The invention discloses an
underwater topographic survey method and
system based on unmanned ship
data acquisition, and relates to the technical field of
underwater topographic survey, and the method comprises the steps: generating a dynamic environment map based on acquired multi-
modal environment data; dynamically sensing the
underwater environment by using a deep
Q learning algorithm based on the dynamic environment map, and predicting a potential topographic change probability; judging whether to update the dynamic environment map or not according to the predicted potential
terrain change probability, and planning a
navigation path by utilizing the updated dynamic environment map based on an RRT
algorithm; collecting topographic data based on the
navigation path, generating a three-dimensional
topographic model, and detecting a shadow region in the three-dimensional
topographic model by using U-Net; according to the detected shadow area, generating a complementary collection point through
geometric analysis, adjusting a
navigation path according to the complementary collection point, performing complementary collection on the shadow area, and obtaining complementary collection data; and fusing the complementary collection data with the three-dimensional
terrain model to generate a
terrain survey report. According to the invention, through dynamic environment
perception, path planning, shadow area detection and supplementary mining, the efficiency and precision of underwater topographic survey are improved.