多波束测深假象消除与动态空间归位技术
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摘要
多波束测深技术是当代海底地形勘测的一项高新技术和最主要的海洋调查手段之一,广泛应用于海道测量、海洋工程、海底资源探测与开发等国防和民用领域,被越来越多的海洋国家所高度重视。实现宽覆盖、高精度和高分辨测量并逐渐实现海底特性一体化探测是当前多波束测深声呐的发展趋势。
为提高宽覆盖多波束测深数据的有效性和精确性,围绕多波束测深关键技术,国内外研究热点主要包括宽覆盖声学基阵设计技术、高精度DOA和TOA联合估计技术、边缘波束测深精度保证技术、测深假象消除技术、空间归位技术、系统实时监控技术、测深数据编辑处理技术等多个方面。本文结合当前国内外技术发展趋势和国产浅水宽覆盖多波束测深声呐研制的理论和实践需求,主要开展测深假象消除技术、空间归位技术、实时监控与后处理三个方面的技术研究,具体研究内容包括以下几个方面：
首先,研究多波束测深声呐中的“隧道效应”测深假象的消除技术。在分析“隧道效应”对测深结果的影响及其产生原因的基础上,重点从自适应信号处理角度对有效抑制此假象的旁瓣抵消算法进行深入研究。提出RLS-Laguerre算法,进行波束包络输出抵消；提出利用GSC自适应旁瓣抵消结构对“隧道效应”进行消除,实现了波束复输出抵消；为了实时实现GSC算法,采用SI-CG算法消除“隧道效应”；通过对相关算法进行计算机仿真,并对多组湖上试验数据进行处理,验证了其正确性与有效性。
其次,研究多波束测深声呐中由声速引起的测深假象及消除方法。指出由于声波在不均匀介质中传播产生折射,传统常声速计算模型给测量结果带来测深假象。研究了基于声速分层假设下的多波束测深声线跟踪方法,并具体研究层内常声速和层内常梯度两种声速剖面模型下的多波束声线跟踪算法及流程,试验数据处理验证了其有效性。研究了由表面声速引起的测深假象,推导出由表面声速偏差引起的预成接收波束角度误差的修正公式,并通过计算机仿真定量分析不同的表面声速偏差对不同预成接收波束角度和测量深度的影响；对湖上试验数据进行处理消除了由于声速修正不当造成的相邻测线间数据不吻合的测深假象。
再次,研究多波束测深声呐动态空间归位及安装校准技术。针对目前存在的不足,通过分析动态归位误差与设备安装参数及船体运动姿态的关系,在讨论多波束系统安装方案及空间坐标系建立的基础上,综合考虑造成归位误差的各种因素,研究多波束波束脚印点动态空间归位模型。研究基阵坐标系下波束脚印点的空间归位方法,提出一种新的空间归位模型实现在变声速条件下的精确归位；研究在大地坐标系下基阵的空间坐标和空间姿态精确确定方法,从而研究多波束脚印点空间坐标从基阵坐标系到大地坐标系的归位方法,给出具体的归位处理流程；通过对湖试数据的处理并与国外商用多波束处理软件Hypack处理结果的对比,验证本文提出的动态空间归位方法中各归位模型的正确性、严密性以及综合处理流程的合理性。针对基阵安装角度偏差不易直接测量的问题,研究并实现基于特征数据处理的动态安装角度校准方法,并利用湖试数据对其有效性进行验证。
最后,根据自主研发国产浅水宽覆盖多波束测深声呐的迫切需求,进一步深入研究多波束测深过程中多个设备之间的时间同步与数据时间归位技术、实时监控技术以及数据编辑处理技术,开发保障高质量数据采集的“实时监控软件”和具有多波束数据归位处理、野值数据自动和人工相结合快速剔除等功能的“交互式数据处理软件”,并通过多次湖上试验考核国产浅水宽覆盖多波束测深声呐的工作性能,验证“实时监控软件”及“交互式数据处理软件”的实用性和有效性。
Multibeam bathymetric technology is a high technology of contemporary seafloor topography surveying and one of major ocean investigating method, which has been widely applied in many areas of national defense and civilian use such as, hydrographic surveying, marine engineering, seabed resources exploration and development, etc, and has attracted high attention from more and more countries close to sea. Nowadays, the trend of development for multibeam bathymetric sonar is to achieve wide coverage measurement, high precision and high resolution and the integrated detection of seabed characteristics.
To improve the validity and accuracy of wide coverage multibeam bathymetric data, the domestic and overseas researches are focusing on design of wide coverage acoustic sensor array, high-precision and joint estimation of DOA and TOA, the ensuring methods of the accuracy of depth measurement in outer beams, the elimination of bathymetric artifacts, the positioning of beam footprint point, the real-time monitoring of system, the editing processing of bathymetric data and other aspects. The dissertation considers the current development trend of relative technologies and the development theory and practical demand of domestic shallow-water wide-coverage multibeam bathymetric sonar, and mainly studies the three kinds of technologies, including the elimination of bathymetric artifacts, the positioning of beam footprint, the real-time monitoring of system. Specific contents include the following:
First, the "tunnel effect" artifact in multibeam bathymetric sonar has been studied. Based on the analysis of the effect of "tunnel effect" on the results of depth measurement and its causes, the dissertation, from point of view on adaptive signal processing, studies sidelobe cancellation algorithm which can effectively restrain this artifact. RLS-Laguerre algorithm is proposed to eliminate the output of beam envelope, and GSC adaptive sidelobe canceller structure is applied to eliminating the complex output of beams. In order to realize GSC algorithm in real-time, SI-CG algorithm is realized and applied to eliminate "tunnel effect". In addition, relative algorithms have been realized by computer simulation, and used to process the experimental data on the lake, which proves its correctness and validity.
Second, the bathymetric artifacts in multibeam bathymetric sonar arose by sound velocity and its elimination methods are studied. The dissertation points out that, because acoustic wave refracts when it propagates in inhomogeneous medium, the conventional computation model of constant sound velocity can bring in bathymetric artifacts to measurement results. Based on the assumption of the certain sound speed profile, the dissertation discusses the method of sound velocity correction, specifically including the correction algorithms and the processing flows in two sound speed profile models, layered constant velocity and layered constant velocity gradient models. And the process of experiment data verifies its effectiveness. Moreover, the bathymetric artifacts arose by surface sound velocity is studied. The modified formula of the error correction of steered receiving beam angle which is caused by the bias of surface sound velocity is derived. By the computer simulation, the dissertation quantitatively analyzes the influence of bias of surface sound velocity on steered receiving beam angle and depth. Then the method is applied to process the lake experiment data, and eliminate the bathymetric artifacts due to the error of sound velocity correction which leads to data mismatching between the adjacent survey lines.
Third, dynamic beam footprint positioning, and installation and calibration technologies of multibeam bathymetric sonar are studied. Aiming at current insufficiency, the dissertation studies the dynamic positioning model of multibeam footprint by analyzing the relations of dynamic positioning error, device's installation parameters and ship's motion attitude, discussing multibeam sonar installation program and space coordinates system establishment and considering various factors that cause positioning errors. It studies the methods on positioning of beam footprint in array coordinates, and proposes a new positioning model to achieve precisely positioning in the condition of varying sound velocity. The dissertation studies the precise computing method of spatial coordinates and attitude of array in the geodetic coordinates, and positioning method and processing flow of multibeam footprint from array coordinates to geodetic coordinates. The processing results of the lake experiment data with the method is compared with the processing results of foreign commercial multibeam processing software Hypack to test accuracy, rigor and rationality of the positioning models in dynamic beam footprint positioning method proposed in the dissertation. Consider that the bias of array installation angle is difficult to measure directly, the dissertation studies and implements a dynamic calibration method of installation angle based on feature data processing, and uses lake experiment data to verify its effectiveness.
Finally, in urgent need of independent development of domestic shallow-water wide-coverage multibeam bathymetric sonar, the dissertation further studies the technology of time synchronization and data time homing between multi-devices in process of multibeam bathymetry, the technology of real-time monitoring, and the technology of data editing, develops "real-time monitoring software" for high quality data acquisition and "interactive data processing software" that has the functions of multibeam data homing, automatic and manual combined fast outlier data elimination, etc., assesses the working performance of domestic shallow water wide coverage multibeam bathymetry sonar by several times of lake experiments, and verifies practicability and effectiveness of the "real-time monitoring software" and the "interactive data processing software".
为提高宽覆盖多波束测深数据的有效性和精确性,围绕多波束测深关键技术,国内外研究热点主要包括宽覆盖声学基阵设计技术、高精度DOA和TOA联合估计技术、边缘波束测深精度保证技术、测深假象消除技术、空间归位技术、系统实时监控技术、测深数据编辑处理技术等多个方面。本文结合当前国内外技术发展趋势和国产浅水宽覆盖多波束测深声呐研制的理论和实践需求,主要开展测深假象消除技术、空间归位技术、实时监控与后处理三个方面的技术研究,具体研究内容包括以下几个方面：
首先,研究多波束测深声呐中的“隧道效应”测深假象的消除技术。在分析“隧道效应”对测深结果的影响及其产生原因的基础上,重点从自适应信号处理角度对有效抑制此假象的旁瓣抵消算法进行深入研究。提出RLS-Laguerre算法,进行波束包络输出抵消；提出利用GSC自适应旁瓣抵消结构对“隧道效应”进行消除,实现了波束复输出抵消；为了实时实现GSC算法,采用SI-CG算法消除“隧道效应”；通过对相关算法进行计算机仿真,并对多组湖上试验数据进行处理,验证了其正确性与有效性。
其次,研究多波束测深声呐中由声速引起的测深假象及消除方法。指出由于声波在不均匀介质中传播产生折射,传统常声速计算模型给测量结果带来测深假象。研究了基于声速分层假设下的多波束测深声线跟踪方法,并具体研究层内常声速和层内常梯度两种声速剖面模型下的多波束声线跟踪算法及流程,试验数据处理验证了其有效性。研究了由表面声速引起的测深假象,推导出由表面声速偏差引起的预成接收波束角度误差的修正公式,并通过计算机仿真定量分析不同的表面声速偏差对不同预成接收波束角度和测量深度的影响；对湖上试验数据进行处理消除了由于声速修正不当造成的相邻测线间数据不吻合的测深假象。
再次,研究多波束测深声呐动态空间归位及安装校准技术。针对目前存在的不足,通过分析动态归位误差与设备安装参数及船体运动姿态的关系,在讨论多波束系统安装方案及空间坐标系建立的基础上,综合考虑造成归位误差的各种因素,研究多波束波束脚印点动态空间归位模型。研究基阵坐标系下波束脚印点的空间归位方法,提出一种新的空间归位模型实现在变声速条件下的精确归位；研究在大地坐标系下基阵的空间坐标和空间姿态精确确定方法,从而研究多波束脚印点空间坐标从基阵坐标系到大地坐标系的归位方法,给出具体的归位处理流程；通过对湖试数据的处理并与国外商用多波束处理软件Hypack处理结果的对比,验证本文提出的动态空间归位方法中各归位模型的正确性、严密性以及综合处理流程的合理性。针对基阵安装角度偏差不易直接测量的问题,研究并实现基于特征数据处理的动态安装角度校准方法,并利用湖试数据对其有效性进行验证。
最后,根据自主研发国产浅水宽覆盖多波束测深声呐的迫切需求,进一步深入研究多波束测深过程中多个设备之间的时间同步与数据时间归位技术、实时监控技术以及数据编辑处理技术,开发保障高质量数据采集的“实时监控软件”和具有多波束数据归位处理、野值数据自动和人工相结合快速剔除等功能的“交互式数据处理软件”,并通过多次湖上试验考核国产浅水宽覆盖多波束测深声呐的工作性能,验证“实时监控软件”及“交互式数据处理软件”的实用性和有效性。
Multibeam bathymetric technology is a high technology of contemporary seafloor topography surveying and one of major ocean investigating method, which has been widely applied in many areas of national defense and civilian use such as, hydrographic surveying, marine engineering, seabed resources exploration and development, etc, and has attracted high attention from more and more countries close to sea. Nowadays, the trend of development for multibeam bathymetric sonar is to achieve wide coverage measurement, high precision and high resolution and the integrated detection of seabed characteristics.
To improve the validity and accuracy of wide coverage multibeam bathymetric data, the domestic and overseas researches are focusing on design of wide coverage acoustic sensor array, high-precision and joint estimation of DOA and TOA, the ensuring methods of the accuracy of depth measurement in outer beams, the elimination of bathymetric artifacts, the positioning of beam footprint point, the real-time monitoring of system, the editing processing of bathymetric data and other aspects. The dissertation considers the current development trend of relative technologies and the development theory and practical demand of domestic shallow-water wide-coverage multibeam bathymetric sonar, and mainly studies the three kinds of technologies, including the elimination of bathymetric artifacts, the positioning of beam footprint, the real-time monitoring of system. Specific contents include the following:
First, the "tunnel effect" artifact in multibeam bathymetric sonar has been studied. Based on the analysis of the effect of "tunnel effect" on the results of depth measurement and its causes, the dissertation, from point of view on adaptive signal processing, studies sidelobe cancellation algorithm which can effectively restrain this artifact. RLS-Laguerre algorithm is proposed to eliminate the output of beam envelope, and GSC adaptive sidelobe canceller structure is applied to eliminating the complex output of beams. In order to realize GSC algorithm in real-time, SI-CG algorithm is realized and applied to eliminate "tunnel effect". In addition, relative algorithms have been realized by computer simulation, and used to process the experimental data on the lake, which proves its correctness and validity.
Second, the bathymetric artifacts in multibeam bathymetric sonar arose by sound velocity and its elimination methods are studied. The dissertation points out that, because acoustic wave refracts when it propagates in inhomogeneous medium, the conventional computation model of constant sound velocity can bring in bathymetric artifacts to measurement results. Based on the assumption of the certain sound speed profile, the dissertation discusses the method of sound velocity correction, specifically including the correction algorithms and the processing flows in two sound speed profile models, layered constant velocity and layered constant velocity gradient models. And the process of experiment data verifies its effectiveness. Moreover, the bathymetric artifacts arose by surface sound velocity is studied. The modified formula of the error correction of steered receiving beam angle which is caused by the bias of surface sound velocity is derived. By the computer simulation, the dissertation quantitatively analyzes the influence of bias of surface sound velocity on steered receiving beam angle and depth. Then the method is applied to process the lake experiment data, and eliminate the bathymetric artifacts due to the error of sound velocity correction which leads to data mismatching between the adjacent survey lines.
Third, dynamic beam footprint positioning, and installation and calibration technologies of multibeam bathymetric sonar are studied. Aiming at current insufficiency, the dissertation studies the dynamic positioning model of multibeam footprint by analyzing the relations of dynamic positioning error, device's installation parameters and ship's motion attitude, discussing multibeam sonar installation program and space coordinates system establishment and considering various factors that cause positioning errors. It studies the methods on positioning of beam footprint in array coordinates, and proposes a new positioning model to achieve precisely positioning in the condition of varying sound velocity. The dissertation studies the precise computing method of spatial coordinates and attitude of array in the geodetic coordinates, and positioning method and processing flow of multibeam footprint from array coordinates to geodetic coordinates. The processing results of the lake experiment data with the method is compared with the processing results of foreign commercial multibeam processing software Hypack to test accuracy, rigor and rationality of the positioning models in dynamic beam footprint positioning method proposed in the dissertation. Consider that the bias of array installation angle is difficult to measure directly, the dissertation studies and implements a dynamic calibration method of installation angle based on feature data processing, and uses lake experiment data to verify its effectiveness.
Finally, in urgent need of independent development of domestic shallow-water wide-coverage multibeam bathymetric sonar, the dissertation further studies the technology of time synchronization and data time homing between multi-devices in process of multibeam bathymetry, the technology of real-time monitoring, and the technology of data editing, develops "real-time monitoring software" for high quality data acquisition and "interactive data processing software" that has the functions of multibeam data homing, automatic and manual combined fast outlier data elimination, etc., assesses the working performance of domestic shallow water wide coverage multibeam bathymetry sonar by several times of lake experiments, and verifies practicability and effectiveness of the "real-time monitoring software" and the "interactive data processing software".
引文
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