Real-time water depth detection system and method for dredging engineering

Abstract

The invention provides a real-time water depth detection system and method for dredging engineering, and relates to the technical field of water depth detection.The method comprises the steps that real-time positioning data and underwater sound velocity data of a surveying ship and water depth data of an underwater topographic point in a ship body coordinate system are collected respectively; according to the real-time positioning data, the underwater sound velocity data and the water depth data, sounding point coordinate reduction, plane system conversion and vertical sharp conversion are carried out to obtain plane coordinates and water depth of each underwater topographic point in a satellite coordinate system, and the plane coordinates and the water depth are used as water depth detection results to be uploaded to a dredging system of a dredging ship; and performing time delay correction on the acquisition process of the water depth data according to the water depth detection result. The system has the beneficial effects that a multi-source sounding data automatic filtering technology is adopted, automatic filtering processing can be carried out on data, the accuracy and automation capability of data processing are improved, a water depth measurement result is immediately generated and directly transmitted into a dredging construction system of a surveying vessel, and the application efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of water depth detection, and in particular to a real-time water depth detection system and method for dredging engineering. Background Art

[0002] In the complex and delicate engineering construction field of channel dredging, the real-time and accuracy of water depth data are key factors to ensure the smooth progress of construction. In traditional methods, the collection of bathymetric data often relies on manual operation, which is not only time-consuming and labor-intensive, but also easily affected by human factors, resulting in certain errors in the data. In addition, the subsequent processing of data and tide level correction often need to wait until all the measurement work is completed before they can be carried out. This process not only prolongs the data processing time, but also increases the risk of data errors. More importantly, after the processing is completed, these data cannot be immediately used by the operating system of the survey ship, resulting in a fault in the flow of information, which seriously affects the timeliness and accuracy of construction guidance. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides a real-time water depth detection system for dredging engineering, comprising:

[0004] A multi-source data acquisition module is used to respectively acquire the real-time positioning data of the survey ship, underwater sound speed data, and water depth data of underwater terrain points in the ship's coordinate system;

[0005] A water depth calculation module, connected to the multi-source data acquisition module, is used to calculate the coordinates of the sounding points according to the real-time positioning data, the underwater sound speed data and the water depth data, and to perform plane system conversion and vertical sharp turn conversion to obtain the plane coordinates and water depth of each underwater terrain point in the satellite coordinate system as the water depth detection results and upload them to the dredging system of the dredging vessel;

[0006] A correction module is connected to the water depth calculation module and the multi-source data acquisition module, and is used to perform time delay correction on the water depth data acquisition process according to the water depth detection results during the acquisition process.

[0007] Preferably, the survey ship is provided with GNSS equipment, a sonic velocity meter, and an echo sounder; the multi-source data acquisition module includes:

[0008] A positioning acquisition unit, used to control the GNSS device to obtain the current real-time coordinates of the survey ship in the satellite positioning coordinate system as the real-time positioning data;

[0009] A sound velocity acquisition unit, used to control the sound velocity meter to acquire the underwater sound velocity data below the measuring ship;

[0010] The water depth sounding unit is used to control the echo sounder to perform underwater sounding on the underwater terrain point, and calculate the plane coordinates and vertical distance of the underwater terrain point in the hull coordinate system as the water depth data according to the beam angle and echo distance of the echo sounder.

[0011] Preferably, the correction module comprises:

[0012] The time delay correction unit is used to find the water depth detection results of the same underwater terrain point at different times through the real-time positioning data to calculate the time delay displacement, and then calculate the time delay between the depth measurement device time of the echo sounder and the GNSS positioning time of the GNSS device in combination with the ship speed of the survey ship and the time delay displacement, and correct and synchronize the depth measurement device time and the GNSS positioning time based on the time delay.

[0013] Preferably, it further comprises a data processing module, connected to the multi-source data acquisition module and the water depth calculation module, comprising:

[0014] A positioning filter unit, used for filtering out the real-time positioning data with single-point jump in each continuous real-time positioning data by using a linear interpolation method, and for filtering out the real-time positioning data with continuous jump in each continuous real-time positioning data by using a Kalman filter method to obtain the filtered real-time positioning data;

[0015] A sound velocity filtering unit, used for filtering the underwater sound velocity data by using a curve smoothing-sliding average method to obtain the filtered underwater sound velocity data;

[0016] A water depth filtering unit, used for filtering the water depth data by using a trend surface filtering method to obtain the filtered water depth data;

[0017] The water depth calculation module calculates the coordinates of the sounding points according to the filtered real-time positioning data, the underwater sound speed data and the water depth data, and performs plane system conversion and vertical sharp turn conversion to obtain the plane coordinates and water depth of each underwater terrain point in the satellite coordinate system, and uploads them to the dredging system of the dredging vessel as the water depth detection results.

[0018] Preferably, the water depth calculation module includes:

[0019] A coordinate reduction unit, used for interpolating the real-time positioning data to the beam transmission time according to the beam transmission time of the echo sounder and the GNSS positioning data time of the GNSS device, and combining the real-time positioning data with the water depth data;

[0020] A coordinate conversion unit is connected to the coordinate reduction unit and is used to perform plane system conversion and vertical sharp conversion on the water depth data in the process of combining to obtain the three-dimensional water depth point coordinates, so as to obtain the plane coordinates and water depth of each underwater terrain point in the satellite coordinate system as the water depth detection results and upload them to the dredging system of the survey ship.

[0021] Preferably, the survey ship is also provided with a Beidou terminal, and the real-time water depth detection system further includes a tide level acquisition module, including:

[0022] A tide level acquisition unit, used to control the Beidou terminal to obtain the longitude and latitude coordinates of the water depth measurement point where the survey ship is currently located, and then upload the longitude and latitude coordinates to the real-time tide level service platform and obtain the returned real-time tide level data;

[0023] The tide level filtering unit is connected to the tide level acquisition unit and is used to smooth the real-time tide level data deviating from the characteristic curve by adopting a long tide time series-high-order sliding fitting filtering method to obtain the filtered real-time tide level data.

[0024] Preferably, a proofreading module is further included, connected to the water depth calculation module, including:

[0025] A coordinate calibration unit, used to issue a calibration warning when the hull coordinate system in the calibration water depth calculation module is different from the calibration coordinate system in the measurement task book;

[0026] The depth measurement intersection deviation statistics unit is used to perform two depth measurements in different directions on the same underwater terrain point, and then calculate the deviation between the depth detection results of the two depth measurements to obtain the intersection discrepancy value.

[0027] Preferably, it further comprises a feature extraction module connected to the water depth calculation module, for extracting the deepest value and the shallowest value of each water depth point within a preset range.

[0028] The present invention also provides a real-time water depth detection method for dredging engineering, which is applied to the real-time water depth detection system as described above, comprising:

[0029] Step S1, the real-time water depth detection system collects the real-time positioning data, underwater sound speed data and water depth data of underwater terrain points in the hull coordinate system of the survey ship respectively;

[0030] Step S2, the real-time water depth detection system calculates the sounding points according to the real-time positioning data, the underwater sound speed data and the water depth data, and performs plane system conversion and vertical sharp turn conversion to obtain the plane coordinates and water depth of each underwater terrain point in the satellite coordinate system as the water depth detection result.

[0031] Preferably, the survey ship is equipped with GNSS equipment, a sonic velocity meter, and an echo sounder; the step S1 comprises:

[0032] Step S11, the real-time water depth detection system controls the GNSS device to obtain the real-time coordinates of the survey ship in the satellite positioning coordinate system as the real-time positioning data;

[0033] Step S12, the real-time water depth detection system controls the sound velocity meter to obtain the underwater sound velocity data below the measuring ship;

[0034] Step S13, the real-time water depth detection system controls the echo sounder to perform underwater depth measurement on the underwater terrain point, and calculates the plane coordinates and vertical distance of the underwater terrain point in the hull coordinate system as the water depth data according to the beam angle and echo distance of the echo sounder.

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

[0036] 1) The use of automated processing and automated quality inspection technology can automatically complete the bathymetric data processing and data quality inspection work at one time, generate water depth measurement results instantly, and greatly improve the timeliness of data processing;

[0037] 2) Based on the wireless communication constructed between the survey ship and the dredging ship, the water depth detection results of the dredging project can be directly transmitted to the dredging construction system of the survey ship, which greatly improves the application efficiency of the dredging water depth detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of a real-time water depth detection system for dredging engineering in a preferred embodiment of the present invention;

[0039] Figure 2 A schematic flow chart of a real-time water depth detection method for dredging engineering in a preferred embodiment of the present invention;

[0040] Figure 3 A schematic diagram of a sub-process of step S1 in a preferred embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of a sub-process of step S2 in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0042] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment, and other embodiments may also fall within the scope of the present invention as long as they conform to the gist of the present invention.

[0043] In a preferred embodiment of the present invention, based on the above problems existing in the prior art, a real-time water depth detection system for dredging engineering is provided, comprising:

[0044] The multi-source data acquisition module 1 is used to respectively acquire the real-time positioning data of the survey ship, the underwater sound speed data, and the water depth data of the underwater terrain points in the ship's coordinate system;

[0045] The data processing module 2 is connected to the multi-source data acquisition module 1 and is used to filter the real-time tide level data, the real-time positioning data, the underwater sound speed data and the water depth data respectively;

[0046] The water depth calculation module 3 is connected to the data processing module 2 and is used to calculate the sounding points according to the filtered real-time positioning data, underwater sound speed data and water depth data, and to perform plane system conversion and vertical sharp turn conversion to obtain the plane coordinates and water depth of each underwater terrain point in the satellite coordinate system as the water depth detection results and upload them to the dredging system of the dredging vessel;

[0047] The correction module 7 is connected to the water depth calculation module 3 and the multi-source data acquisition module 1, and is used to perform time delay correction on the water depth data acquisition process according to the water depth detection results during the acquisition process.

[0048] Furthermore, in this embodiment, the survey ship is provided with GNSS equipment, a sonic velocity meter, and an echo sounder; the multi-source data acquisition module 1 includes:

[0049] The positioning acquisition unit 11 is used to control the GNSS device to obtain the real-time coordinates of the survey ship in the satellite positioning coordinate system as real-time positioning data;

[0050] A sound velocity acquisition unit 12 is used to control the sound velocity meter to obtain underwater sound velocity data below the measuring ship;

[0051] The water depth sounding unit 13 is used to control the echo sounder to perform underwater sounding on the underwater terrain point, and calculate the plane coordinates and vertical distance of the underwater terrain point in the hull coordinate system as water depth data according to the beam angle and echo distance of the echo sounder.

[0052] Specifically, the real-time water depth detection system in the present embodiment is a real-time water depth acquisition method that comprehensively utilizes real-time tide level acquisition technology, real-time automatic processing technology of sounding data, and direct transmission technology of water depth results. The multi-source data such as positioning, sound speed, and water depth of the survey ship during the construction process are collected through the multi-source data acquisition module, and coordinate reduction and coordinate conversion are performed to obtain the plane coordinates and water depth of each underwater terrain point in the satellite coordinate system as the water depth detection result. During the construction process, the obtained water depth detection results are uploaded to the dredging system of the dredging vessel in real time, which solves the problem of a long processing time from the end of field data collection to the generation of water depth detection results, and the problem that dredging water depth data cannot be obtained in real time during the construction of the dredging project.

[0053] In this embodiment, the survey ship is also provided with a Beidou terminal, and the real-time water depth detection system further includes a tide level acquisition module 4, including:

[0054] The tide level acquisition unit 41 is used to control the Beidou terminal to obtain the longitude and latitude coordinates of the water depth measurement point where the survey ship is currently located, and then upload the longitude and latitude coordinates to the real-time tide level service platform and obtain the returned real-time tide level data;

[0055] The tide level filtering unit 42 is connected to the tide level acquisition unit 41 and is used to smooth the real-time tide level data deviating from the characteristic curve by adopting a long-tide time series-high-order sliding fitting filtering method to obtain filtered real-time tide level data.

[0056] Specifically, when conducting underwater depth measurement, the tide level also has a certain impact on the depth measurement. The Beidou terminal is used to obtain real-time tide level data. The Beidou terminal has positioning and short message communication functions. The latitude and longitude coordinates of the depth measurement point where the survey ship is currently located are obtained through the positioning function, and the latitude and longitude coordinates are sent to the real-time tide level service platform through the Beidou short message communication method. The real-time tide level service platform calculates the real-time tide level data based on the latitude and longitude positions of the depth detection point, and sends the real-time tide level data to the Beidou terminal through the Beidou short message communication method. When the tide level changes, the measured depth data needs to be corrected in real time according to the change in the tide level.

[0057] To be more specific, the bathymetric data collected during the dredging project construction includes real-time tide data obtained through Beidou terminals, real-time positioning data obtained through GNSS equipment, underwater sound speed data obtained through a sonic velocity meter, hull attitude data obtained through three-dimensional attitude measurement equipment, and water depth data obtained through an echo sounder.

[0058] The hull attitude data is used to adjust the constructed hull coordinate system. When the hull tilts or shifts in a certain direction, the inclination angle of the corresponding coordinate axis in the hull coordinate system is adjusted in real time according to the hull attitude data. The sliding average method is used to detect anomalies in the collected hull attitude, and the normal attitude data is used to interpolate the attitude data at the abnormal moment to ensure the accuracy of the hull coordinate system adjusted according to the hull attitude data.

[0059] Furthermore, the data processing module 2 includes:

[0060] The positioning filter unit 21 is used to filter out the real-time positioning data with single-point jump in each continuous real-time positioning data by using a linear interpolation method, and to filter out the real-time positioning data with continuous jump in each continuous real-time positioning data by using a Kalman filter method to obtain filtered real-time positioning data;

[0061] A sound velocity filtering unit 22, used for obtaining filtered underwater sound velocity data by using a curve smoothing-sliding average method to filter the underwater sound velocity data;

[0062] The water depth filtering unit 23 is used to filter the water depth data using a trend surface filtering method to obtain filtered water depth data.

[0063] Specifically, in this embodiment, before coordinate reduction, the collected real-time positioning data, underwater sound speed data and water depth data need to be filtered;

[0064] For the automatic filtering of real-time tide data, a high-order sliding fitting filtering method based on long tide time series is used. The characteristic curve is fitted based on the characteristics of the tide curve, and the tide values ​​that deviate from the characteristic curve can be smoothed.

[0065] For automatic filtering of positioning data, different filtering methods are used for different jump scenarios of positioning points. Linear interpolation is used for single-point jumps, and Kalman filtering is used for continuous jumps.

[0066] For automatic filtering of sound velocity data, the curve smoothing-sliding average method is used to smooth the curve "spikes" caused by anomalies according to the smoothness of the sound velocity profile curve changes.

[0067] For the hull attitude data filtering, sliding average is used to find anomalies, and the attitude data at the abnormal moment is interpolated using the normal attitude data.

[0068] For water depth data filtering, the trend surface filtering method is usually used;

[0069] The multi-source bathymetric data automatic filtering technology can automatically filter and process GNSS real-time positioning data, ship attitude data, bathymetric data, sound speed data, and tide level data, thus improving the accuracy and automation of data processing.

[0070] In a preferred embodiment of the present invention, the water depth calculation module 3 includes:

[0071] A coordinate reduction unit 31 is used to interpolate the real-time positioning data to the beam transmission time according to the beam transmission time of the echo sounder and the GNSS positioning data time of the GNSS device, and combine the real-time positioning data with the water depth data;

[0072] The coordinate conversion unit 32 is connected to the coordinate reduction unit 31, and is used to perform plane system conversion and vertical sharp conversion on the water depth data in the process of combining to obtain the three-dimensional water depth point coordinates, and obtain the plane coordinates and water depth of each underwater terrain point in the satellite coordinate system as the water depth detection results and upload them to the dredging system of the dredging vessel.

[0073] Specifically, in this embodiment, the process of calculating the coordinates of the sounding points includes calculating the echo beam footprint, combining the water depth points and the positioning points according to time interpolation, converting the plane coordinate system, and converting the vertical reference.

[0074] The calculation of the sounding point requires the use of the GNSS positioning data, sound velocity data and water depth data mentioned above. The calculation process is as follows:

[0075] The water depth data is the plane coordinates and vertical distance (water depth) of the beam footprint (the point where the beam hits the bottom of the water, that is, the point where the underwater terrain point is located) in the hull coordinate system, calculated based on the beam angle and echo distance of the echo sounder;

[0076] Further, according to the echo sounder beam emission time and the GNSS positioning data time of the GNSS (Global Navigation Satellite System) device, the real-time positioning data measured by the GNSS device is interpolated to the beam emission time, and the real-time positioning data is combined with the water depth data to form a complete three-dimensional water depth point coordinate (the plane position of the underwater terrain point and the water depth corresponding to the position);

[0077] The plane coordinates of the completed combination are based on the plane coordinates of the GNSS satellite coordinate system, and the water depth is based on the vertical distance from the water surface to the bottom of the water at the moment the echo sounder beam is emitted. The purpose of the plane system conversion and the vertical sharp turn conversion is to convert the plane coordinates and water depth to a specific plane coordinate system and vertical reference. Therefore, the plane system conversion and the vertical sharp turn conversion are used in the combination process to convert the water depth data from the hull coordinate system to the satellite coordinate system.

[0078] Plane coordinates generally use a seven-parameter model, and the conversion process is as follows:

[0079]

[0080] In the above formula, [ΔX 0 ΔY 0 ΔZ 0 ] are the three translation parameters; m is the scale change parameter; [X 1 Y 1 Z 1 ] is the coordinate in the original coordinate system; [X 2 Y 2 Z 2 ] is the coordinate in the new coordinate system; R 0 It is obtained by multiplying three rotation matrices, namely:

[0081]

[0082] In a preferred embodiment of the present invention, a calibration module 5 is further included, connected to the water depth calculation module 3, including:

[0083] A coordinate calibration unit 51 is used to issue a calibration warning when the hull coordinate system in the calibration water depth calculation module is different from the calibration coordinate system in the measurement task book;

[0084] The depth measurement intersection deviation statistical unit 52 is used to perform two depth measurements in different directions on the same underwater topographic point, and then calculate the deviation between the depth detection results of the two depth measurements to obtain the intersection discrepancy value.

[0085] Specifically, in this embodiment, automatic quality inspection is also performed, including coordinate system calibration, tide level correction over-limit check, and depth measurement intersection point discrepancy value calculation and statistics.

[0086] What is being checked is whether the coordinate system in the measurement operation is consistent with the coordinate system in the measurement task book. The depth intersection point in water depth measurement refers to two measurements in different directions of the same place. In theory, the measurement values ​​of the two should be the same, but in actual measurement, due to the existence of various random factors, there will be a slight deviation in the values ​​of the two measurements. Calculating and counting this deviation is the intersection discrepancy value. If the statistical deviation is too large, the staff needs to be reminded to pay attention.

[0087] In the above-mentioned embodiment, it is mentioned that real-time tide level data is also collected to adjust the water depth data. Therefore, it is also necessary to determine whether the tide level correction exceeds the limit.

[0088] In a preferred embodiment of the present invention, it also includes a feature extraction module 6, which is connected to the water depth calculation module 3 and is used to extract the deepest value and the shallowest value of each water depth point within a preset range.

[0089] Specifically, in this embodiment, underwater terrain point editing is performed, including extraction of feature points (shallow points, deep points) and extraction of water depth points at equal intervals.

[0090] The bathymetric point is the plane coordinates and water depth (x, y, h; x is the plane north coordinate, y is the plane east coordinate, and h is the water depth value) of the underwater terrain point; the purpose of feature extraction is to extract the shallowest and deepest values ​​of underwater terrain points within a certain range. The deep point and shallow point are the maximum and minimum values ​​of the water depth values ​​of a bunch of underwater terrain points.

[0091] Furthermore, the preferred embodiment of the present invention also includes:

[0092] A dynamic draft correction unit, used to correct the water depth data according to the dynamic draft of the distance from the echo sounder to the water surface to obtain the corrected water depth data;

[0093] Specifically, the distance from the depth sounding equipment to the water surface is called the draft. When the ship is stationary and moving, the draft changes. The value produced by this change is called the dynamic draft.

[0094] Furthermore, a preferred embodiment of the present invention also includes a correction module 7, including:

[0095] The time delay correction unit 71 is used to find the location of the same underwater terrain point at different times (two positions P1 (x1, y1) and P2 (x2, y2)) through real-time positioning data to calculate the time delay displacement L, and then calculate the time delay Δt between the echo sounder's depth measurement device time and the GNSS positioning time of the GNSS device in combination with the ship speed v of the survey ship, as shown in the following formula:

[0096] Δt=L / 2v,

[0097] Based on the time delay, the depth sounder device time and the GNSS positioning time of the GNSS device are corrected to synchronize the two.

[0098] Furthermore, a preferred embodiment of the present invention also includes: an equipment installation deviation correction unit. When the GNSS equipment, sonic velocity meter, echo sounder and other depth measuring equipment as well as the three-dimensional attitude measuring equipment and heading equipment installed on the measuring ship are installed, the coordinates of each device in the hull coordinate system will be measured. However, due to the existence of measurement and installation errors, there will be some deviations that need to be corrected. The correction reference is the hull coordinate system. Based on the deviation between the actual installation position and the designed installation position, the hull roll, hull pitch and bow heading in the hull attitude data are corrected.

[0099] In combination with all the aforementioned embodiments, the bathymetric data (real-time tide data, real-time positioning data, underwater sound speed data, hull attitude data, water depth data) are processed in real time, including automatic filtering of multi-source bathymetric raw data, bathymetric point reduction, various deviation corrections, bathymetric point editing, and automatic quality inspection, and finally generate water depth detection results data. The water depth detection results are transmitted to the dredging vessel through a wireless communication link, and the water depth detection results are received by dedicated communication receiving software and directly imported into the dredging construction system of the dredging vessel.

[0100] The present invention also provides a real-time water depth detection method for dredging engineering, which is applied to the above-mentioned real-time water depth detection system, such as Figure 2 As shown, including:

[0101] Step S1, the real-time water depth detection system collects the real-time positioning data, underwater sound speed data and water depth data of underwater terrain points in the ship coordinate system of the survey ship respectively;

[0102] Step S2, the real-time water depth detection system calculates the sounding points according to the filtered real-time positioning data, underwater sound speed data and water depth data, and performs plane system conversion and vertical sharp turn conversion to obtain the plane coordinates and water depth of each underwater terrain point in the satellite coordinate system as the water depth detection result.

[0103] In a preferred embodiment of the present invention, the survey ship is provided with GNSS equipment, a sonic velocity meter, and an echo sounder; Figure 3 As shown, step S1 includes:

[0104] Step S11, the real-time water depth detection system controls the GNSS device to obtain the real-time coordinates of the survey ship in the satellite positioning coordinate system as real-time positioning data;

[0105] Step S12, the real-time water depth detection system controls the sound velocity meter to obtain underwater sound velocity data below the measuring ship;

[0106] Step S13, the real-time water depth detection system controls the echo sounder to perform underwater depth measurement on the underwater terrain point, and calculates the plane coordinates and vertical distance of the underwater terrain point in the hull coordinate system as water depth data according to the beam angle and echo distance of the echo sounder.

[0107] In a preferred embodiment of the present invention, Figure 4 As shown, step S2 includes:

[0108] Step S21, the real-time water depth detection system interpolates the real-time positioning data to the beam transmission time according to the beam transmission time of the echo sounder and the GNSS positioning data time of the GNSS device, and combines the real-time positioning data with the water depth data to obtain the three-dimensional water depth point coordinates of the water depth data;

[0109] In step S22, the real-time water depth detection system performs plane system conversion and vertical sharp conversion on the three-dimensional water depth point coordinates to obtain the plane coordinates and water depth of each underwater terrain point in the satellite coordinate system as the water depth detection result.

[0110] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the contents of this specification and illustrations should be included in the protection scope of the present invention.

Claims

1. A real-time water depth detection system for dredging engineering, characterized in that: include: A multi-source data acquisition module is used to respectively acquire the real-time positioning data of the survey ship, underwater sound speed data, and water depth data of underwater terrain points in the ship's coordinate system; A water depth calculation module, connected to the multi-source data acquisition module, is used to calculate the coordinates of the sounding points according to the real-time positioning data, the underwater sound speed data and the water depth data, and to perform plane system conversion and vertical sharp turn conversion to obtain the plane coordinates and water depth of each underwater terrain point in the satellite coordinate system as the water depth detection results and upload them to the dredging system of the dredging vessel; A correction module is connected to the water depth calculation module and the multi-source data acquisition module, and is used to perform time delay correction on the water depth data acquisition process according to the water depth detection results during the acquisition process.

2. The real-time water depth detection system according to claim 1, characterized in that: The survey vessel is equipped with GNSS equipment, sonic velocity meter, and echo sounder; The multi-source data acquisition module comprises: A positioning acquisition unit, used to control the GNSS device to obtain the current real-time coordinates of the survey ship in the satellite positioning coordinate system as the real-time positioning data; A sound velocity acquisition unit, used to control the sound velocity meter to acquire the underwater sound velocity data below the measuring ship; The water depth sounding unit is used to control the echo sounder to perform underwater sounding on the underwater terrain point, and calculate the plane coordinates and vertical distance of the underwater terrain point in the hull coordinate system as the water depth data according to the beam angle and echo distance of the echo sounder.

3. The real-time water depth detection system according to claim 2, characterized in that: The correction module comprises: The time delay correction unit is used to calculate the time delay displacement by seeking the water depth detection results of the same underwater terrain point at different times through the real-time positioning data, and then calculate the time delay between the depth measurement device time of the echo sounder and the GNSS positioning time of the GNSS device in combination with the ship speed of the survey ship and the time delay displacement, and correct and synchronize the depth measurement device time and the GNSS positioning time based on the time delay.

4. The real-time water depth detection system according to claim 1, characterized in that: It also includes a data processing module, which is connected to the multi-source data acquisition module and the water depth calculation module, including: A positioning filter unit, used for filtering out the real-time positioning data with single-point jump in each continuous real-time positioning data by using a linear interpolation method, and for filtering out the real-time positioning data with continuous jump in each continuous real-time positioning data by using a Kalman filter method to obtain the filtered real-time positioning data; A sound velocity filtering unit, used for filtering the underwater sound velocity data by using a curve smoothing-sliding average method to obtain the filtered underwater sound velocity data; A water depth filtering unit, used for filtering the water depth data by using a trend surface filtering method to obtain the filtered water depth data; The water depth calculation module calculates the coordinates of the sounding points according to the filtered real-time positioning data, the underwater sound speed data and the water depth data, and performs plane system conversion and vertical sharp turn conversion to obtain the plane coordinates and water depth of each underwater terrain point in the satellite coordinate system, and uploads them to the dredging system of the dredging vessel as the water depth detection results.

5. The real-time water depth detection system according to claim 3, characterized in that: The water depth calculation module comprises: A coordinate reduction unit, used for interpolating the real-time positioning data to the beam transmission time according to the beam transmission time of the echo sounder and the GNSS positioning data time of the GNSS device, and combining the real-time positioning data with the water depth data; A coordinate conversion unit is connected to the coordinate reduction unit and is used to perform plane system conversion and vertical sharp conversion on the water depth data in the process of combining to obtain the three-dimensional water depth point coordinates, so as to obtain the plane coordinates and water depth of each underwater terrain point in the satellite coordinate system as the water depth detection results and upload them to the dredging system of the survey ship.

6. The real-time water depth detection system according to claim 1, characterized in that: The survey ship is also equipped with a Beidou terminal, and the real-time water depth detection system also includes a tide level acquisition module, including: A tide level acquisition unit, used to control the Beidou terminal to obtain the longitude and latitude coordinates of the water depth measurement point where the survey ship is currently located, and then upload the longitude and latitude coordinates to the real-time tide level service platform and obtain the returned real-time tide level data; The tide level filtering unit is connected to the tide level acquisition unit and is used to smooth the real-time tide level data deviating from the characteristic curve by adopting a long tide time series-high-order sliding fitting filtering method to obtain the filtered real-time tide level data.

7. The real-time water depth detection system according to claim 1, characterized in that: It also includes a proofreading module, connected to the water depth calculation module, including: A coordinate calibration unit, used to issue a calibration warning when the hull coordinate system in the calibration water depth calculation module is different from the calibration coordinate system in the measurement task book; The depth measurement intersection deviation statistics unit is used to perform two depth measurements in different directions on the same underwater terrain point, and then calculate the deviation between the depth detection results of the two depth measurements to obtain the intersection discrepancy value.

8. The real-time water depth detection system according to claim 1, characterized in that: It also includes a feature extraction module, which is connected to the water depth calculation module and is used to extract the deepest value and the shallowest value of each water depth point within a preset range.

9. A real-time water depth detection method for dredging engineering, characterized in that: A real-time water depth detection system as claimed in any one of claims 1 to 8, comprising: Step S1, the real-time water depth detection system collects the real-time positioning data, underwater sound speed data and water depth data of underwater terrain points in the hull coordinate system of the survey ship respectively; Step S2, the real-time water depth detection system calculates the sounding points according to the real-time positioning data, the underwater sound speed data and the water depth data, and performs plane system conversion and vertical sharp turn conversion to obtain the plane coordinates and water depth of each underwater terrain point in the satellite coordinate system as the water depth detection result.

10. The real-time water depth detection method according to claim 9, characterized in that: The survey ship is equipped with GNSS equipment, a sonic velocity meter, and an echo sounder; the step S1 comprises: Step S11, the real-time water depth detection system controls the GNSS device to obtain the real-time coordinates of the survey ship in the satellite positioning coordinate system as the real-time positioning data; Step S12, the real-time water depth detection system controls the sound velocity meter to obtain the underwater sound velocity data below the measuring ship; Step S13, the real-time water depth detection system controls the echo sounder to perform underwater depth measurement on the underwater terrain point, and calculates the plane coordinates and vertical distance of the underwater terrain point in the hull coordinate system as the water depth data according to the beam angle and echo distance of the echo sounder.

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