| With the rapid development of ocean surveying technology,multi-beam sounding system has become an indispensable key equipment in the field of ocean surveying due to its advantages of high efficiency,high precision and full coverage.Multi-beam surveying precision is mainly affected by three aspects,namely the installation error of multi-beam sounding system itself,the secondary sensor measurement error and the bottom of the sea spot-beam model of place,as a kind of multi-sensor integrated system has high precision,the space of the multi-beam transducer calibration(calibration)has been indispensable to the multi-beam measurement data processing work.At present,there have been a lot of researches on the multi-beam space calibration algorithm,but most of them adopt Patch Test method,which is mainly based on manual interaction.Operators need to adjust for many times and calibrate the algorithm based on the alignment of multi-beam space bands of different survey lines.This method has a low degree of automation and the subjective differences of operators have a great influence on the final calibration parameters in the process of visual adjustment.Low degree of automation in patch test method,the subjective difference of calibration standards,matching method based on point cloud to find matching points between the multi-beam strip to,and then according to the rigorous seafloor spot-beam footprints beam formula of place,set up in the multi-beam sounding system installation error for the unknown parameters of least squares adjustment model,the integral calculate the multi-beam sounding system installation parameter error,improve the automation degree of calibration process and the calibration results of objective and standardization,the main research work and innovation points are as follows:(1)The threshold setting method of point cloud registration based on normal vector is improved.In this paper,a new threshold setting method is proposed by analyzing the point cloud registration method based on normal vector and taking multiple sets of multi-beam data as experimental objects.A new threshold setting method based on normal vector point cloud registration is proposed for multi-beam data.(2)An integral model for calculating the deviation of multi-beam installation is established.This paper firstly analyzes the working principle of the multi-beam sonar system,the installation method of each sensor on the survey ship,and the establishment of the spatial coordinates involved,and derives in detail the formula of beam footprint homing considering the deviation Angle and instantaneous attitude Angle of the multi-beam transducer.On this basis,the multi-beam system installation deviation detection model is built to realize the overall solution of multi-beam installation deviation.This method takes into account the coupling effect between the euler angle of installation error and is more rigorous than the spot test method. |
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