CN106291561A - A kind of side-scan sonar detection method of underwater soft raft lap width - Google Patents
A kind of side-scan sonar detection method of underwater soft raft lap width Download PDFInfo
- Publication number
- CN106291561A CN106291561A CN201610645298.0A CN201610645298A CN106291561A CN 106291561 A CN106291561 A CN 106291561A CN 201610645298 A CN201610645298 A CN 201610645298A CN 106291561 A CN106291561 A CN 106291561A
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- China
- Prior art keywords
- soft raft
- scan sonar
- gps
- lap width
- line
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8902—Side-looking sonar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses the side-scan sonar detection method of a kind of underwater soft raft lap width, comprising the steps: that (1) measurement and positioning controls, (2) instrument and equipment is installed, (3) Hydrographic General Line, (4) instrument connects and calibration, the collection of (5) isostere detection data and process.By GPS location and side scan sonar acoustic reflection projected coordinate ultimate principle, the side scan sonar accessing GPS framing signal is swept all corresponding projected coordinate of side underwater soft raft lap-joint under water, is calculated underwater soft raft lap width in conjunction with overlap joint border point coordinates.
Description
Technical field
The present invention relates to a kind of side-scan sonar detection method, especially relate to a kind of underwater soft raft lap width
Side-scan sonar detection method.
Background technology
The precision of submarine target dimension measurement and reliability depend on underwater position fixing technique, underwater soft raft lap width mesh
Front conventional sense mode uses buoy method, detection under water image method and two dimension sonar etc., in these methods, first two method
Work efficiency is low, poor accuracy, arranges engineering still can use for a small amount of, but detect for large batch of isostere, be impossible real
Existing, the third method is Static Detection, has higher requirement to job platform, it is desirable to keep quiet during operation at sea detection of platform
Only, although visual results, precision is guaranteed, but is appropriate only for detection parallel in work progress, and the scope of operation is narrow, detection efficiency
Low.
Underwater Engineering, it is basis that river bottom protection soft raft is laid, and the Main Function arranged under water is the river in the range of protection is laid
Bed substrate is not by water erosion, thus reaches river bottom protection, spats, prevents scour, protection engineering foundation, and then protection top entity structure
The purpose of stability.The important step arranging quality inspection under water is exactly isostere overlap joint, if overlap joint does not reaches requirement,
Causing current to carry out scour in lap gap region, the hydraulic structure that will result in isostere caves in, in the decision of its construction quality
Stablizing of layer structures, significant.This most just determines the importance of underwater soft raft detection, and soft raft lap width is again
The important index that it is detected.
Summary of the invention
The technical problem to be solved is to provide the side-scan sonar detection side of a kind of underwater soft raft lap width
Method, by GPS location and side scan sonar acoustic reflection projected coordinate ultimate principle, the side accessing GPS framing signal is swept
Sonar sweeps all corresponding projected coordinate of side underwater soft raft lap-joint under water, calculates underwater soft raft in conjunction with overlap joint border point coordinates and takes
Connect width.
In order to solve above-mentioned technical problem, the technical solution adopted in the present invention is:
The side-scan sonar detection method of a kind of underwater soft raft lap width, comprises the steps:
(1) measurement and positioning controls, and side scan sonar detection location positioning is based on GPS navigation, uses network or base station, radio station mould
Formula carries out RTK measurement, and wherein, it is consistent that the GPS device being suitable for uses front output baud rate furnishing to accept signal baud rate with towfish；
(2) instrument and equipment is installed, and when on ship, GPS is installed, antenna must be arranged on boats and ships eminence, the height of barrier in visual field
Degree angle not can exceed that 10 °；
(3) Hydrographic General Line, RTK-DGPS is after control point comparison completes, and the implementation phase that survey being swept in entrance, lays survey line and combines waterborne
Navigator, along the survey line traveling laid, carries out side and sweeps image data and must gather；Survey line need to be parallel to soft raft and lay, and lays
For straight line, survey line interval is laid according to soft raft Lay interval；
(4) instrument connects and calibration, instrument carries out static calibration, all systems is connected at the scene, carry out complete set before detection
System closed-loop dynamic joint debugging, checks each Instrument working state, carries out optimal parameter and compare, choose and confirm, selects in respective environment
Under the conditions of obtain best in quality sound spectrogram parameter arrange；
(5) isostere detects collection and the process of data, positions according to gps coordinate, and surveying vessel runs line according to the track line laid,
Sweeping and detect the ship speed of a ship or plane during survey and control to save at 2-5, keep stablizing of ship attitude and the speed of a ship or plane simultaneously, gathering data is to utilize side to sweep
The real-time data acquisition of the poster processing soft and embedding technique, the coordinate of software shows and picture storing functional realiey soft isostere position
Determination；For interior industry Data Post, from sweeping the coordinate extracting required point mapping, according to adjacent soft raft lap-joint edge
Coordinate figure, calculate its lap width, finally analyze accordingly according to codes and standards and related request.
The side-scan sonar detection method of aforesaid a kind of underwater soft raft lap width, it is characterised in that: fixed in step (1)
Position equipment uses compatible preferably TRIMBLE series GPS navigation equipment, and the erection of GPS reference station selects surrounding
The openst place, away from the Electromagnetic Interference such as microwave station, high-voltage line, is affected in order to avoid radio station is launched.
The side-scan sonar detection method of aforesaid a kind of underwater soft raft lap width, it is characterised in that: in step (2),
GPS is mounted remotely from boats and ships mainmast, away from the high-power wireless electricity transmiting signal source such as radar, high frequency antenna.
The invention has the beneficial effects as follows: the method for the side scan sonar detection underwater soft raft lap width that the present invention proposes,
Can detect soft raft laying quality, alluvial situation and soft raft lap width etc. intuitively, fast and efficiently, side-scan sonar is examined
Survey soft raft lap width, high efficient and reliable, meet accuracy of detection requirement under water simultaneously.
Accompanying drawing explanation
Fig. 1 is that side scan sonar of the present invention detects underwater soft raft lap width schematic diagram；
Fig. 2 is implementing procedure figure of the present invention.
Detailed description of the invention
Below in conjunction with Figure of description, the present invention is further illustrated.
As depicted in figs. 1 and 2, the side-scan sonar detection method of a kind of underwater soft raft lap width, comprise the steps:
(1) measurement and positioning controls, and side scan sonar detection location positioning is based on GPS navigation, uses base station, network the latter radio station mould
Formula carries out RTK measurement.It is consistent that the GPS device being suitable for uses front output baud rate furnishing to accept signal baud rate with towfish, location
Equipment preferentially uses compatible preferably TRIMBLE series GPS navigation equipment, and the erection of GPS reference station should select ring around
The place that border is openr, away from the Electromagnetic Interference such as microwave station, high-voltage line, is affected in order to avoid radio station is launched.In formal inspection
Before survey, first choose several known point and check, in case spline changes parameter error or data are inputed by mistake.Receiver directly receives
Coordinate is WGS-84 coordinate, demand solution conversion parameter, is the on-site Local coordinates of engineering by WGS-84 Coordinate Conversion, conversion ginseng
Number is general uses 7 parameters, i.e. three translation parameterss (△ X, △ Y, △ Z), three rotation parameters (ω X, ω Y, ω Z) and a chi
Degree parameter K.For control point, selecting surveying the known control point near district, the asking for of conversion parameter provides at four controls
Point (three solve, and one verifies), the method being considered as static measurement in the case of the deficiency of control point is laid and is set up
Control point.Survey district change brick parameter existing in the case of, parameter can be applied mechanically.
(2) instrument and equipment is installed, and the installation of GPS on ship, it is (low that GPS antenna must be arranged on boats and ships eminence
In discharging rod), in visual field, the elevation angle of barrier not can exceed that 10 °, far as possible from boats and ships mainmast, as far as possible away from high-power
Radio transit signal source (such as radar, high frequency antenna etc.).
(3) Hydrographic General Line, RTK-DGPS is after control point comparison completes, and the implementation phase that survey being swept in entrance, lays survey line and combines
Navigator waterborne, along the survey line traveling laid, carries out side and sweeps image data and must gather.The laying of survey line considers measurement
The factors such as the mobility of carrier, safety, the measurement speed of a ship or plane.Survey line need to be parallel to soft raft and lay, and cloth is set to straight line, and survey line is spaced
Lay depending on soft raft Lay interval.
(4) instrument connects and calibration, and instrument all carries out static calibration.All systems being connected at the scene, detection is advanced
Row total system closed-loop dynamic joint debugging, checks each Instrument working state, carries out optimal parameter and compares, chooses and confirm, selects spy
The parameter determining to obtain under environmental condition best in quality sound spectrogram is arranged.Towfish is arranged under research vessel ambient water not by the scene of sweeping in side
Co-located, the different speed of a ship or plane, towfish carries out mass ratio relatively at different water depth, acquired sound spectrogram, and on the bow transducer is away from spiral
Slurry noise is minimum, and sound spectrogram is more visible, but is surged and affect relatively greatly, and data distortion, under the premise that security is guaranteed, towfish is preferably placed in
Side, the hawser that suitably lengthens can obtain preferable sound spectrogram effect.
(5) isostere detects collection and the process of data, during measuring, finds out the weather condition of detection region, choosing
Select and launching to measure under the more satisfactory environment that operation interference is little to sweeping to survey.Positioning according to gps coordinate, surveying vessel is according to having laid
Track line runs line, sweeps and detects during survey about the ship speed of a ship or plane controls to save 3, keeps stablizing, especially of ship attitude and the speed of a ship or plane simultaneously
Being in track line place detector segments, gathering data is real-time data acquisition and the embedding technique utilizing side to sweep the poster processing soft,
The coordinate of software shows the determination with picture storing functional realiey soft isostere position.For interior industry Data Post, from sweeping mapping
The coordinate of the required point of middle extraction, according to the coordinate figure at adjacent soft raft lap-joint edge, calculates its lap width, finally according to rule
Model standard and related request are analyzed accordingly.
When meeting following situations, need to carry out mending and survey:
(1) stormy waves causes more greatly transducer towed body to fluctuate up and down in water, water surface curve occurs on sound spectrogram record paper；
(2) water-bed line local inclination regularly, dead-zone boundary, far-end maximum operating range local inclination changes；
(3) instrument failure, complete machine or extension set cisco unity malfunction, or towing cable and watertight connector water inlet impedance are less than 0.5, and sound spectrogram is remembered
Record is up and down without echo-signal or record insincere, and resolving power can not meet the requirement detecting target.
In sum, the side-scan sonar detection method planting underwater soft raft lap width that the present invention provides, connect by GPS
Receipts machine location and side scan sonar acoustic reflection projected coordinate ultimate principle, the side scan sonar accessing GPS framing signal sweeps side under water
The all corresponding projected coordinate of underwater soft raft lap-joint, calculates underwater soft raft lap width in conjunction with overlap joint border point coordinates.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, and the simply explanation present invention's described in above-described embodiment and description is former
Reason, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes and improvements
Both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Boundary.
Claims (3)
1. the side-scan sonar detection method of a underwater soft raft lap width, it is characterised in that: comprise the steps:
(1) measurement and positioning controls, and side scan sonar detection location positioning is based on GPS navigation, uses network or base station, radio station mould
Formula carries out RTK measurement, and wherein, it is consistent that the GPS device being suitable for uses front output baud rate furnishing to accept signal baud rate with towfish；
(2) instrument and equipment is installed, and when on ship, GPS is installed, antenna must be arranged on boats and ships eminence, the height of barrier in visual field
Degree angle not can exceed that 10 °；
(3) Hydrographic General Line, RTK-DGPS is after control point comparison completes, and the implementation phase that survey being swept in entrance, lays survey line and combines waterborne
Navigator, along the survey line traveling laid, carries out side and sweeps image data and must gather；Survey line need to be parallel to soft raft and lay, and lays
For straight line, survey line interval is laid according to soft raft Lay interval；
(4) instrument connects and calibration, instrument carries out static calibration, all systems is connected at the scene, carry out complete set before detection
System closed-loop dynamic joint debugging, checks each Instrument working state, carries out optimal parameter and compare, choose and confirm, selects in respective environment
Under the conditions of obtain best in quality sound spectrogram parameter arrange；
(5) isostere detects collection and the process of data, positions according to gps coordinate, and surveying vessel runs line according to the track line laid,
Sweeping and detect the ship speed of a ship or plane during survey and control to save at 2-5, keep stablizing of ship attitude and the speed of a ship or plane simultaneously, gathering data is to utilize side to sweep
The real-time data acquisition of the poster processing soft and embedding technique, the coordinate of software shows and picture storing functional realiey soft isostere position
Determination；For interior industry Data Post, from sweeping the coordinate extracting required point mapping, according to adjacent soft raft lap-joint edge
Coordinate figure, calculate its lap width, finally analyze accordingly according to codes and standards and related request.
The side-scan sonar detection method of a kind of underwater soft raft lap width the most according to claim 1, it is characterised in that:
In step (1), location equipment uses compatible preferably TRIMBLE series GPS navigation equipment, and the erection choosing of GPS reference station
Select the place that surrounding is openr, away from the Electromagnetic Interference such as microwave station, high-voltage line, be affected in order to avoid radio station is launched.
The side-scan sonar detection method of a kind of underwater soft raft lap width the most according to claim 1, it is characterised in that:
In step (2), GPS is mounted remotely from boats and ships mainmast, launches letter away from the high-power wireless electricity such as radar, high frequency antenna
Number source.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610645298.0A CN106291561B (en) | 2016-08-09 | 2016-08-09 | A kind of side-scan sonar detection method of underwater soft raft lap width |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610645298.0A CN106291561B (en) | 2016-08-09 | 2016-08-09 | A kind of side-scan sonar detection method of underwater soft raft lap width |
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| CN106291561A true CN106291561A (en) | 2017-01-04 |
| CN106291561B CN106291561B (en) | 2019-04-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109375198A (en) * | 2018-12-10 | 2019-02-22 | 哈尔滨工程大学 | A kind of low frequency sonar battle array impedance operator calibration method |
| CN113379710A (en) * | 2021-06-18 | 2021-09-10 | 上海大学 | Underwater target sonar accurate measurement system and method |
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| CN202928548U (en) * | 2012-11-30 | 2013-05-08 | 中交第三航务工程局有限公司上海分公司 | Bottom protecting soft mattress underwater positioning detection system |
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2016
- 2016-08-09 CN CN201610645298.0A patent/CN106291561B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202928548U (en) * | 2012-11-30 | 2013-05-08 | 中交第三航务工程局有限公司上海分公司 | Bottom protecting soft mattress underwater positioning detection system |
Non-Patent Citations (2)
| Title |
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| 孙卫平 等: "长江下游感潮河段超长护底软体排铺设关键技术", 《水运工程》 * |
| 石峰: "深水潜堤施工的水下定位与检测技术探讨", 《中国港湾建设》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109375198A (en) * | 2018-12-10 | 2019-02-22 | 哈尔滨工程大学 | A kind of low frequency sonar battle array impedance operator calibration method |
| CN113379710A (en) * | 2021-06-18 | 2021-09-10 | 上海大学 | Underwater target sonar accurate measurement system and method |
| CN113379710B (en) * | 2021-06-18 | 2024-02-02 | 上海大学 | Underwater target sonar accurate measurement system and method |
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| CN106291561B (en) | 2019-04-12 |
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Address after: 210017 No. 223 Simon Street, Jiangsu, Nanjing Patentee after: JSTI GROUP Co.,Ltd. Address before: 211112 No. 2200 Chengxin Avenue, Nanjing City, Jiangsu Province Patentee before: JSTI GROUP Co.,Ltd. |