摘要
21世纪是海洋的世纪,认识研究海洋是人类探索未知的需要,也是解决日益严峻的陆地资源匮乏、人口膨胀性增长等问题的重要途径,因此世界上各个国家都在不遗余力的探索海洋、研究海洋、开发和利用海洋资源。海底地形地貌信息作为基础数据,在保障航运安全、建设海洋工程、开发海洋资源、发展海洋科学、维护海洋权益等各个方面都占据了极为重要的地位,受到了世界各国的普遍重视。声纳技术是当前对海底地形地貌探测的唯一有效手段,其中多波束声纳技术以其高精度全覆盖式扫海探测优势被国际海道测量组织规定为高精度海底地形探测的唯一方法。
然而由于深水多波束声纳系统涉及组成设备众多、实时探测数据量巨大、原始探测数据处理复杂等因素,使得深水多波束声纳显控系统在实时条件下只能进行简单的设备控制和数据展示,造成了人机交互不够友好、不能快速准确的实时展示多源探测信息、现场处理能力较差等不足。
本文针对当前国内外深水多波束声纳显控系统存在的不足展开了深入研究,主要包括：针对深水多波束测深侧扫声纳设备的复杂工作机制的安全友好的控制操作方法、针对深水多波束测深侧扫声纳系统海量实时探测数据的高效稳定的数据采集方法、针对深水多波束测深侧扫声纳系统实时测深数据、实时侧扫数据、实时水体数据等多源实时探测数据的快速丰富的科学数据实时表达方法等,并基于这些研究成果,设计并实现了设计并实现了基于我国首次研发的深水多波束测深侧扫声纳设备的显控系统。实验结果表明,该系统能够以多视图同步方式对实时多源动态探测成果进行2D/3D可视化表达,为深水多波束声纳设备提供安全友好的控制终端,为用户提供稳定便捷的探测数据服务,增强现场处理能力和数据发掘能力。
本文的主要创新点包括：
(1)针对深水多波束声纳系统实时测深数据由于构建可视化海底DEM时的海量性、动态性、不规则性等特点,为提高海量原始测深数据构建动态不规则海底DEM的效率提出了：
A.快速声速改正方法；
B.快速波束位置解算方法；
C.快速条带式动态网格化方法；
D.动态不规则金字塔构建方法；
从而使得深水多波束声纳系统原始实时测深数据能够快速且相对准确的构建为规则格网形式的不规则动态海底DEM,设计并使用GPU友好型渲染方法,实现了全球框架下的不规则动态海底地形的三维实时渲染。
(2)提出了实时侧扫数据的条带式增量更新方法,动态增量式直接构造侧扫图像,通过直接屏幕贴图实现了实时侧扫图像的快速绘制。
(3)提出了基于极坐标变换的实时水体数据重采样方法,直接构造扇形水体图像,实现了实时水体图像的快速绘制。
(4)提出了一种基于状态保护与转移机制的声纳设备控制方法,实现了安全友好的交互式声纳设备控制。
(5)提出了一种基于本地缓存池的多线程实时数据采集方法,有效提高了声纳主控计算机采用广播方式推送各类实时数据至显控系统时的实时数据采集成功率。
实验结果表明该系统满足深水多波束测深侧扫声纳设备的显控需求,能够保障声纳设备作业安全、增强现场作业能力和数据发掘能力。
The 21st century has been called "the century of ocean". Research on the ocean is not only the scientic need, but also the important way to solve the increasingly severe problem such as land resources shortage, population expansion growth et al. All contries in the world spare no effort in the oncean research, exploraiong, development and utilization of the ocean resources. Submarine terrain and landform information has a very important position as the basis in shipping safety, marine project, ocean research, national interests and so on. Sonar technology is the only effective means currently on the submarine bathymetry. Because of the advantage of the multi-beam sonar system like high efficiency, high precision and full coverage, The International Hydrographic Organization set the multi-beam sonary system is only method for the high precision seabed terrain detection.
However the deep water multi-beam sonar system consists of numerous equipment, produces large amounts of data in real-time, and processes the data complex, the display and control system for it could not show the multi-source detecting data fast and precision in real-time.
The purpose of this paper is to design and implement the first display and control system for deep water multi-beam bathymetric sidescan sonar in China, to provie the safe and friendly terminal for the sonar device control, to provide user the stable and convenient detecting data service, to provie the multi-views of the detecting data in real-time, to enhance the field processing power and data mining capabilities. The main research work includes:A sonar device control method based on the state protection and transition was proposed to achieve the safe and friendly operation; A efficient and stable real-time data acquisition method was proposed for the deep water multi-beam bathymetric sidescan sonar system mass detecting data; Some scientific data real-time expression method were proposed to show the deep water multi-beam bathymetric sidescan sonar system detecting data fast and precisely.
The main innovation is as follows:
(1) Aiming at the features of the deep water multi-beam bathymetric sidescan sonar system sounding data, to improve the constructin efficiency of thedynamic irregular seafloor DEM,4 methods were propsed to construct the dynamic irregular detecting seafloor terrain, to realize 3D rendering of the massive detecting seabed terrain under global frame in real-time:
A. Rapid sound wave velocity correction method
B. Rapid beam footprint position calculating method
C. Rapid dynamic strip-map gridding method
D. Dynamic irregular pyramid construction method
(2)To improve the drawing efficiency of the backscattering image in real-time, a real-time massive side scan data strip-map updating method was proposed.
(3)To improve the drawing efficiency fo the water column image in real-time, a real-time massive water column data resample method based on polar coordinate was proposed.
(4)To control the sonar device safely and friendly, a sonar device control method based on the state protection and transition was proposed.
(5) To improve the multi-source real-time data acquisition success rate, a real-time data acquisition method using multi-thread thchnique based on the local data cache pool was proposed.
The experiment shows that this system could meet the display and control demands of deep water multi-beam bathymetric side scan sonar, could improve the safety and efficiency of the filed operation.
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