多波束测深系统地貌信息获取与显示
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摘要
多波束测深系统是当前海底地形地貌探测的主流工具之一,该系统具有全覆盖、高精度、高密度和高效率的特点,因而在海底环境探测、水库测量、石油勘探、海洋资源的开发等众多领域得到广泛应用。基于现有的多波束测深系统进行海底地貌信息的获取技术,一直是该领域广泛关注和研究的热点之一。本论文主要围绕海底地貌信息的获取理论和算法开展研究,并利用试验数据进行验证,最终基于VC和OpenGL初步开发了多波束海底地形地貌图像联合显示软件。论文具体研究内容包括如下：
首先,介绍了多波束测深系统的测深工作原理和海底地形信息的解算过程,基于现有的多波束测深系统地貌信息获取方法,利用多子阵检测法完成地貌信息获取,实现地形地貌信息获取的一一对应。
其次,论文详细分析了影响地貌信息获取的各种因素,并给出了相应的修正方法；为了对地形地貌信息进行更为恰当的显示,论文采用规则格网处理海底地貌信息,研究了地貌信息的灰度值转换方法,并采用逐点插入法构建三维海底地形地貌模型；利用Matlab软件对算法进行了优化实现,处理了实测试验数据,验证了相关理论和算法的正确性。
最后,以此为基础,论文基于VC软件平台和OpenGL三维图形库,进一步设计和开发了多波束地形地貌信息处理与联合显示软件,处理并显示了多波束测深系统松花湖实测试验数据,效果良好,但软件功能还需要进一步扩展和深化。
本论文分析的数据来源于本课题组自主研发的便携式高分辨多波束测深系统采集的吉林松花湖湖底回波数据,通过Matlab仿真验证了相关算法的正确性,并在VC软件平台上实现了真实环境中三维湖底地形地貌图的显示,同时对地形地貌图进行了分析。
Multi-beam bathymetric system is the main survey tool of seafloor topography and geomorphology currently. Because of its advantages, such as complete coverage, high precision, high density and high efficiency, the system has been used in many fields widely, such as the seabed exploration of environment, reservoir survey, oil exploration, development of marine resources, etc. Based on existing multi-beam bathymetric system, seafloor geomorphic information obtaining and processing technology is always a widespread concern and research focus in the field. This dissertation has a detailed study on the theory and algorithm of seafloor geomorphic information obtaining, which is validated by experimental data. Ultimately, based on VC and OpenGL, a primary seafloor topography and geomorphology display software for multi-beam bathymetric system is developed. The main contents are as follows:
Firstly, the bathymetric theory and solving process of topographic information for multi-beam bathymetric system have been introduced. Based on the existing geomorphic information acquisition methods for the multi-beam bathymetric system, multi-subarray detection method is proposed to get the geomorphic information and implement topographic and geomorphic information obtained one by one.
Secondly, the dissertation analyzes the various factors impacting on topographic and geomorphic information acquisition, and gives corresponding amendments. In order to display topographic and geomorphic information appropriately, the dissertation adopts grid method to process seafloor geomorphic information. Gray-value conversion methods of geomorphic information have been studied, and point-by-point insertion method is taken to construct the three-dimensional seafloor topographic and geomorphic model. The algorithm is realized and optimized with Matlab software to process the experimental data, and the correctness of relevant theory and algorithm is verified.
Finally, the dissertation has a further design and development on topography and geomorphology display software for multi-beam bathymetric system. Processing and displaying the experimental data surveyed in Songhua Lake by the software has a good effect, and the software functions need to be further expanded.
Data analyzed in this dissertation comes from the data surveyed in Songhua Lake by the portable high-resolution multi-beam echo sounder, which is developed by our group. The feasibility of drawing algorithm is verified by MATLAB simulation, and on VC software platform, display of the three-dimensional topographic and geomorphic map of lake-bottom in real environment has been realized, meanwhile, topographic and geomorphic map has been analyzed.
首先,介绍了多波束测深系统的测深工作原理和海底地形信息的解算过程,基于现有的多波束测深系统地貌信息获取方法,利用多子阵检测法完成地貌信息获取,实现地形地貌信息获取的一一对应。
其次,论文详细分析了影响地貌信息获取的各种因素,并给出了相应的修正方法；为了对地形地貌信息进行更为恰当的显示,论文采用规则格网处理海底地貌信息,研究了地貌信息的灰度值转换方法,并采用逐点插入法构建三维海底地形地貌模型；利用Matlab软件对算法进行了优化实现,处理了实测试验数据,验证了相关理论和算法的正确性。
最后,以此为基础,论文基于VC软件平台和OpenGL三维图形库,进一步设计和开发了多波束地形地貌信息处理与联合显示软件,处理并显示了多波束测深系统松花湖实测试验数据,效果良好,但软件功能还需要进一步扩展和深化。
本论文分析的数据来源于本课题组自主研发的便携式高分辨多波束测深系统采集的吉林松花湖湖底回波数据,通过Matlab仿真验证了相关算法的正确性,并在VC软件平台上实现了真实环境中三维湖底地形地貌图的显示,同时对地形地貌图进行了分析。
Multi-beam bathymetric system is the main survey tool of seafloor topography and geomorphology currently. Because of its advantages, such as complete coverage, high precision, high density and high efficiency, the system has been used in many fields widely, such as the seabed exploration of environment, reservoir survey, oil exploration, development of marine resources, etc. Based on existing multi-beam bathymetric system, seafloor geomorphic information obtaining and processing technology is always a widespread concern and research focus in the field. This dissertation has a detailed study on the theory and algorithm of seafloor geomorphic information obtaining, which is validated by experimental data. Ultimately, based on VC and OpenGL, a primary seafloor topography and geomorphology display software for multi-beam bathymetric system is developed. The main contents are as follows:
Firstly, the bathymetric theory and solving process of topographic information for multi-beam bathymetric system have been introduced. Based on the existing geomorphic information acquisition methods for the multi-beam bathymetric system, multi-subarray detection method is proposed to get the geomorphic information and implement topographic and geomorphic information obtained one by one.
Secondly, the dissertation analyzes the various factors impacting on topographic and geomorphic information acquisition, and gives corresponding amendments. In order to display topographic and geomorphic information appropriately, the dissertation adopts grid method to process seafloor geomorphic information. Gray-value conversion methods of geomorphic information have been studied, and point-by-point insertion method is taken to construct the three-dimensional seafloor topographic and geomorphic model. The algorithm is realized and optimized with Matlab software to process the experimental data, and the correctness of relevant theory and algorithm is verified.
Finally, the dissertation has a further design and development on topography and geomorphology display software for multi-beam bathymetric system. Processing and displaying the experimental data surveyed in Songhua Lake by the software has a good effect, and the software functions need to be further expanded.
Data analyzed in this dissertation comes from the data surveyed in Songhua Lake by the portable high-resolution multi-beam echo sounder, which is developed by our group. The feasibility of drawing algorithm is verified by MATLAB simulation, and on VC software platform, display of the three-dimensional topographic and geomorphic map of lake-bottom in real environment has been realized, meanwhile, topographic and geomorphic map has been analyzed.
引文
[1]刘雁春,暴景阳,李明叁等.我国海洋测绘技术的新进展.测绘通报.2007,第3期
[2]李家彪.多波束勘测原理技术与方法.海洋出版社.1999：1-240
[3]毕永良,孙毅等.海洋测量技术研究进展与展望.海洋测绘.2004
[4]黄漠涛,翟国君,管铮等.多波束测深技术研究进展与展望.海洋测绘.2000
[5]SEA BEAM(USA). Sea Beam 2000 Series 2100:Multi-Beam survey system. Sea Beam Instrument Inc. November,1993
[6]Farr H K. Multibeam bathymetric Sonar:Sea Beam and Hydrochart. Marine Geodesy. Vol 4(2).1980:77-93
[7]SEA BEAM(USA) Multibeam Sonar Theory of Operation. Sea Beam Instruments Inc. Revision A 2101-8289
[8]李家彪.多波束勘测技术原理与方法.海洋出版社.1999
[9]魏然.多波束测深系统导航软件的设计与实现.哈尔滨工程大学硕士学位论文.2008
[10]周天.超宽覆盖海底地形地貌高分辨探测技术研究.哈尔滨工程大学博士学位论文.2005
[11]王朝英.测深侧扫声呐仿真研究.哈尔滨工程大学硕士学位论文.2007
[12]马纯芳.基于MapObjects的海底地形地貌成图技术研究.哈尔滨工程大学硕士学位论文.2008
[13]吴少琴.多波束条带测深仪拼图技术研究.哈尔滨工程大学硕士学位论文.2003
[14]陈友元.便携式多波束测深仪实时测控与数据可视技术研究.哈尔滨工程大学硕士学位论文.2005
[15]王向红.多波束条带测深系统数据后置处理技术研究.哈尔滨工程大学博士学位论文.2005
[16]胡清华.便携式多波束测深系统动态数据归位处理与成图技术研究.哈尔滨工程大学硕士学位论文.2006
[17]姜倩方.多波束条带测深仪数据后处理及专家系统设计.哈尔滨工程大学硕士学位论文.2008
[18]田坦.水下定位与导航技术.国防工业大学出版社.2006
[19]Dekeyzer R T, Byme J S, Case J D, Cliford B A and Simmons W S. A comparison of acoustic imagery of sea floor features using a towed side scan sonar and a multi-beam echosounder. IEEE Oceans'02.2,2002,1203-1211
[20]徐超.海底散射模型与多波束混响信号统计特性研究.哈尔滨工程大学硕士学位论文.2009
[21]赵建虎,刘经南著.多波束测深及图像数据处理.武汉大学出版社.2008
[22]雷家煜,刘伯胜等.水声学原理.哈尔滨工程大学出版社.2002
[23]Lurton, X., An introduction to underwater acoustics:principles and applications.2002, Chichester,UK:Springer-Verlag and Praxis Publishing Ltd.150-152
[24]Parnum, I.M., Benthic habitat mapping using multibeam sonar system.2007, Curtin University of Technology.
[25]Lurtonl, X., S. Dugely and J.M. Augustin, Analysis of multibeam echo-sounder signals from the deep seafloor, in Oceans 94.1994.p:213-218.
[26]唐秋华,周兴华,丁继胜等.多波束反向散射强度数据处理研究.海洋学报.2006.28(2)：51-55
[27]Hellequin, L., J. Boucher and X. Lurton, Processing of High-Frequency Multibeam Echo Sounder Data for Seafloor characterization. IEEE Journal of Oceanic Engineering,2003.28(1):78-89
[28]Le Chenadec, G., J.M. Boucher and X. Lurton, Angular dependence of K-distributed sonar data. IEEE Transctions on geoscience and remote sensing,2007.45(5)
[29]Darrell R. Jackson, K.B.B.K., Tests of Models for High Frequency Seafloor Backscatter. IEEE Journal of Ocean Engineering,1996.21(4):458-470
[30]Beaudoin, J.D., et al., Geometric and radiometric correction of multibeam backscatter derived from RESON 8101 system, in canadian Hydrographic Conference, Canadian
[31]Preston, J.M. and A.C. Christney, Compensation of sonar image data primarily for seabed classification, in USA.2005
[32]吴自银,李家彪等.多波束勘测的数据编辑方法.海洋通报.2000,19(3)：74-78
[33]郝燕玲,路辉等.基于OpenGL实现海底地形显示的研究.哈尔滨工程大学,2003
[34]陆俊.多波束系统在水下探测中的应用.河海大学硕士学位论文.2006
[35]刘凯敏.数字高程建模与数据可视化.中南大学硕士学位论文.2007
[36]宋占峰.快速构建Delaunay三角网算法研究.铁道学报.2001,第23卷,第5期
[37]章孝灿.快速高精度DEM生成技术研究.浙江大学博士学位论文.2002
[38]武晓波,王世新,肖春生等.Delaunay三角网的生成算法研究.测绘学报.1999.第28卷,第1期
[39]Lawson C L. Software for C Surface Interpolation. In Mathematical Software III(J.R.Rice.ed), Academic Press, New York,1977:161-194.
[40]Bowyer A. Computing Dirichlet Tesselations, Computer Journal.1981(24):162-166
[41]Watson D F. Computing the n-dimension Delaunay Tesselation with Application to Voronoi Polytopes. Computer Journal,1981(24):167-172
[42]Sloan S W. A fast Algorithm for Constucting Delaunay Triangulations in the Plane. Andvanced Engineering Software,1987(9):34-55
[43]De Floriani L and Puppo E. An on-line Algorithm for Constrained Delaunay Triangulation, CVGIP:Graphical Models and Image Processing,1992,54(3):290-300
[44]李轿.基于纹理映射算法的三维地形重构的研究与实现.哈尔滨工程大学硕士学位论文.2008
[45]刘学军.三角网数字地面模型快速构建算法研究.中国公路学报.2000,13(2)：31-36
[46]罗智勇.面向地质勘查的三维可视化系统研制与开发.成都理工大学博士学位论文.2008
[47]赵建虎.多波束深度及图像处理方法研究.武汉大学博士学位论文.2002
[48]夏辉.基于OpenGL模拟飞机动画的研究.西安电子科技大学硕士学位论文.2006
[49]徐全生.利用OpenGL实现三维有限元网格图的消隐显示.沈阳工业大学学报.2000,6
[50]王海国.基于OpenGL的海岸带三维地形动态可视化研究.南京师范大学硕士学位论文.2005
[51]刘春义.基于OpenGL的USGS DEM三维地形可视化设计.大连理工大学硕士学位论文.2009
[52]崔璟.基于OpenGL的三维视景的建立.北京化工大学硕士学位论文.2008
[53]薛惠锋,吴慧欣,解丹蕊等.OpneGL图形程序开发实务.西北工业大学出版社.2005
[54]薛安,马蔼乃,李天宏等.基于OpenGL实现真实感地形表现的研究.中国图象形学报.2001,8,第6卷,第8期
[55]陈哲锋.基于OpenGL的地形三维可视化研究与应用.成都理工大学硕士学位论文.2008
[2]李家彪.多波束勘测原理技术与方法.海洋出版社.1999：1-240
[3]毕永良,孙毅等.海洋测量技术研究进展与展望.海洋测绘.2004
[4]黄漠涛,翟国君,管铮等.多波束测深技术研究进展与展望.海洋测绘.2000
[5]SEA BEAM(USA). Sea Beam 2000 Series 2100:Multi-Beam survey system. Sea Beam Instrument Inc. November,1993
[6]Farr H K. Multibeam bathymetric Sonar:Sea Beam and Hydrochart. Marine Geodesy. Vol 4(2).1980:77-93
[7]SEA BEAM(USA) Multibeam Sonar Theory of Operation. Sea Beam Instruments Inc. Revision A 2101-8289
[8]李家彪.多波束勘测技术原理与方法.海洋出版社.1999
[9]魏然.多波束测深系统导航软件的设计与实现.哈尔滨工程大学硕士学位论文.2008
[10]周天.超宽覆盖海底地形地貌高分辨探测技术研究.哈尔滨工程大学博士学位论文.2005
[11]王朝英.测深侧扫声呐仿真研究.哈尔滨工程大学硕士学位论文.2007
[12]马纯芳.基于MapObjects的海底地形地貌成图技术研究.哈尔滨工程大学硕士学位论文.2008
[13]吴少琴.多波束条带测深仪拼图技术研究.哈尔滨工程大学硕士学位论文.2003
[14]陈友元.便携式多波束测深仪实时测控与数据可视技术研究.哈尔滨工程大学硕士学位论文.2005
[15]王向红.多波束条带测深系统数据后置处理技术研究.哈尔滨工程大学博士学位论文.2005
[16]胡清华.便携式多波束测深系统动态数据归位处理与成图技术研究.哈尔滨工程大学硕士学位论文.2006
[17]姜倩方.多波束条带测深仪数据后处理及专家系统设计.哈尔滨工程大学硕士学位论文.2008
[18]田坦.水下定位与导航技术.国防工业大学出版社.2006
[19]Dekeyzer R T, Byme J S, Case J D, Cliford B A and Simmons W S. A comparison of acoustic imagery of sea floor features using a towed side scan sonar and a multi-beam echosounder. IEEE Oceans'02.2,2002,1203-1211
[20]徐超.海底散射模型与多波束混响信号统计特性研究.哈尔滨工程大学硕士学位论文.2009
[21]赵建虎,刘经南著.多波束测深及图像数据处理.武汉大学出版社.2008
[22]雷家煜,刘伯胜等.水声学原理.哈尔滨工程大学出版社.2002
[23]Lurton, X., An introduction to underwater acoustics:principles and applications.2002, Chichester,UK:Springer-Verlag and Praxis Publishing Ltd.150-152
[24]Parnum, I.M., Benthic habitat mapping using multibeam sonar system.2007, Curtin University of Technology.
[25]Lurtonl, X., S. Dugely and J.M. Augustin, Analysis of multibeam echo-sounder signals from the deep seafloor, in Oceans 94.1994.p:213-218.
[26]唐秋华,周兴华,丁继胜等.多波束反向散射强度数据处理研究.海洋学报.2006.28(2)：51-55
[27]Hellequin, L., J. Boucher and X. Lurton, Processing of High-Frequency Multibeam Echo Sounder Data for Seafloor characterization. IEEE Journal of Oceanic Engineering,2003.28(1):78-89
[28]Le Chenadec, G., J.M. Boucher and X. Lurton, Angular dependence of K-distributed sonar data. IEEE Transctions on geoscience and remote sensing,2007.45(5)
[29]Darrell R. Jackson, K.B.B.K., Tests of Models for High Frequency Seafloor Backscatter. IEEE Journal of Ocean Engineering,1996.21(4):458-470
[30]Beaudoin, J.D., et al., Geometric and radiometric correction of multibeam backscatter derived from RESON 8101 system, in canadian Hydrographic Conference, Canadian
[31]Preston, J.M. and A.C. Christney, Compensation of sonar image data primarily for seabed classification, in USA.2005
[32]吴自银,李家彪等.多波束勘测的数据编辑方法.海洋通报.2000,19(3)：74-78
[33]郝燕玲,路辉等.基于OpenGL实现海底地形显示的研究.哈尔滨工程大学,2003
[34]陆俊.多波束系统在水下探测中的应用.河海大学硕士学位论文.2006
[35]刘凯敏.数字高程建模与数据可视化.中南大学硕士学位论文.2007
[36]宋占峰.快速构建Delaunay三角网算法研究.铁道学报.2001,第23卷,第5期
[37]章孝灿.快速高精度DEM生成技术研究.浙江大学博士学位论文.2002
[38]武晓波,王世新,肖春生等.Delaunay三角网的生成算法研究.测绘学报.1999.第28卷,第1期
[39]Lawson C L. Software for C Surface Interpolation. In Mathematical Software III(J.R.Rice.ed), Academic Press, New York,1977:161-194.
[40]Bowyer A. Computing Dirichlet Tesselations, Computer Journal.1981(24):162-166
[41]Watson D F. Computing the n-dimension Delaunay Tesselation with Application to Voronoi Polytopes. Computer Journal,1981(24):167-172
[42]Sloan S W. A fast Algorithm for Constucting Delaunay Triangulations in the Plane. Andvanced Engineering Software,1987(9):34-55
[43]De Floriani L and Puppo E. An on-line Algorithm for Constrained Delaunay Triangulation, CVGIP:Graphical Models and Image Processing,1992,54(3):290-300
[44]李轿.基于纹理映射算法的三维地形重构的研究与实现.哈尔滨工程大学硕士学位论文.2008
[45]刘学军.三角网数字地面模型快速构建算法研究.中国公路学报.2000,13(2)：31-36
[46]罗智勇.面向地质勘查的三维可视化系统研制与开发.成都理工大学博士学位论文.2008
[47]赵建虎.多波束深度及图像处理方法研究.武汉大学博士学位论文.2002
[48]夏辉.基于OpenGL模拟飞机动画的研究.西安电子科技大学硕士学位论文.2006
[49]徐全生.利用OpenGL实现三维有限元网格图的消隐显示.沈阳工业大学学报.2000,6
[50]王海国.基于OpenGL的海岸带三维地形动态可视化研究.南京师范大学硕士学位论文.2005
[51]刘春义.基于OpenGL的USGS DEM三维地形可视化设计.大连理工大学硕士学位论文.2009
[52]崔璟.基于OpenGL的三维视景的建立.北京化工大学硕士学位论文.2008
[53]薛惠锋,吴慧欣,解丹蕊等.OpneGL图形程序开发实务.西北工业大学出版社.2005
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