Submarine landform feature target object position correction method based on submarine topography

Abstract

The invention discloses a submarine landform feature target position correction method based on submarine topography, and the method comprises the steps: exporting a submarine landform feature target recognized by each measuring line measured by a side-scan sonar and a track during measurement, and generating a feature target table and a track table; according to the feature target object table and the track table, the actual space distance from the tow fish of the side-scan sonar to the feature target object is calculated; according to the tow fish coordinates and the tow fish heading on the track line corresponding to the feature target object in the track table, generating a vertical line perpendicular to the track line, extracting a submarine topographic map section by using the vertical line, and generating a water depth section curve; constructing a rectangular coordinate system by taking the position of the tow fish of the side-scan sonar as a center, and calculating the slant distance from each point on the water depth section curve to the tow fish in the rectangular coordinate system; and when the slope distance is equal to the actual space distance from the feature target object to the tow fish, determining the real position of the feature target object through the coordinates of the water depth point corresponding to the slope distance.

Description

Technical Field

[0001] This invention relates to the field of marine engineering surveying technology, and more specifically, to a method for correcting the location of seabed geomorphic features based on seabed topography. Background Technology

[0002] When surveying key areas for marine engineering, the survey scale is typically 1:2000, and multibeam sonar and side-scan sonar are often used for full coverage surveying to generate seabed topographic and geomorphological maps of the surveyed area. Seabed features can be identified based on the geomorphological images, and their positions can be calculated based on the geometric relationship between the side-scan sonar transducer (towed fish) and the seabed features. When the seabed is flat, i.e., when the features and the seabed directly below the side-scan sonar towed fish are on the same horizontal plane, the geometric relationship holds strictly, and the obtained position is accurate.

[0003] When the seabed is uneven, meaning the target object and the seabed directly below the side-scan sonar transducer are not on the same horizontal plane, their geometric relationship no longer holds. In this case, the position of the target object obtained is inaccurate, with a maximum deviation of 5.8m. This does not meet the requirement of Clause 5.1 of GB / T 17503-2009 Code for Geological Survey of Offshore Platform Site Engineering, which states that "when the mapping scale is greater than 1:5000, the positioning error at sea should not be greater than 1.5mm on the map." Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a method for correcting the location of seabed geomorphological features based on seabed topography.

[0005] According to one aspect of the present invention, a method for correcting the location of seabed geomorphic features based on seabed topography is provided, comprising:

[0006] Export the seabed topographic features and targets identified by each survey line measured by the side-scan sonar, as well as the track during the measurement, to generate a feature target table and a track table.

[0007] Based on the target feature list and track list, calculate the actual spatial distance between the towed fish of the side-scan sonar and the target feature.

[0008] Based on the coordinates of the towed fish on the track line corresponding to the feature target in the track table and the heading of the towed fish, a vertical line perpendicular to the track line is generated, and the seabed topographic map section is extracted using the vertical line to generate the water depth profile curve.

[0009] A rectangular coordinate system is constructed with the position of the towed fish of the side-scan sonar as the center, and the slant distance from each point on the water depth profile curve to the towed fish is calculated in the rectangular coordinate system.

[0010] When the slant distance equals the actual spatial distance from the target object to the towed fish, the true position of the target object is determined by the coordinates of the depth point corresponding to the slant distance.

[0011] Optionally, the feature target list includes: serial number, first measurement serial number, and measurement time T. c Target location P t (x t ,y t ), towed fish bow towards H d The airspeed indicator includes: date, second measurement sequence number, and measurement time T. c1 The coordinates of the towed fish are P. m (x m ,y m ), towed fish bow towards H d Boat speed v, towed fish depth d1, and

[0012] Based on the target feature list and track list, calculate the actual spatial distance between the towed fish of the side-scan sonar and the target feature, including:

[0013] Based on the principle that the first and second measurement serial numbers are the same, the coordinates P of the characteristic target object during on-site measurement are matched. t (x t ,y t ) and the coordinates P of the dragfish m (x m ,y m Calculate the horizontal distance between the target object and the towed fish;

[0014] The characteristic target and track are projected onto the seabed topographic map of the measurement area according to coordinates, and the height of the side-scan sonar above the seabed is calculated.

[0015] Based on the height and horizontal distance, calculate the slant distance from the feature target to the side-scan sonar towed fish, and determine the actual spatial distance between the side-scan sonar towed fish and the feature target.

[0016] Optionally, the characteristic target and track are projected onto the seabed topographic map of the measurement area according to coordinates, and the height of the side-scan sonar above the seabed is calculated, including:

[0017] Extract the water depth value along the corresponding track;

[0018] Calculate the actual water depth at the time of measurement based on the water depth value and the tide level at the time of measurement;

[0019] The height of the side-scan sonar above the seabed is calculated based on the actual water depth and the depth at which the towed fish enters the water.

[0020] Optionally, the formula for calculating the actual water depth h1 is:

[0021] h1 = h + t d

[0022] In the formula, h is the water depth, and t d The tide level;

[0023] The formula for calculating height is:

[0024] d2 = h1 - d1

[0025] In the formula, d1 is the depth of immersion in water.

[0026] Optionally, the formula for calculating the actual spatial distance is:

[0027]

[0028] In the formula, d1 is the depth into the water; S1 is the horizontal distance.

[0029] Optionally, the vertical line is centered on the track line, and its length on both sides is 1 times the range of a single side scan sonar.

[0030] Optionally, each point in the water depth profile curve includes coordinates P. w (x w ,y w ), water depth h, and distance along the cross section L; where the water depth h is added to the tidal level t at the time of measurement. d The actual water depth h1 at the time of measurement is generated.

[0031] According to another aspect of the present invention, a device for correcting the location of seabed topographic features based on seabed topography is provided, comprising:

[0032] The first generation module is used to export the seabed topographic features identified by each survey line measured by the side-scan sonar and the track during the measurement, and generate a feature target table and a track table.

[0033] The first calculation module is used to calculate the actual spatial distance between the towed fish of the side-scan sonar and the characteristic target based on the characteristic target table and the track table.

[0034] The second generation module is used to generate a vertical line perpendicular to the track line based on the coordinates of the towed fish on the track line corresponding to the feature target in the track table and the heading of the towed fish, and to use the vertical line to extract the seabed topographic map section and generate the water depth section curve.

[0035] The second calculation module is used to construct a rectangular coordinate system with the position of the towed fish of the side-scan sonar as the center, and to calculate the slant distance from each point on the water depth profile curve to the towed fish in the rectangular coordinate system.

[0036] The determination module is used to determine the true position of the feature object by using the water depth coordinates corresponding to the slant distance when the slant distance is equal to the actual spatial distance from the feature object to the towed fish.

[0037] According to another aspect of the present invention, a computer-readable storage medium is provided, the storage medium storing a computer program for performing the methods described in any of the above aspects of the present invention.

[0038] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: a processor; a memory for storing executable instructions of the processor; the processor being configured to read the executable instructions from the memory and execute the instructions to implement the method described in any of the preceding aspects of the present invention.

[0039] Therefore, this invention provides a method for correcting the position of seabed geomorphic features based on seabed topography. In areas with uneven seabed, it can correct the position of seabed geomorphic features, calculating their actual positions with a deviation of less than 0.5m, thus improving the accuracy of identifying the position and size of seabed geomorphic features. This method is applicable to the position correction of seabed geomorphic features in uneven seabed areas, eliminating the influence of seabed unevenness on position distortion in side-scan sonar measurements, and restoring seabed geomorphic features to their actual positions, thereby improving the accuracy of identifying the position and size of seabed geomorphic features. Attached Figure Description

[0040] Exemplary embodiments of the present invention can be more fully understood by referring to the following figures:

[0041] Figure 1 This is a flowchart illustrating a method for correcting the location of seabed topographic features based on seabed topography, provided in an exemplary embodiment of the present invention.

[0042] Figure 2 This is a schematic diagram of side-scan sonar measurement of uneven seabed topography provided by an exemplary embodiment of the present invention;

[0043] Figure 3 This is a schematic location of the water depth and anchor marks in the measurement area provided by an exemplary embodiment of the present invention;

[0044] Figure 4 This is a water depth profile of a navigation track measured along a terrain feature, provided in an exemplary embodiment of the present invention.

[0045] Figure 5 It is a perpendicular line generated along the flight path provided by an exemplary embodiment of the present invention;

[0046] Figures 6a to 6k This is a water depth profile extracted according to a vertical line, provided by an exemplary embodiment of the present invention;

[0047] Figure 7 This is a schematic diagram illustrating the relative relationship between landform features and their calculated actual locations, provided by an exemplary embodiment of the present invention.

[0048] Figure 8 This is a schematic diagram illustrating the relationship between the error of geomorphic feature points and seabed depth provided in an exemplary embodiment of the present invention;

[0049] Figure 9 This is a schematic diagram of the structure of a correction device for the position of seabed topographic features based on seabed topography provided in an exemplary embodiment of the present invention;

[0050] Figure 10 This is the structure of an electronic device provided in an exemplary embodiment of the present invention. Detailed Implementation

[0051] Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments of the present invention. It should be understood that the present invention is not limited to the exemplary embodiments described herein.

[0052] It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention.

[0053] Those skilled in the art will understand that the terms "first," "second," etc., in the embodiments of the present invention are only used to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them.

[0054] It should also be understood that in the embodiments of the present invention, "multiple" can refer to two or more, and "at least one" can refer to one, two or more.

[0055] It should also be understood that any component, data or structure mentioned in the embodiments of the present invention can generally be understood as one or more unless explicitly defined or given contrary instructions in the context.

[0056] Furthermore, the term "and / or" in this invention is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this invention generally indicates that the preceding and following related objects have an "or" relationship.

[0057] It should also be understood that the description of the various embodiments in this invention emphasizes the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, they will not be described in detail.

[0058] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0059] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0060] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0061] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0062] The embodiments of this invention can be applied to electronic devices such as terminal devices, computer systems, and servers, and can operate together with a wide range of other general-purpose or special-purpose computing system environments or configurations. Well-known examples of terminal devices, computing systems, environments, and / or configurations suitable for use with electronic devices such as terminal devices, computer systems, and servers include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputer systems, mainframe computer systems, and distributed cloud computing environments including any of the above systems, etc.

[0063] Electronic devices such as terminal devices, computer systems, and servers can be described in the general context of computer system executable instructions (such as program modules) executed by a computer system. Typically, program modules can include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in distributed cloud computing environments, where tasks are executed by remote processing devices linked through communication networks. In distributed cloud computing environments, program modules can reside on local or remote computing system storage media, including storage devices.

[0064] Exemplary methods

[0065] Figure 1 This is a schematic flowchart illustrating a method for correcting the location of seabed topographic features based on seabed topography, provided in an exemplary embodiment of the present invention. This embodiment can be applied to electronic devices, such as... Figure 1 As shown, the method 100 for correcting the location of seabed geomorphic features based on seabed topography includes the following steps:

[0066] Step 101: Export the seabed topographic features identified by each survey line measured by the side-scan sonar and the track during the measurement to generate a feature target table and a track table.

[0067] Step 102: Calculate the actual spatial distance between the towed fish of the side-scan sonar and the characteristic target based on the characteristic target table and the track table;

[0068] Step 103: Based on the coordinates of the towed fish on the track line corresponding to the feature target in the track table and the heading of the towed fish, generate a vertical line perpendicular to the track line, and use the vertical line to extract the seabed topographic map section to generate the water depth profile curve.

[0069] Step 104: Construct a rectangular coordinate system with the position of the towed fish of the side-scan sonar as the center, and calculate the slant distance from each point on the water depth profile curve to the towed fish in the rectangular coordinate system.

[0070] Step 105: When the slant distance is equal to the actual spatial distance from the feature target to the towed fish, determine the true position of the feature target by using the water depth coordinates corresponding to the slant distance.

[0071] Specifically, this invention provides a method for correcting the position of seabed geomorphic features based on seabed topography. This method is applicable to the position correction of seabed geomorphic features in uneven seabed areas, eliminating the influence of seabed unevenness on position distortion in side-scan sonar measurements, thus restoring seabed features to their actual positions and improving the accuracy of position and size identification. The specific steps are as follows:

[0072] (1) Based on the location P of the identified feature target object t (x t ,y t ), the position P of the side-scan sonar towed fish during measurement m (x m ,y m The distance S1 from the side-scan sonar towed fish to the characteristic target is calculated using four parameters: the water depth d1 of the side-scan sonar towed fish, the water depth d2 directly below the side-scan sonar towed fish during measurement, and the water depth d2.

[0073] (2) Based on the position P of the side-scan sonar towed fish corresponding to the characteristic target object during measurement. m (x m ,y m ), bow H d A vertical line perpendicular to the flight track is generated, centered on the track line, with a single-sided length equal to one time the single-sided range of the side-scan sonar. A depth profile, containing multiple depth points, is then extracted from the seabed topography map based on this vertical line. Each depth point includes coordinates P. w (x w ,y w ), water depth h1, and distance along the cross section L.

[0074] (3) Construct a rectangular coordinate system centered on the position of the side-scan sonar towed fish. Calculate the slant distance S1 from each point on the water depth profile to the towed fish. When it is equal to the slant distance S1 from the feature target to the towed fish, according to ray theory, this point can be considered the actual illumination point of the sound wave, and the water depth point can be considered the actual location of the landform feature point. Then, assign the coordinates P of the water depth point to the towed fish. wn (x wn ,y wn The value is assigned to the landform feature point, which is the actual location of the landform feature point.

[0075] In one embodiment of the present invention, the principle is as follows: The side-scan sonar emits two narrow, fan-shaped acoustic beams perpendicular to the flight path using two sets of transducer arrays on the left and right sides. Upon encountering the seabed, the acoustic waves undergo diffuse reflection, and the transducer arrays receive the emitted echoes. The time and amplitude of the echoes are recorded. The spatial position S(x, y, z) of the detection point is calculated using the transducer position S0(x0, y0, z0), the transducer angle, the transducer height above the seabed, the return time, and the speed of sound in the water.

[0076]

[0077] In the formula: x, y, z are the spatial coordinates of the detection point S; x0, y0, z0 are the spatial coordinates of the transducer S0; β is the azimuth angle of the transducer; t is the sound wave return time; v is the sound speed in the water; d is the height of the transducer above the seabed.

[0078] The intensity of the reflected echo, A(γ), is calculated using the incident angle γ of the sound wave. That is, the smaller the incident angle of the sound wave, the greater the intensity of diffuse reflection; the larger the incident angle of the sound wave, the smaller the intensity of diffuse reflection.

[0079]

[0080] In the formula: A(γ) is the sound wave scattering intensity; r is the sound wave incident angle; A0 is the sound wave incident intensity.

[0081] The result of side-scan sonar measurement is a seabed reflection intensity spectrum, which is continuous in space. The reflection intensity spectrum depends on the seabed roughness, seabed topography, and the incident angle of the sound wave. When the seabed is not flat, that is, when the detection point is not on the same horizontal plane as the seabed directly below the side-scan sonar towed fish, the location of the detection point calculated according to equation (1) is inaccurate.

[0082] Suppose we are measuring the slope topography of a submarine depression. Consider a cross-section of the slope with a slope angle of 18° and a height of 15m. The bottom and top of the slope are flat. The water depth at the bottom of the slope is 20m, the water depth at the top is 5m, and the side-scan sonar transducer is submerged at a depth of 2m. Therefore, the water depth directly below the side-scan sonar towed fish is 18m. The horizontal distance between the towed fish and the bottom of the slope is 15m. There is an obstacle in the middle of the slope extending along the slope surface for a length of 4m. Figure 2 As shown.

[0083] The positions of the bottom, top, and obstacles on the slope were calculated according to equation (1). The positions of each feature point were projected onto the horizontal position, and the actual positions of each feature point and the side-scan sonar measurement positions are shown in Table 1.

[0084] By performing the inverse calculation on the above slope example, the shape of the seabed slope is transformed into a mathematical equation, as follows:

[0085]

[0086] The equation of the seabed slope was divided into a discrete sequence of data points at 0.1m intervals. The slope distance from each data point to the sonar towed fish was calculated. When the distance equals the actual distance from the feature point to the towed fish, the position of the data point is the actual position of the feature point. The calculation results are shown in Table 1. The final results show an obstacle length error of 5.70% and a position error of 7.66%. Based on ray theory, the reverse calculation of the obstacle length resulted in a 0% error and a position error of 0.09%, which are significantly smaller than the errors calculated directly.

[0087] Table 1. Data for Feature Point Location Calculation and Back Calculation

[0088]

[0089] The method of using this invention and the operation process are as follows:

[0090] (1) Export the seabed geomorphic features identified for each survey line into a table, including the serial number, the first measurement serial number (ping count), and the measurement time T. c Target location P t (x t ,y t ), towed fish bow towards H d .

[0091] (2) Export the flight track during the measurement of this survey line, including the date, second measurement sequence number (ping count), and measurement time T. c1 The coordinates of the towed fish are P. m (x m ,y m ), towed fish bow towards H d Boat speed v, depth of the towed fish d1.

[0092] (3) Based on the principle that the first measurement sequence number in the feature target table and the second measurement sequence number in the track table are the same, match the coordinates P of the feature target during the on-site measurement. t (x t ,y t ) and the coordinates P of the dragfish m (x m ,y m And calculate the horizontal distance S1 between the two.

[0093] (4) Project the characteristic targets and tracks onto the seabed topographic map of the measurement area according to coordinates. Extract the water depth value h on the corresponding track line and add the tide level t at the time of measurement. d That is, the actual water depth at the time of measurement, h1 = h + t d The actual water depth minus the depth d1 of the towed fish is the height d2 of the sonar towed fish above the seabed, which is equal to h1 - d1.

[0094] (5) Calculate and interpret the slant distance from the characteristic target to the side-scan sonar towed fish. Based on the geometric relationships in the measurement, calculate the slant distance in reverse. The slant distance S2 is the actual spatial distance from the side-scan sonar towed fish to the characteristic target.

[0095] (6) Based on the coordinates P on the track corresponding to the feature target object m (x m ,y m ), the bow direction H of the towed fish d A perpendicular line is generated to the track line, with the track line as the center and the length on both sides being 1 times the range of a single side scan sonar.

[0096] (7) Use vertical lines to extract the seabed topographic map cross section and generate a water depth cross section curve. Each point in the curve contains coordinates P. w (x w ,y w ), water depth h, and distance along the cross section L. Add the water depth h to the tidal level data t at the time of measurement. d This forms the actual water depth h1 at the time of measurement.

[0097] (8) Position P of the towed fish using side-scan sonar m (x m ,y m Construct a rectangular coordinate system centered at ( ). Calculate the slant distance S from each point on the water depth profile curve to the towed fish. n When this point equals the slant distance S2 from the target object to the towed fish, according to ray theory, this point can be considered the actual point where the side-scan sonar waves illuminate the seabed. This depth point can be considered the actual location of the target object. The coordinates P of this depth point are... wn (x wn ,ywn The value assigned to the feature object is the actual position of the feature object.

[0098] In one embodiment of the present invention, the implementation process is as follows:

[0099] A seabed topographic and geomorphological survey was conducted in a certain sea area, with a measurement area of ​​350m × 350m. The seabed topographic survey used a multibeam sonar for full coverage, and the seabed geomorphological survey used side-scan sonar for full coverage. A rough anchor mark was found in the measurement area, such as... Figure 3 As shown, the location of the anchor mark was identified based on the side-scan sonar image. The actual location of the anchor mark was then corrected according to this method.

[0100] (1) Export the seabed anchor marks identified by a specific survey line into a table, including the serial number, ping count, and measurement time T. c Target location P t (x t ,y t ), towed fish bow towards H d As shown in Table 2.

[0101] Table 2 Information on Submarine Anchor Marks

[0102]

[0103] (2) Export the flight track information during the measurement of this survey line, including the date, ping count, and measurement time T. c1 The coordinates of the towed fish are P. m (x m ,y m ), towed fish bow towards H d The boat speed v and the depth of the towed fish d1 are shown in Table 3.

[0104] Table 3. Side-scan sonar measurement track information (partial)

[0105]

[0106]

[0107] (3) Based on the ping counts in the seabed anchor mark data table and the ping counts in the track data table, match the coordinates P of the seabed anchor mark during the on-site measurement. t (x t ,y t ) and the coordinates P of the dragfish m (x m ,y m As shown in Table 4, the horizontal distance S1 between the two was calculated.

[0108] Table 4. Data Matching of Seabed Anchor Marks and Vehicle Tracks

[0109]

[0110] (4) Project the seabed anchor marks and navigation tracks onto the water depth topographic map of the measurement area according to coordinates, such as... Figure 2 As shown. Extract the water depth value h along the track and add the tidal value t at the time of measurement. d That is, the actual water depth at the time of measurement, h1 = h + t d The actual water depth minus the depth at which the towed fish enters the water (d1) equals the height of the sonar towed fish above the seabed (d2 = h1 - d1). Figure 4 As shown.

[0111] (5) Calculate the slant distance from the seabed anchor mark to the side-scan sonar towed fish. Based on the geometric relationships observed in the measurement, calculate the slant distance in reverse. The slant distance S2 is the actual spatial distance from the side-scan sonar towed fish to the seabed anchor mark, as shown in Table 5.

[0112] Table 5. Actual distance from the feature to the towed fish.

[0113]

[0114]

[0115] (6) Based on the coordinates P on the track line corresponding to the anchor mark on the seabed m (x m ,y m ), the bow direction H of the towed fish d Calculate the perpendicular line to the trackline, with the trackline as the center, and the length of the perpendicular line should be 1 times the range of a single side scan sonar line. Figure 5 As shown.

[0116] (7) Use vertical lines to extract the seabed topographic map section and generate the seabed depth profile curve. Each point in the curve contains coordinates P. w (x w ,y w ), water depth h, and distance along the cross section L. Add the water depth h to the tidal level data t at the time of measurement. d This forms the actual water depth h1 at the time of measurement. Based on the seabed topography, 11 water depth cross-sections were extracted, such as... Figures 6a to 6k As shown.

[0117] (8) Construct a rectangular coordinate system centered on the position of the side-scan sonar towed fish. Calculate the slant distance S from each point on the water depth profile curve to the towed fish. n When this distance equals the slant distance S2 from the seabed anchor mark to the towed fish, according to ray theory, this point can be considered the actual point where the side-scan sonar waves illuminate the seabed. This depth point can be considered the actual location of the seabed anchor mark. The coordinates P of this depth point... wn (xwn ,y wn The value assigned to the seabed anchor mark represents its true location, as shown in Table 6. The corrected true location and the original interpreted location of the seabed anchor mark are shown below. Figure 7 As shown.

[0118] As can be seen from Table 5, the measurement error is small when the water depth at the topographic feature point is similar to the water depth directly below the towed fish; however, the measurement error increases as the difference between the water depth at the topographic feature point and the water depth directly below the towed fish becomes larger. Figure 8 As shown.

[0119] Table 6 shows the calculated true coordinates of geomorphic feature points.

[0120]

[0121] Therefore, this invention provides a method for correcting the position of seabed geomorphic features based on seabed topography. In areas with uneven seabed, it can correct the position of seabed geomorphic features, calculating their actual positions with a deviation of less than 0.5m, thus improving the accuracy of identifying the position and size of seabed geomorphic features. This method is applicable to the position correction of seabed geomorphic features in uneven seabed areas, eliminating the influence of seabed unevenness on position distortion in side-scan sonar measurements, and restoring seabed geomorphic features to their actual positions, thereby improving the accuracy of identifying the position and size of seabed geomorphic features.

[0122] Exemplary device

[0123] Figure 9 This is a schematic diagram of the structure of a device for correcting the location of seabed topographic features based on seabed topography, provided in an exemplary embodiment of the present invention. Figure 9 As shown, the device 900 includes:

[0124] The first generation module 910 is used to export the seabed topographic features identified by each survey line measured by the side-scan sonar and the track during the measurement, and generate a feature target table and a track table.

[0125] The first calculation module 920 is used to calculate the actual spatial distance between the towed fish of the side-scan sonar and the characteristic target based on the characteristic target table and the track table.

[0126] The second generation module 930 is used to generate a vertical line perpendicular to the track line based on the coordinates of the towed fish on the track line corresponding to the feature target in the track table and the heading of the towed fish, and to use the vertical line to extract the seabed topographic map section and generate the water depth section curve.

[0127] The second calculation module 940 is used to construct a rectangular coordinate system with the position of the towed fish of the side-scan sonar as the center, and to calculate the slant distance from each point on the water depth profile curve to the towed fish in the rectangular coordinate system.

[0128] The determination module 950 is used to determine the true position of the feature object by using the water depth coordinates corresponding to the slant distance when the slant distance is equal to the actual spatial distance from the feature object to the towed fish.

[0129] Optionally, the feature target list includes: serial number, first measurement serial number, and measurement time T. c Target location P t (x t ,y t ), towed fish bow towards H d The airspeed indicator includes: date, second measurement sequence number, and measurement time T. c1 The coordinates of the towed fish are P. m (x m ,y m ), towed fish bow towards H d Boat speed v, towed fish depth d1, and

[0130] The first computing module 920 includes:

[0131] The first calculation submodule is used to match the coordinates P of the feature target object during on-site measurement based on the principle that the first measurement sequence number and the second measurement sequence number are the same. t (x t ,y t ) and the coordinates P of the dragfish m (x m ,y m Calculate the horizontal distance between the target object and the towed fish;

[0132] The second calculation submodule is used to project the feature target and track onto the seabed topographic map of the measurement area according to coordinates, and calculate the height of the side-scan sonar from the seabed.

[0133] The determination submodule is used to calculate the slant distance from the feature target to the side-scan sonar towed fish based on the height and horizontal distance, and to determine the actual spatial distance between the side-scan sonar towed fish and the feature target.

[0134] Optionally, the second calculation submodule includes:

[0135] The extraction unit is used to extract the water depth value on the corresponding track line;

[0136] The first calculation unit is used to calculate the actual water depth at the time of measurement based on the water depth value and the tide level at the time of measurement;

[0137] The second calculation unit is used to calculate the height of the side-scan sonar from the seabed based on the actual water depth and the depth at which the towed fish enters the water.

[0138] Optionally, the formula for calculating the actual water depth h1 is:

[0139] h1 = h + t d

[0140] In the formula, h is the water depth, and t d The tide level;

[0141] The formula for calculating height is:

[0142] d2 = h1 - d1

[0143] In the formula, d1 is the depth of immersion in water.

[0144] Optionally, the formula for calculating the actual spatial distance is:

[0145]

[0146] In the formula, d1 is the depth into the water; S1 is the horizontal distance.

[0147] Optionally, the vertical line is centered on the track line, and its length on both sides is 1 times the range of a single side scan sonar.

[0148] Optionally, each point in the water depth profile curve includes coordinates P. w (x w ,y w ), water depth h, and distance along the cross section L; where the water depth h is added to the tidal level t at the time of measurement. d The actual water depth h1 at the time of measurement is generated.

[0149] Exemplary electronic devices

[0150] Figure 10 This is the structure of an electronic device provided in an exemplary embodiment of the present invention. For example... Figure 10 As shown, the electronic device 100 includes one or more processors 101 and memory 102.

[0151] The processor 101 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0152] The memory 102 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 101 may execute the program instructions to implement the methods of the software programs of the various embodiments of the present invention described above, and / or other desired functions. In one example, the electronic device may also include an input device 103 and an output device 104, these components being interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0153] In addition, the input device 103 may also include, for example, a keyboard, a mouse, etc.

[0154] The output device 104 can output various information to the outside. The output device 104 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0155] Of course, for the sake of simplicity, Figure 10 Only some of the components of this electronic device relevant to the present invention are shown, omitting components such as buses, input / output interfaces, etc. In addition, the electronic device may include any other suitable components depending on the specific application.

[0156] Exemplary computer program products and computer-readable storage media

[0157] In addition to the methods and apparatus described above, embodiments of the present invention may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of the present invention described in the "Exemplary Methods" section above.

[0158] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of the present invention. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0159] Furthermore, embodiments of the present invention may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps of the methods according to various embodiments of the present invention described in the "Exemplary Methods" section above.

[0160] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0161] The basic principles of the present invention have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in the present invention are merely examples and not limitations, and should not be considered as essential features of each embodiment of the present invention. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the present invention to the necessity of employing the aforementioned specific details.

[0162] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For system embodiments, since they largely correspond to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0163] The block diagrams of devices, systems, devices, and systems involved in this invention are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, systems, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0164] The methods and systems of the present invention may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of the present invention are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, the present invention may also be implemented as a program recorded on a recording medium, the program comprising machine-readable instructions for implementing the methods according to the present invention. Thus, the present invention also covers recording media storing programs for performing the methods according to the present invention.

[0165] It should also be noted that in the systems, apparatus, and methods of the present invention, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered equivalents of the present invention. The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the invention. Therefore, the invention is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0166] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the invention to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for correcting the location of seabed geomorphic features based on seabed topography, characterized in that, include: Export the seabed topographic features and targets identified by each survey line measured by the side-scan sonar, as well as the track during the measurement, to generate a feature target table and a track table. Based on the target feature list and the track list, calculate the actual spatial distance between the towed fish of the side-scan sonar and the target feature; Based on the coordinates of the towed fish and the bow direction of the towed fish on the track line corresponding to the feature target in the track table, a vertical line perpendicular to the track line is generated, and the seabed topographic map section is extracted using the vertical line to generate a water depth profile curve. A rectangular coordinate system is constructed with the position of the towed fish of the side-scan sonar as the center, and the slant distance from each point on the water depth profile curve to the towed fish is calculated in the rectangular coordinate system. When the slant distance is equal to the actual spatial distance from the feature target to the towed fish, the true position of the feature target is determined by the water depth point coordinates corresponding to the slant distance.

2. The method according to claim 1, characterized in that, The feature target list includes: serial number, first measurement serial number, and measurement time T. c Target location P t (x t ,y t ), towed fish bow towards H d The airspeed indicator includes: date, second measurement sequence number, and measurement time T. c1 The coordinates of the towed fish are P. m (x m ,y m ), towed fish bow towards H d Boat speed v, towed fish depth d1, and Based on the target feature list and the track list, the actual spatial distance from the towed fish of the side-scan sonar to the target feature is calculated, including: Based on the principle that the first measurement sequence number and the second measurement sequence number are the same, the coordinates P of the feature target object during on-site measurement are matched. t (x t ,y t ) and the coordinates P of the dragfish m (x m ,y m Calculate the horizontal distance between the target object and the towed fish; The characteristic target and track are projected onto the seabed topographic map of the measurement area according to coordinates, and the height of the side-scan sonar above the seabed is calculated. Based on the height and the horizontal distance, the slant distance from the feature target to the side-scan sonar towed fish is calculated, and the actual spatial distance from the side-scan sonar towed fish to the feature target is determined.

3. The method according to claim 2, characterized in that, Projecting the characteristic target and track onto the seabed topographic map of the measurement area according to coordinates, and calculating the height of the side-scan sonar above the seabed, including: Extract the water depth value along the corresponding track; Calculate the actual water depth at the time of measurement based on the stated water depth value and the tide level at the time of measurement; The height of the side-scan sonar from the seabed is calculated based on the actual water depth and the depth at which the towed fish enters the water.

4. The method according to claim 3, characterized in that, The formula for calculating the actual water depth h1 is: h1=h+t d In the formula, h is the water depth, and t d The tide level; The formula for calculating the height is: d2 = h1 - d1 In the formula, d1 is the depth of immersion in water.

5. The method according to claim 2, characterized in that, The formula for calculating the actual spatial distance is: In the formula, d1 is the water depth; S1 is the horizontal distance.

6. The method according to claim 1, characterized in that, The vertical line is centered on the flight path, and its length on both sides is 1 times the range of a single side scan sonar.

7. The method according to claim 1, characterized in that, Each point in the water depth profile curve contains coordinates P. w (x w ,y w ), water depth h, and distance along the cross section L; where the water depth h is added to the tidal level t at the time of measurement. d The actual water depth h1 at the time of measurement is generated.

8. A device for correcting the location of seabed geomorphic features based on seabed topography, characterized in that, include: The first generation module is used to export the seabed topographic features identified by each survey line measured by the side-scan sonar and the track during the measurement, and generate a feature target table and a track table. The first calculation module is used to calculate the actual spatial distance between the towed fish of the side-scan sonar and the characteristic target based on the characteristic target table and the track table. The second generation module is used to generate a vertical line perpendicular to the track line based on the coordinates of the towed fish and the bow direction of the towed fish on the track line corresponding to the feature target in the track table, and to use the vertical line to extract the seabed topographic map section and generate a water depth profile curve. The second calculation module is used to construct a rectangular coordinate system with the position of the towed fish of the side-scan sonar as the center, and to calculate the slant distance from each point on the water depth profile curve to the towed fish in the rectangular coordinate system. The determination module is used to determine the true position of the feature object by using the water depth point coordinates corresponding to the slope distance when the slope distance is equal to the actual spatial distance from the feature object to the towed fish.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for performing the method described in any one of claims 1-7.

10. An electronic device, characterized in that, The electronic device includes: processor; Memory used to store the processor's executable instructions; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the method described in any one of claims 1-7.

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