The invention discloses a
water body scattering in-situ measurement method and device based on multidirectional
data synchronization, and the method comprises the steps: obtaining corresponding signals of a reference channel and a plurality of collection channels through a data collection module, and enabling the plurality of collection channels to respectively correspond to
water body measurement regions in different directions around an
underwater robot; collected signals are sent to a
processing unit after being subjected to
automatic gain control and high-speed analog-to-
digital conversion, the back scattering intensity of
water body particles at different distances and in different directions is obtained, the back scattering intensity is synchronized with time, position and depth information of an
underwater robot, and all-directional full-time monitoring of the water body scattering characteristics is achieved. Meanwhile, on the basis of a homologous sampling
clock and unified triggering, an initial
delay reference of each acquisition channel relative to a reference channel is obtained through a common calibration pulse, and the initial
delay reference is processed based on a
time alignment method of a
narrowband pilot signal; therefore, sub-sampling-level
time synchronization of multi-channel sampling data is realized under a long-term operation condition.