to improve the accuracy of sonar depth sounding. The specific depth sounding method is as follows:

[0058] Step 1: Establish a carrier coordinate system (X, Y, Z) with the geometric center of sonar detector 2 as the origin; establish a local coordinate system (X, Y, Z) centered on survey vessel 1. uu Y uu Z).

[0059] Step 2: Let θ0 be the angle between the direction of motion of the measuring vessel 1 and the plane of the sonar detector 2 after the beam of the sonar detector 2 is emitted, and let r be the slant distance in the direction of θ0; let (λδσ) be the rotation angle of the rotating gimbal 10 in the carrier coordinate system (X, Y, Z); and let (λδσ) be the rotation angle of the measuring vessel 1 in the local coordinate system (X, Y, Z). uu Y uu The attitude components within (Z) are roll angle Rl, pitch angle Pt, and heading angle Aw, respectively.

[0060] Step 3: In the carrier coordinate system (X, Y, Z), the coordinates of the depth point q to be measured are (xq, yq, zq); in the local coordinate system (X... uu Y uu Under the conditions of (X, Z), the coordinates of the depth point q to be measured are corrected to (△Xat, △Yat, △Zat) through dynamic eccentricity correction. The center of the angle attitude instrument 3 is in the local coordinate system (X, Z). uu Y uu The coordinates of the point q at depth t are (xa, ya, za); then, the expression for the precise coordinates (xuq, yuq, zuq) of the point q at depth t is:

[0061]

[0062] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims

1. A supporting device for improving the accuracy of sonar depth sounding, installed on the side of a survey vessel (1), for mounting a sonar detector (2), an angle attitude meter (3), and an antenna (4), characterized in that, include: The rod assembly (5) and the connecting seat (6) are arranged in a vertical position and are fixedly connected to the measuring vessel (1) through the connecting seat (6) and placed on the side of the measuring vessel (1). The sonar detector (2) is installed at the bottom of the rod assembly (5), the antenna (4) is installed at the top of the rod assembly (5), and the angle attitude instrument (3) is installed in the upper middle section of the rod assembly (5) and close to the antenna (4). The cable assembly has at least three ropes, with one end of all the ropes (7) connected to the bottom of the pole assembly (5) and the other end connected to the side of the survey vessel (1); A pole stabilizer is provided on the pole assembly (5) and located above the connector (6) for connecting the pole assembly (5) and the vertical railing (1a) on the survey vessel (1). Mounting bracket (9) is set on the rod assembly (5) and located above the rod stabilizer and is used to mount the angle attitude device (3). A rotating gimbal (10) is mounted on the bottom of the rod assembly (5), and a sonar detector (2) is mounted on the rotating gimbal (10), which provides at least two rotational degrees of freedom for the sonar detector (2). The pole stabilizer includes a first stabilizer block (8a), a second stabilizer block (8b), a double-ended screw (8c), and a clamp (8d). The first stabilizer block (8a) and the second stabilizer block (8b) are both provided with threaded holes for threaded connection with the double-ended screw (8c). The first stabilizer block (8a) and the second stabilizer block (8b) are both provided with U-shaped notches for cooperating with the vertical railing (1a) on the pole assembly (5) or the measuring vessel (1). In the installed state, the clamp (8d) is tightly clamped around the periphery of the vertical railing (1a) on the pole assembly (5) and the measuring vessel (1). The rotating gimbal (10) has a vertical rotating component (10a), a horizontal rotating component (10b) and a connector (10c). The vertical rotating component (10a) is connected to the bottom of the rod assembly (5) and has a vertical rotating axis coaxial with the rod assembly (5). The horizontal rotating component (10b) is connected to the vertical rotating axis through the connector (10c) and has a horizontal rotating axis perpendicular to the vertical rotating axis. The sonar detector (2) is installed at the end of the horizontal rotating axis. When the rotating gimbal (10) is in the initialization state, the sonar detector (2) is on the axis of the vertical rotating axis and the detection end of the sonar detector (2) is vertically downward.

2. The supporting device for improving sonar depth sounding accuracy according to claim 1, characterized in that, The connecting seat (6) includes a horizontal connecting plate (6a) and a vertical connecting plate (6b) perpendicular to the horizontal connecting plate (6a). The horizontal connecting plate (6a) is used to connect with the survey vessel (1) and is provided with a number of first mounting holes (6a1). The vertical connecting plate (6b) is used to connect with the rod assembly (5) and is provided with a number of second mounting holes (6b1).

3. The supporting device for improving sonar depth sounding accuracy according to claim 2, characterized in that, The mounting bracket (9) is provided with a horizontal mounting plate (9a) and a vertical mounting plate (9b) perpendicular to the horizontal mounting plate (9a). The horizontal mounting plate (9a) is used to mount the angle attitude instrument (3) and is provided with several third mounting holes (9a1). The vertical mounting plate (9b) is used to connect with the rod assembly (5) and is provided with several fourth mounting holes (9b1).

4. The supporting device for improving sonar depth sounding accuracy according to claim 3, characterized in that, The rod assembly (5) has scale lines along its length.

5. The supporting device for improving sonar depth sounding accuracy according to claim 3, characterized in that, The rod assembly (5) is provided with several anti-rotation locking holes arranged along its length direction. The vertical connecting plate (6b) and the vertical mounting plate (9b) are also provided with anti-rotation locking holes. The vertical connecting plate (6b) and the vertical mounting plate (9b) are each equipped with locking bolts that pass through the anti-rotation locking holes and connect with the anti-rotation locking holes on the rod assembly (5).

6. A supporting device for improving sonar depth sounding accuracy according to claim 4 or 5, characterized in that, The pole assembly (5) is a split pole structure, including an upper pole (5a) and a lower pole (5b). A fixed rotating gimbal (10) is installed at the bottom of the lower pole (5b), and an antenna (4) mounting rod (5c) for mounting the antenna (4) is provided at the top of the upper pole (5a).

7. The supporting device for improving sonar depth sounding accuracy according to claim 1, characterized in that, The cable assembly has three cables (7), and three anchor points are provided on the hull of the survey vessel (1) for securing one end of the cable (7), two of which are on the same side of the survey vessel (1) and the third anchor point is on the other side of the survey vessel (1).

8. A high-precision sonar depth sounding method, characterized in that, The method described in claim 1, which involves a supporting device for improving sonar depth sounding accuracy, is as follows: Step 1: Establish a carrier coordinate system with the geometric center of the sonar detector (2) as the origin; establish a local coordinate system with the survey vessel (1) as the center; Step 2: Assume that after the beam of the sonar detector (2) is emitted, the angle between the direction of motion of the measuring ship (1) and the vertical angle between the plane of the sonar detector (2) and the plane of the sonar detector (2) is θ. θ 0, θ The slope distance in the 0 direction is The rotation angle of the rotating gimbal (10) in the carrier coordinate system is: The attitude components of the survey vessel (1) in the local coordinate system are the roll angle R. l P pitch angle t and heading angle A w ; Step 3: In the carrier coordinate system, the coordinates of the depth point q to be measured are... In the local coordinate system, the coordinates of the depth point q to be measured are corrected to the following values ​​using dynamic eccentricity correction: The coordinates of the center of the angle attitude instrument (3) in the local coordinate system are: ; Then, the precise coordinates of the depth point q to be measured. The expression is: .

Images