A multi-beam survey line layout and data acquisition preprocessing method and system

Abstract

The application discloses a kind of multi-beam survey line layout and data acquisition pre-processing method and system, using the direction of multi-beam survey line layout of parallel isobath trend, the river basin to be measured is divided into several rectangular monitoring areas formed by main survey line, so that the main survey line of monitoring area boundary is parallel to the extension direction of isobath as much as possible;Definition survey line number and width direction survey line spacing, the width direction boundary main survey line of monitoring area is used as starting point;With the minimum total length of survey line as target definition optimization objective function;Based on the greedy algorithm, the length of the latest survey line is greater than the width of river when the cycle traversal of the river basin to be measured from the first survey line is ended, to determine the optimal survey line layout: using simulated annealing algorithm to verify the optimization result of survey line layout.Can automatically layout multi-beam survey line combined with topographic data, and verify survey line result.Simultaneously reach the accuracy and efficient effect of data acquisition pre-processing.

Description

Technical Field

[0001] The present application relates to the field of hydrological measurement technology, and in particular to a water depth data measurement wiring system and method. Background Art

[0002] A multibeam bathymetry system measures water depths along different survey lines by transmitting multiple beams of sound waves to the seabed and recording the time difference and intensity of the echoes. Its wide measurement range and high accuracy make it suitable for surveying large areas of water. Survey line layout involves planning and arranging appropriate survey routes within a specific water area to cover the target area and ensure complete and accurate data collection. The rationality of survey line layout directly impacts measurement coverage, data quality, and operational efficiency, and is the foundation of multibeam surveying operations. In actual surveying, the underwater topography is highly undulating, and survey line spacing cannot be simply designed based on the average water depth. Survey line layout is typically based on a comprehensive consideration of multiple factors, including the water depth variations within the survey area, topographic characteristics, project accuracy requirements, and equipment performance.

[0003] Traditional multi-beam survey line layout methods usually require manual or semi-automatic planning of survey line positions, which results in a long time for each layout task. In particular, insufficient or redundant measurement coverage may occur in complex terrain, which cannot meet the needs of efficient measurement.

[0004] Existing intelligent survey line layout methods often fall into local optimal solutions using optimization algorithms, making it difficult for survey line plans to reach global optimality in complex terrain, which is not conducive to ensuring comprehensive coverage and accuracy of measurements.

[0005] Furthermore, there was no method for verifying the results of survey line layout, requiring manual data re-survey. After collecting multi-beam bathymetric acoustic data, the pre-processing process involved multiple steps, including data calibration, error correction, and filtering. This process was complex and time-consuming, impacting overall operational efficiency.

[0006] Therefore, the current field has an increasing demand for a method that can automatically lay out multi-beam survey lines in combination with topographic and geomorphological data and verify the accuracy of the survey line results, as well as efficient data acquisition and preprocessing methods. This is of great significance for marine resource development, channel surveys, underwater geological surveys, seabed structure monitoring, and marine environmental protection. Summary of the Invention

[0007] The purpose of this application is to provide a multi-beam survey line layout and data acquisition preprocessing method and system, which can automatically layout multi-beam survey lines based on topographic data and verify the survey line results, while achieving accuracy and high efficiency in data acquisition preprocessing.

[0008] The embodiment of the present application is implemented as follows:

[0009] A multi-beam survey line layout and data acquisition preprocessing method, characterized by comprising the following steps:

[0010] S1: Use the multi-beam survey line layout direction parallel to the depth contour, divide the river basin to be measured into several rectangular monitoring areas formed by the main survey line, and make the main survey line of the monitoring area boundary as parallel as possible to the extension direction of the depth contour;

[0011] S2: A single-objective optimization model is used to determine the optimal survey line locations. This includes defining the number of survey lines and the spacing between them in the width direction, with the main survey line at the width boundary of the monitoring area as the starting point. An optimization objective function is defined to minimize the total length of the survey lines, which is determined by the product of the number of survey lines and the length of a single lateral line. Constraints are set, including the range of overlap rates for different survey lines in the monitoring area, and the simultaneous satisfaction of constraints on the scanning strip width, overlap rate, and coverage width.

[0012] S3: Based on the greedy algorithm, the optimal survey line layout is determined by traversing the river basin to be measured from the first survey line until the length of the latest survey line exceeds the width of the river.

[0013] S4: Use the simulated annealing algorithm to verify the optimization result of the survey line layout, and determine that the survey line model in step S3 is valid if the error with step S3 is within a set smaller range. If it exceeds the set smaller range, re-execute steps S2-S4 until the conditions are met.

[0014] The above technical solution also includes S5: completing the survey line layout of the river basin to be measured according to the optimal survey line layout of S3 that meets the range after verification in step S4, collecting data through the multi-beam bathymetry system, and importing the collected data into the Hypack software for noise reduction and filtering to generate a smooth underwater terrain point cloud map.

[0015] In the above technical solution, in step S2, the overlap rate is calculated so that each part of the river channel is fully covered, while unnecessary measurements are reduced, thereby improving measurement efficiency.

[0016] In the above technical solution, in step S2, it is determined that the overlap rate of monitoring areas of different survey lines is within a range of 10%-20%.

[0017] In the above technical solution, in step S2, the width and overlap ratio of each scanning strip are calculated so that the total width of the scanning strip minus the width of the overlapping part is at least equal to the ratio of the optimized survey line length of each scanning strip to the slope cosine value.

[0018] In the above technical solution, in step S2, the total coverage width to the west of the scanning center of the i-th survey line is first calculated, and then the total coverage width to the east of the scanning center of the i+1-th survey line is calculated; then, the west coverage width of the i-th survey line is subtracted from the east coverage width of the i+1-th survey line to obtain the width of the overlapping part between the two survey lines; finally, the width of this overlapping part is divided by the scanning strip width of the i-th survey line to obtain the overlap ratio η.

[0019] In the above technical solution, the single-objective optimization model obtained in step S2 is as follows:

[0020] st ;

[0021] in is the scanning strip width of the i-th survey line, is the overlap ratio between the scanned strip of the i-th survey line and the previous strip; Indicates the optimized survey line length; is the position along the river slope; α is the slope; represents the coverage width west of the scanning center of the i-th scanning strip; represents the coverage width east of the scanning center of the i-th scanning strip; is the total coverage width; represents the opening angle of the multi-beam transducer; d is the river depth.

[0022] In the above technical solution, step S3 includes the following steps:

[0023] S31: If the river runs north-south, the first survey line is located with the eastern boundary of the rectangular river basin partition as the starting edge and the coverage width just reaching the eastern boundary.

[0024] S32: Starting from the position of the first survey line, traverse backward in the width direction with a certain length as a step size to determine the position of the next survey line, and calculate the overlap ratio of the coverage width of the survey line and the previous survey line; save the survey line positions that meet the overlap ratio range of 10%-20%; use the greedy algorithm to select the survey line with an overlap ratio of 10%; determine the optimal position of the second survey line based on the survey line with an overlap ratio of 10%, and traverse in this way;

[0025] S33: Traverse in sequence until the length of the latest survey line exceeds the width of the river, then end the loop and save all the determined survey line positions before the survey line.

[0026] In the above technical solution, step S4 includes the following steps to verify the optimization result of the survey line layout:

[0027] S41: Initialize algorithm parameters, set annealing initial temperature, temperature drop coefficient, end temperature, and annealing times;

[0028] S42: The average overlap rate of all current survey line coordinates For the current solution, the coordinates of each survey line within the set range are Generate random disturbances and generate new survey line coordinates and the new overlap ratio , as the new average overlap rate;

[0029] Determine the new overlap rate Whether the overlap rate range is met, that is, ; If satisfied, accept the new solution; if not satisfied, confirm to accept the new solution The probability p of , the calculation formula of probability p is as follows:

[0030] P= ;

[0031] S43: Determine whether the new temperature reaches the end temperature. If so, output it as the optimal solution. If not, continue iteration, cool the current temperature, and reset the number of iterations. The new temperature is the product of the initial temperature and the temperature drop coefficient.

[0032] S44: Compare the optimal solution obtained by the simulated annealing algorithm with the solution obtained by the greedy algorithm, and calculate the error between the two. If the error between the two is within the allowed set range, it proves that the model obtained by the greedy algorithm is valid. Otherwise, repeat steps S2-S4 until the optimal survey line layout is determined and verified to be valid.

[0033] A multi-beam survey line layout and data acquisition preprocessing system is characterized in that a computer-readable storage program is stored therein, and when the program is executed, it is used to implement the steps of the above method.

[0034] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0035] By integrating the single-objective optimization model, greedy algorithm, and simulated annealing algorithm, this paper innovatively designs a multi-beam survey line and data acquisition preprocessing method, which reduces the total length of the survey line and reduces data redundancy, thereby improving measurement efficiency.

[0036] By combining the simulated annealing algorithm to verify the survey line layout plan, the risk of falling into a local optimal solution during the optimization process was avoided, the rationality and global coverage of the survey line layout were ensured, and the survey line planning effect in complex terrain was effectively improved.

[0037] It reduces the situations where the overlap rate is too high or the areas are missed, ensures the reasonable overlap between the survey lines in the measurement area, and improves the comprehensiveness of the detection.

[0038] The layout of survey lines and inspection lines strictly complies with the relevant provisions of the "Technical Regulations for Underwater Topography Surveys in Inland Waters", meets the technical requirements in terms of precision control, and makes the measurement results more reliable and referenceable. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic diagram of the arrangement direction of a multi-beam main survey line provided by an embodiment of the present invention.

[0041] Figure 2 A schematic diagram of a multi-beam rectangular river survey line design provided by an embodiment of the present invention.

[0042] Figure 3 A schematic diagram of a process for optimal survey line layout using a greedy algorithm provided in an embodiment of the present invention.

[0043] Figure 4 A schematic diagram of the process of using the simulated annealing algorithm to perform optimal survey line layout according to an embodiment of the present invention.

[0044] Figure 5 A technical roadmap for data acquisition and preprocessing provided for embodiments of the present invention. DETAILED DESCRIPTION

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0047] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0048] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of this application is typically placed when in use. These terms are intended only to facilitate the description of this application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0049] Furthermore, terms such as "horizontal," "vertical," and "overhanging" do not necessarily imply that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0050] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0051] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0052] The features and performance of the present application are further described in detail below with reference to the embodiments.

[0053] Example 1

[0054] The multi-beam survey line layout and data acquisition preprocessing method implemented according to the present invention includes the following steps:

[0055] S1: If Figure 1As shown in the figure, the direction of the multi-beam survey line parallel to the depth contour is used to divide the river basin to be measured into several rectangular partial monitoring areas formed by the main survey line. The main survey line at the boundary of the monitoring area is as close to the depth contour as possible ( Figure 1 parallel to the direction of extension of the mid-curve).

[0056] In accordance with the relevant provisions of the "Technical Specifications for Underwater Topography Survey of Inland Waters" (Standard No.: CH / T 7003-2021) on multi-beam survey lines, this embodiment adopts the direction of multi-beam survey lines parallel to the depth contours.

[0057] S2: Use a single-objective optimization model to determine the optimal survey line position;

[0058] S21: Define the number of survey lines n and the spacing between survey lines, and take the main survey line at the boundary of the monitoring area as the starting point.

[0059] S22: Define the optimization objective function to minimize the total length of the survey line. The total length of the survey line is determined by the number of survey lines. The total length of the survey line is calculated as follows:

[0060] ;

[0061] Wherein, L is the total length of the survey line; n is the number of survey lines; is the measuring line length.

[0062] The optimization objective can be expressed as:

[0063] ;

[0064] S23: Determine the constraints for the overlap ratio to be between 10% and 20%:

[0065] S24: The single-objective optimization model is obtained as follows:

[0066] st ;

[0067] in is the scanning strip width of the i-th survey line, is the overlap ratio between the scanned strip of the i-th survey line and the previous strip; Indicates the optimized survey line length; is the position along the river slope; α is the slope; represents the coverage width west of the scanning center of the i-th scanning strip; represents the coverage width east of the scanning center of the i-th scanning strip; is the total coverage width; represents the opening angle of the multi-beam transducer; d is the river depth.

[0068] S3: Determine the optimal survey line layout based on the greedy algorithm loop traversal;

[0069] S31: The number of survey lines n and the distance between adjacent survey lines are the key factors affecting the layout of survey lines. The distance between survey lines can be converted into the position of different survey lines. Indicates the distance between the survey line and the river channel to the east. If the river runs north-south, the first survey line is located with the eastern boundary of the rectangular river basin partition as the starting edge and the coverage width just reaching the eastern boundary.

[0070] S32: Starting from the position of the first survey line, gradually move backward with a certain length as the step length (in the direction of river width, such as Figure 2 Traverse the line (as shown) to determine the position of the next survey line and calculate its coverage width and the overlap ratio with the previous line. Save the positions of the survey lines with an overlap ratio of 10%-20%. Use a greedy algorithm to prioritize the survey line with a 10% overlap ratio, as this ratio meets technical regulations and provides the highest efficiency. Determine the optimal position of the second survey line based on the survey line with a 10% overlap ratio, and continue traversing the line in this order.

[0071] S33: Traverse in sequence until the length of the latest survey line exceeds the width of the river, which means that the survey line has exceeded the area range and the loop ends. Save the positions of all survey lines determined before the survey line.

[0072] S4: Use simulated annealing algorithm to verify the optimization results of survey line layout:

[0073] S41: Initialize algorithm parameters and set the initial annealing temperature to , temperature drop coefficient (cooling rate) , end temperature , annealing times (number of iterations at each temperature) .

[0074] S42: Randomly perturb the measurement line position, generate a new solution, and calculate the optimization objective function to ensure that it does not fall into the local optimal solution. Repeat the process to determine whether the current number of iterations reaches the annealing number (i.e., the number of iterations at each temperature);

[0075] The current solution is , which represents the average overlap rate of all current survey line coordinates, and for each survey line coordinate within a reasonable range Generate random disturbances and generate new survey line coordinates and the new overlap ratio , as the new average overlap rate;

[0076] judge Whether the constraints of the target optimization equation are met, that is, If it is satisfied, the new solution is accepted; if it is not satisfied, the new solution is determined according to the Metropolis criterion. The probability p of , the calculation formula of probability p is as follows:

[0077] P=

[0078] S43: Determine temperature Whether the end temperature is reached, if it is reached, the optimal solution is output; if not, the iteration is continued, and the current temperature is cooled and the number of iterations is reset. The new temperature is .

[0079] S44: Based on the solution obtained by the simulated annealing algorithm, we compared it with the solution obtained by the greedy algorithm and calculated the error between the two. The error between the two is very small and falls within the allowable range (i.e., within 1% of the target line length), proving that the model obtained by the greedy algorithm has a certain degree of reliability and accuracy.

[0080] S5: After completing the survey line model, data is collected through the multi-beam bathymetry system. The collected data is imported into the Hypack software for noise reduction and filtering to generate a smooth underwater terrain point cloud map.

[0081] Furthermore, the typical multi-beam echo sounding system model and parameters used in step S5 are shown in Table 1 below:

[0082] Table 1 Multibeam sounder system models and parameters

[0083]

[0084] Of course, those skilled in the art may also use other conventional multi-beam bathymetric systems according to the requirements of the test area.

[0085] Example 2

[0086] A multi-beam survey line layout and data acquisition preprocessing system is characterized in that a computer-readable storage program is stored therein, and when the program is executed, it is used to implement the steps of the above method.

[0087] The embodiments described above are part of the embodiments of the present application, rather than all of the embodiments. The detailed description of the embodiments of the present application is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

Claims

1. A multi-beam survey line layout and data acquisition preprocessing method, characterized in that The following steps are involved: S1: Use the multi-beam survey line layout direction parallel to the depth contour, divide the river basin to be measured into several rectangular monitoring areas formed by the main survey line, and make the main survey line of the monitoring area boundary as parallel as possible to the extension direction of the depth contour; S2: Use a single-objective optimization model to determine the optimal survey line location: This includes defining the number of survey lines and the spacing between survey lines in the width direction, with the main survey line at the width boundary of the monitoring area as the starting point; The optimization objective function is defined with the goal of minimizing the total length of the survey line. The total length of the survey line is determined by the product of the number of survey lines and the length of a single lateral line. Setting constraints includes: the overlap rate range of monitoring areas of different survey lines, and simultaneously meeting the scanning strip width, overlap rate and coverage width constraints; S3: Based on the greedy algorithm, the optimal survey line layout is determined by traversing the river basin to be measured from the first survey line until the length of the latest survey line exceeds the width of the river. S4: Use the simulated annealing algorithm to verify the optimization result of the survey line layout, and determine that the survey line model in step S3 is valid if the error with step S3 is within a set smaller range. If it exceeds the set smaller range, re-execute steps S2-S4 until the conditions are met.

2. The multi-beam survey line layout and data acquisition preprocessing method according to claim 1 is characterized in that The process also includes S5: arranging the optimal survey line of S3 that meets the range after verification in step S4 to complete the survey line layout of the river basin to be measured, collecting data through a multi-beam bathymetry system, and importing the collected data into the Hypack software for noise reduction and filtering to generate a smooth underwater terrain point cloud map.

3. The multi-beam survey line layout and data acquisition preprocessing method according to claim 1 is characterized in that In step S2, it is determined that the overlap rate of monitoring areas of different survey lines is between 10% and 20%.

4. The multi-beam survey line layout and data acquisition preprocessing method according to claim 1 is characterized in that In step S2, the width and overlap rate of each scanning strip are constrained as follows: the width and overlap rate of each scanning strip are calculated so that the total width of the scanning strip minus the width of the overlapping part is at least equal to the ratio of the optimized survey line length of each scanning strip to the slope cosine value.

5. The multi-beam survey line layout and data acquisition preprocessing method according to claim 1 is characterized in that In step S2, the coverage width of each scanning strip is constrained as follows: first, the total coverage width to the west of the scanning center of the i-th survey line is calculated, and then the total coverage width to the east of the scanning center of the i+1-th survey line is calculated; then, the west coverage width of the i-th survey line is subtracted from the east coverage width of the i+1-th survey line to obtain the width of the overlapping part between the two survey lines; finally, the width of this overlapping part is divided by the scanning strip width of the i-th survey line to obtain the overlap ratio η.

6. The multi-beam survey line layout and data acquisition preprocessing method according to claim 1 is characterized in that The single-objective optimization model obtained in step S2 is as follows: s.t. ; in is the scanning strip width of the i-th survey line, is the overlap ratio between the scanned strip of the i-th survey line and the previous strip; Indicates the optimized survey line length; is the position along the river slope; α is the slope; represents the coverage width west of the scanning center of the i-th scanning strip; represents the coverage width east of the scanning center of the i-th scanning strip; is the total coverage width; represents the opening angle of the multi-beam transducer; d is the river depth.

7. The multi-beam survey line layout and data acquisition preprocessing method according to claim 1 is characterized in that Step S3 includes the following steps: S31: If the river runs north-south, the first survey line is located with the eastern boundary of the rectangular river basin partition as the starting edge and the coverage width just reaching the eastern boundary. S32: Starting from the position of the first survey line, traverse backward in the width direction with a certain length as a step size to determine the position of the next survey line, and calculate the overlap ratio of the coverage width of the survey line and the previous survey line; save the survey line positions that meet the overlap ratio range of 10%-20%; use the greedy algorithm to select the survey line with an overlap ratio of 10%; determine the optimal position of the second survey line based on the survey line with an overlap ratio of 10%, and traverse in this way; S33: Traverse in sequence until the length of the latest survey line exceeds the width of the river, end the loop and save all the determined survey line positions before the survey line.

8. The multi-beam survey line layout and data acquisition preprocessing method according to claim 1 is characterized in that Step S4 includes the following steps: S41: Initialize algorithm parameters, set annealing initial temperature, temperature drop coefficient, end temperature, and annealing times; S42: The average overlap rate of all current survey line coordinates For the current solution, the coordinates of each survey line within the set range are Generate random disturbances and generate new survey line coordinates and the new overlap ratio , as the new average overlap rate; Determine the new overlap rate Whether the overlap rate range is met, that is, ; If satisfied, accept the new solution; if not satisfied, confirm to accept the new solution The probability p of , the calculation formula of probability p is as follows: P= ； S43: Determine whether the new temperature reaches the end temperature. If so, output it as the optimal solution. If not, continue iteration, cool the current temperature, and reset the number of iterations. The new temperature is the product of the initial temperature and the temperature drop coefficient. S44: Compare the optimal solution obtained by the simulated annealing algorithm with the solution obtained by the greedy algorithm, and calculate the error between the two. If the error between the two is within the allowed set range, it proves that the model obtained by the greedy algorithm is valid. Otherwise, repeat steps S2-S4 until the optimal survey line layout is determined and verified to be valid.

9. A multi-beam survey line layout and data acquisition preprocessing system, characterized in that A computer-readable storage program is stored therein, and when the program is executed, it is used to implement the steps of the multi-beam survey line layout and data acquisition preprocessing method according to any one of claims 1 to 8.

Images