Underwater three dimensional terrain reconstruction method based on multi-beam sonar data

Abstract

The invention discloses an underwater three dimensional terrain reconstruction method based on multi-beam sonar data, comprising the following steps of: firstly, collecting echo wave strength data and also measuring sounding data; secondly, carrying out linear interpolation on the sounding data and obtaining the sounding data having the same space resolution with the echo wave strength data; thirdly, calculating an angle and a range between a beam of each sounding data point and a horizontal line; fourthly, calculating the beam incident angle of each sounding data point by a point-by-point way; fifthly, fitting model parameters of a reflection model based on the echo wave strength data and correcting the angle between the beam and the horizontal line; seventhly, setting an iteration number N and enabling an average relative error absolute valve of estimated echo wave strength data and the collected echo wave strength data to be minimum; and eighthly, calculating sounding data and reconstructing an underwater three dimensional terrain. The method can enhance the space resolution of the sounding data and has an important significance on the aspects of underwater substance exploration, three dimensional visualization, underwater target detection and the like. The reconstructed underwater three dimensional terrain is also nearer to the real terrain.

Description

technical field [0001] The invention relates to a multi-beam sonar image processing method, in particular to an underwater three-dimensional terrain reconstruction method based on multi-beam sonar data. technical background [0002] The multi-beam sonar system is a complex system composed of multiple sensors for underwater topography and landform mapping. It can intuitively provide acoustic imaging of the seabed shape. It is currently widely used in the detection of underwater targets, the survey of seabed geology and landforms, and ship navigation. Wait. In the research of underwater detection and topographical surveying, the reconstruction of 3D terrain with higher spatial resolution based on the bathymetric data collected by the multi-beam sonar system has always been a key and difficult point, and it is also an urgent problem to be solved. [0003] For the method of using data processing methods to improve the spatial resolution of the bathymetric data collected by the ...

AI Technical Summary

Problems solved by technology

Although the interpolation algorithm can improve the spatial resolution to reconstruct the underwater 3D terrain, these methods cannot determine whether the reconstructed underwater 3D terrain is close to the real terrain due to the lack of appropriate constraints.

However, using the regularization method to improve the spatial resolution, although constraints are set, it is difficult to obtain good micro-geomorphological results in complex seabeds.

Existing methods for reconstructing underwater 3D terrain do not address these issues

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