一种多波束声速剖面反演与海底地形校正技术
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摘要
为了解决在多波束测深中声速剖面代表性误差会造成平坦海底地形凹凸变形的问题,提出了一种基于海底观测值的声速剖面反演与海底地形改正技术。该技术利用波束入射角以及单程回波时间信息,建立波束位移与误差声剖的函数关系,采用间接平差与LM(Levenberg-Marquardt)法反演得到与实际声速剖面相近的改正声速剖面,从而达到校正海底畸变地形的目的。海上实验数据验证表明:与含有误差的海上声剖值相比,反演改正后的声剖值更接近海上实际声剖值;水深改正的相对标准差降低50%以上,有效地削弱了畸变海底地形的影响。
To solve the deformed seabed topography caused by the representative error sound velocity profile(SVP) in the flat seafloor during measuring the depth of sea by multibeam systems, a sound velocity profile inversed and seafloor topography corrected method is proposed on the basis of the seabed observation. Looking on the incidence angles and the travel time of beam as the input parameters, the function relationships are built up between the beam displacement and the travel time of the error sound velocity. Then, the modified SVP, which was approximated to the true SVP, is inversed by the indirect adjustment and the Levenberg-Marquardt(LM)method. Thus, correcting the distorted terrain is achieved. Through the field data validating, results show that the inversed SVP is more converged to the original SVP than that of the error SVP. Meanwhile, the distorted terrain caused by the sound velocity errors can be reduced effectively by the proposed inversion method, and the STD(standard deviation) of the modified depth is reduced by 50% above.
To solve the deformed seabed topography caused by the representative error sound velocity profile(SVP) in the flat seafloor during measuring the depth of sea by multibeam systems, a sound velocity profile inversed and seafloor topography corrected method is proposed on the basis of the seabed observation. Looking on the incidence angles and the travel time of beam as the input parameters, the function relationships are built up between the beam displacement and the travel time of the error sound velocity. Then, the modified SVP, which was approximated to the true SVP, is inversed by the indirect adjustment and the Levenberg-Marquardt(LM)method. Thus, correcting the distorted terrain is achieved. Through the field data validating, results show that the inversed SVP is more converged to the original SVP than that of the error SVP. Meanwhile, the distorted terrain caused by the sound velocity errors can be reduced effectively by the proposed inversion method, and the STD(standard deviation) of the modified depth is reduced by 50% above.
引文
[1] Ye Jiuchang, Liu Jiawei. Hydrographic Surveying [M]. Beijing: Haichao Press, 1993(叶久长,刘家伟. 海道测量学[M]. 北京: 海潮出版社,1993)
[2] Zhai Guojun, Huang Motao. Comments on Informationization of Hydrographic Surveying and Charting [J]. Hydrographic Surveying and Charting, 2014, 34(5):1-6(翟国君,黄谟涛. 关于信息化海洋测绘问题的探讨[J].海洋测绘,2014, 34(5):1-6)
[3] Zhao Jianhu, Liu Jingnan. Multi-beam Bathymetric Survey and Image Processing [M]. Wuhan: Wuhan University Press, 2009 (赵建虎,刘经南. 多波束测深及图像数据处理[M].武汉:武汉大学出版社,2009)
[4] Wu Ziyin, Jin Xianglong, Zheng Yulong, et al. Integrated Error Correction of Multi-beam Marginal Sounding Beam [J]. Acta Oceanologica Sinica, 2005, 27(4):88-94(吴自银, 金翔龙, 郑玉龙,等. 多波束测深边缘波束误差的综合校正[J]. 海洋学报, 2005, 27(4):88-94)
[5] Dashen R, Flatte S M, Munk W H, et al. Sound Transmission Through a Fluctuating Ocean [M]. Cambridge:Cambridge University Press, 2010
[6] Jin G, Lynch J F,Chiu C S, et al. A Theoretical and Simulation Study of Acoustic Normal Mode Coupling Effects Due to the Barents Sea Polar Front with Applications to Acoustic Tomography and Matched Field Processing [J]. J Acoust Soc Am, 1996, 101 (1):193-205
[7] Zhang Minglei, Huang Minyan, Feng Haihong. Iteration Algorithm of Revising Sound Velocity for Long Baseline Acoustic Positioning System[J]. Technical Acoustics, 2010, 29(3):253-257(张明磊, 黄敏燕, 冯海泓. 长基线水声定位系统中一种迭代声速修正算法[J]. 声学技术, 2010, 29(3):253-257)
[8] Sun Wanqing. Studies on Underwater Acoustic Localization Technique in Shallow Water and Its Application[D]. Qingdao:Ocean University of China Press, 2007(孙万卿. 浅海水声定位技术及应用研究[D]. 青岛:中国海洋大学, 2007)
[9] Zhai Guojun, Ouyang Yongzhong, Lu Xiuping, et al. Comments on the Revision of the Specifications for Hydrographic Survey [J]. Hydrographic Surveying and Charting, 2014, 34(1): 76-79(翟国君,欧阳永忠,陆秀平,等.《海道测量规范》修订的若干问题 [J]. 海洋测绘, 2014, 34(1):76-79)
[10] Xue Yigeng, Zielinski A. Precise Multi-beam Acoustic Bathymetry [J]. Marine Geodesy, 1999,22(3):157-167
[11] Ranganathan A. The Levenberg-Marquardt Algorithm [J]. Tutoral on Lm Algorithm, 2013, 11(1):101-110
[12] Zhao J, Zou Y, Zhang H, et al. A New Method for Absolute Datum Transfer in Seafloor Control Network Measurement [J]. Journal of Marine Science and Technology, 2016, 21(2):216-226
[13] Liu Shengxuan, Qu Xiaojuan, Gao Peilan. New Idea for the Accuracy of Multibeam Affected by SVP [J]. Hydrographic Surveying and Charting, 2008, 28(4):31-34 (刘胜旋, 屈小娟, 高佩兰. 声速剖面对多波束测深影响的新认识[J]. 海洋测绘, 2008, 28(3):31-34)
[14] Zhao Jianhu, Zhang Hongmei, Yan Jun, et al. Weakening Influence of Residual Error for MBS Sounding [J]. Geomatics and Information Science of Wuhan University, 2013,38(10): 1 184-1 187(赵建虎,张红梅,严俊,等.削弱残余误差对多波束测深综合影响的方法研究[J]. 武汉大学学报·信息科学版,2013,38(10): 1 184-1 187)
[15] Survey Adjustment Department of School of Geodesy and Geomatics, Wuhan University. Error Theory and Foundation of Surveying Adjustment [M]. 2nd ed. Wuhan: Wuhan University Press, 2009(武汉大学测绘学院测量平差学科组. 误差理论与测量平差基础 [M]. 2版.武汉:武汉大学出版社, 2009)
[16] Cui Xizhang.Generalized Surveying Adjustment[M].2nd ed. Wuhan: Wuhan University Press, 2009 (崔希璋. 广义测量平差 [M]. 2版.武汉:武汉大学出版社, 2009)
[17] Lu Xiuping, Bian Shaofeng, Huang Motao, et al. An Improved Method for Calculating Average Sound Speed in Constant Gradient Sound Ray Tracing Technology [J]. Geomatics and Information Science of Wuhan University, 2012, 37(5): 590-593 (陆秀平,边少锋,黄谟涛,等.常梯度声线跟踪中平均声速的改进算法[J]. 武汉大学学报·信息科学版,2012,37(5): 590-593)
[18] Kan Guangming, Liu Baohua, Wang Kuiyang, et al. Method for Inversing Sound Velocity Profiles Based on Multi-beam Acoustic Line Travel [J]. Advances in Marine Science, 2006,24(3):379-383(阚光明,刘保华,王揆洋,等. 基于多波束声线传播的声速剖面反演法[J]. 海洋科学进展, 2006, 24(3):379-383)
[19] Yin Xiaodong, Chen Yue, Tang Jun, et al. A Comparison of International Standards for Hydrographic Survey [J]. Hydrographic Surveying and Charting, 2011, 32(4):35-38(殷晓冬,陈跃,唐俊,等. 国际海道测量标准比较研究[J]. 海洋测绘, 2011, 32(4):35-38)
[20] Yu Jiacheng, Xu Xueqiang. Digital Water Depth Processing for Multibeam Based on Average Slope of Terrain[J]. Journal of System Simulation,2015, 27(5):990-996(于家成, 徐学强. 基于地形平均斜率的多波束数字水深处理[J]. 系统仿真学报, 2015, 27(5):990-996)
[21] Zhao Jianhu, Liu Jingnan. Development of Method in Precise Multi-beam Acoustic Bathymetry [J]. Geomatics and Information Science of Wuhan University, 2002, 27(5): 473-477(赵建虎,刘经南. 精密多波束测深系统位置修正方法研究[J]. 武汉大学学报·信息科学版,2002, 27(5): 473-477)
[22] Geological Survey Technical Standard of China Geological Survey. D2/T0292-2016(Specification of Marine Multi-beam Measurement)[S].Beijing: China Geological Survey,2012(中国地质调查局地质调查技术标准(海洋多波束测量规程). D2/T 0292-2016[S].北京:中国地质调查局,2012)
[2] Zhai Guojun, Huang Motao. Comments on Informationization of Hydrographic Surveying and Charting [J]. Hydrographic Surveying and Charting, 2014, 34(5):1-6(翟国君,黄谟涛. 关于信息化海洋测绘问题的探讨[J].海洋测绘,2014, 34(5):1-6)
[3] Zhao Jianhu, Liu Jingnan. Multi-beam Bathymetric Survey and Image Processing [M]. Wuhan: Wuhan University Press, 2009 (赵建虎,刘经南. 多波束测深及图像数据处理[M].武汉:武汉大学出版社,2009)
[4] Wu Ziyin, Jin Xianglong, Zheng Yulong, et al. Integrated Error Correction of Multi-beam Marginal Sounding Beam [J]. Acta Oceanologica Sinica, 2005, 27(4):88-94(吴自银, 金翔龙, 郑玉龙,等. 多波束测深边缘波束误差的综合校正[J]. 海洋学报, 2005, 27(4):88-94)
[5] Dashen R, Flatte S M, Munk W H, et al. Sound Transmission Through a Fluctuating Ocean [M]. Cambridge:Cambridge University Press, 2010
[6] Jin G, Lynch J F,Chiu C S, et al. A Theoretical and Simulation Study of Acoustic Normal Mode Coupling Effects Due to the Barents Sea Polar Front with Applications to Acoustic Tomography and Matched Field Processing [J]. J Acoust Soc Am, 1996, 101 (1):193-205
[7] Zhang Minglei, Huang Minyan, Feng Haihong. Iteration Algorithm of Revising Sound Velocity for Long Baseline Acoustic Positioning System[J]. Technical Acoustics, 2010, 29(3):253-257(张明磊, 黄敏燕, 冯海泓. 长基线水声定位系统中一种迭代声速修正算法[J]. 声学技术, 2010, 29(3):253-257)
[8] Sun Wanqing. Studies on Underwater Acoustic Localization Technique in Shallow Water and Its Application[D]. Qingdao:Ocean University of China Press, 2007(孙万卿. 浅海水声定位技术及应用研究[D]. 青岛:中国海洋大学, 2007)
[9] Zhai Guojun, Ouyang Yongzhong, Lu Xiuping, et al. Comments on the Revision of the Specifications for Hydrographic Survey [J]. Hydrographic Surveying and Charting, 2014, 34(1): 76-79(翟国君,欧阳永忠,陆秀平,等.《海道测量规范》修订的若干问题 [J]. 海洋测绘, 2014, 34(1):76-79)
[10] Xue Yigeng, Zielinski A. Precise Multi-beam Acoustic Bathymetry [J]. Marine Geodesy, 1999,22(3):157-167
[11] Ranganathan A. The Levenberg-Marquardt Algorithm [J]. Tutoral on Lm Algorithm, 2013, 11(1):101-110
[12] Zhao J, Zou Y, Zhang H, et al. A New Method for Absolute Datum Transfer in Seafloor Control Network Measurement [J]. Journal of Marine Science and Technology, 2016, 21(2):216-226
[13] Liu Shengxuan, Qu Xiaojuan, Gao Peilan. New Idea for the Accuracy of Multibeam Affected by SVP [J]. Hydrographic Surveying and Charting, 2008, 28(4):31-34 (刘胜旋, 屈小娟, 高佩兰. 声速剖面对多波束测深影响的新认识[J]. 海洋测绘, 2008, 28(3):31-34)
[14] Zhao Jianhu, Zhang Hongmei, Yan Jun, et al. Weakening Influence of Residual Error for MBS Sounding [J]. Geomatics and Information Science of Wuhan University, 2013,38(10): 1 184-1 187(赵建虎,张红梅,严俊,等.削弱残余误差对多波束测深综合影响的方法研究[J]. 武汉大学学报·信息科学版,2013,38(10): 1 184-1 187)
[15] Survey Adjustment Department of School of Geodesy and Geomatics, Wuhan University. Error Theory and Foundation of Surveying Adjustment [M]. 2nd ed. Wuhan: Wuhan University Press, 2009(武汉大学测绘学院测量平差学科组. 误差理论与测量平差基础 [M]. 2版.武汉:武汉大学出版社, 2009)
[16] Cui Xizhang.Generalized Surveying Adjustment[M].2nd ed. Wuhan: Wuhan University Press, 2009 (崔希璋. 广义测量平差 [M]. 2版.武汉:武汉大学出版社, 2009)
[17] Lu Xiuping, Bian Shaofeng, Huang Motao, et al. An Improved Method for Calculating Average Sound Speed in Constant Gradient Sound Ray Tracing Technology [J]. Geomatics and Information Science of Wuhan University, 2012, 37(5): 590-593 (陆秀平,边少锋,黄谟涛,等.常梯度声线跟踪中平均声速的改进算法[J]. 武汉大学学报·信息科学版,2012,37(5): 590-593)
[18] Kan Guangming, Liu Baohua, Wang Kuiyang, et al. Method for Inversing Sound Velocity Profiles Based on Multi-beam Acoustic Line Travel [J]. Advances in Marine Science, 2006,24(3):379-383(阚光明,刘保华,王揆洋,等. 基于多波束声线传播的声速剖面反演法[J]. 海洋科学进展, 2006, 24(3):379-383)
[19] Yin Xiaodong, Chen Yue, Tang Jun, et al. A Comparison of International Standards for Hydrographic Survey [J]. Hydrographic Surveying and Charting, 2011, 32(4):35-38(殷晓冬,陈跃,唐俊,等. 国际海道测量标准比较研究[J]. 海洋测绘, 2011, 32(4):35-38)
[20] Yu Jiacheng, Xu Xueqiang. Digital Water Depth Processing for Multibeam Based on Average Slope of Terrain[J]. Journal of System Simulation,2015, 27(5):990-996(于家成, 徐学强. 基于地形平均斜率的多波束数字水深处理[J]. 系统仿真学报, 2015, 27(5):990-996)
[21] Zhao Jianhu, Liu Jingnan. Development of Method in Precise Multi-beam Acoustic Bathymetry [J]. Geomatics and Information Science of Wuhan University, 2002, 27(5): 473-477(赵建虎,刘经南. 精密多波束测深系统位置修正方法研究[J]. 武汉大学学报·信息科学版,2002, 27(5): 473-477)
[22] Geological Survey Technical Standard of China Geological Survey. D2/T0292-2016(Specification of Marine Multi-beam Measurement)[S].Beijing: China Geological Survey,2012(中国地质调查局地质调查技术标准(海洋多波束测量规程). D2/T 0292-2016[S].北京:中国地质调查局,2012)