CN110441760A - A kind of large-scale seabed topographic map expansion patterning process based on priori topographic map - Google Patents
A kind of large-scale seabed topographic map expansion patterning process based on priori topographic map Download PDFInfo
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Abstract
The present invention discloses a kind of large-scale seabed topographic map expansion patterning process based on priori topographic map, it comprises the following processes: S1, using a fixed alignment point in priori topographic map as starting point, the zone of ignorance outside priori topographic map is surveyed and drawn along a path of turning back to obtain sonar surveying and mapping data, the reentry point being then return in priori topographic map terminates this mapping；S2 repeats step S1 until detection terminates；S3, according to the mathematical model for the data building global restriction that mapping obtains；S4, the optimal solution for solving the mathematical model obtain turning back the position of each aerial survey point on path.The present invention positions carrier and figure of surveying the topography using in priori topographic map, and the constraint relationship by establishing sub- map carries out large-scale composition, obtains the global coherency map of degree of precision.
Description
Technical field
The invention belongs to underwater topography technical field of mapping, and in particular to a kind of based on the large-scale seabed of priori topographic map
Topographic map expands patterning process.
Background technique
Due to the limitation of underwater navigation and location technology, more accurate underwater topographic map in a wide range of at present is caused to obtain
Journey is more difficult.Presently mainly surveyed and drawn by accurate landform of the AUV to a small range, but due to Underwater Navigation precision
Limitation also result in and measure the coordinate origin of each small topographic map and be difficult to keep consistency.
Summary of the invention
It is an object of the invention to overcome deficiency in the prior art, a kind of a wide range of sea based on priori topographic map is provided
Bottom topographic map expands patterning process, positions using in priori topographic map to carrier and figure of surveying the topography, by establishing son ground
The constraint relationship of figure carries out large-scale composition, obtains the global coherency map of degree of precision.
To solve prior art problem, the invention discloses a kind of large-scale seabed topographic maps based on priori topographic map to open up
Patterning process is opened up, is comprised the following processes:
S1 turns back path to priori topographic map along one using a fixed alignment point in priori topographic map as starting point
Outer zone of ignorance is surveyed and drawn to obtain sonar surveying and mapping data, and the reentry point being then return in priori topographic map terminates this
Mapping；Wherein, mapping process meets following require:
At least there are two in two groups of sub- maps of mapping that set out section and the back-turning section in same path of turning back obtain respectively to come
It overlaps from the sub- map of different groups of mappings；This is surveyed and drawn the return phase in path of turning back and surveys and draws going out for path of turning back next time
At least there are two in two groups of sub- maps of mapping that hair section obtains respectively to overlap from different groups of the sub- map of mapping；
S2 repeats step S1 until detection terminates；
S3, according to the mathematical model for the data building global restriction that mapping obtains；
S4, the optimal solution for solving the mathematical model obtain turning back the position of each aerial survey point on path.
Further,
In step S1, the determination method of the alignment point is comprised the following processes:
Its mean value and variance, grain are calculated according to the corresponding particle assembly sequence of any location point in terrain match navigation procedure
Subclass sequence includes particle position coordinate and likelihood value,
Covariance matrix is calculated according to the variance of particle assembly sequence；
The Gaussian Profile probability value of each particle is calculated according to covariance matrix；
Judge that current location point navigation system is according to the likelihood value of particle sequence, Gaussian Profile probability value and preset threshold
No to meet the condition of convergence, the position is alignment point position if meeting, and otherwise planning terrain match is navigated until looking for again
To alignment point.
Further,
The expression formula of the corresponding particle assembly sequence of any location point are as follows: (xi,yi,li), i=1,2,3...n,
In, xiAnd yiPosition coordinates for particle at the i moment, liLikelihood value for particle at the i moment, n are that the particle in particle assembly is total
Number；
The mean value computation formula of the particle assembly sequence are as follows:
The variance calculation formula of the particle assembly sequence are as follows:
The expression formula of the covariance matrix are as follows:
The calculation formula of the Gaussian Profile probability value are as follows:
Wherein,
The condition of convergence are as follows:
Meet Δ < ε, then illustrates that navigation system restrains；
Wherein,ε is the preset threshold of navigation system.
Further,
In step S1, the determination of reentry point is comprised the following processes:
Its mean value and side are calculated according to the corresponding particle assembly sequence of any location point in terrain match navigation return course
Difference, particle assembly sequence include particle position coordinate and likelihood value,
The burst error of error ellipse and rectangle is calculated according to the variance of particle assembly sequence；
If burst error fully enters in priori landform graph region, which is reentry point.
Further,
The expression formula according to the corresponding particle assembly sequence of any location point in terrain match navigation return course are as follows:
(x′i, y 'i,l′i), i=1,2,3...n, wherein x 'iWith y 'iFor the position coordinates at particle i moment, l 'iFor the particle i moment
Likelihood value, n are the total number of particles in particle assembly；
The calculation formula of the mean value are as follows:
The calculation formula of the variance are as follows:
The calculation formula of the burst error of the error ellipse and rectangle are as follows:
Wherein, θ indicates the angle of elliptical long axis and abscissa line, λ1And λ2It respectively indicates elliptical long axis and short axle is long
Degree, thus the oval section determined is the position error section of navigation system reentrant procedure.
Further,
The process of the mathematical model of the data building global restriction obtained according to mapping are as follows:
It is associated with about according to adjacent section of setting out with the sub- map foundation of the mapping with overlapping region that return phase obtains respectively
Beam,
According to interconnection constraint calculation of position errors,
According to position error, systematic error and calculate that error establishes the mathematical model of global restriction.
Further,
The expression formula of the interconnection constraint are as follows:
Wherein, C indicates normaliztion constant, ZaAnd ZbIndicate the sequence height of the overlapping region of the sub- map of mapping, Λ indicates ground
The measurement error of shape；
The calculation formula of the position error are as follows:
The calculation formula for calculating error are as follows:
Wherein, Fi,i+1It is reference navigation system by the i moment to the state-transition matrix at i+1 moment；Qi,i+1For with reference to navigation
System is by the i moment to the observation error at i+1 moment；PiIndicate the reference Navigation system error at i moment；
The expression formula of the mathematical model of the global restriction are as follows:
Wherein,For systematic error,Indicate the position error surveyed and drawn between sub- map k and the sub- map l of mapping.
Further,
In step S1, access point is located at the boundary of a priori shape figure.
Further,
In step S1, path of turning back meets following require:
In formula, L is the width of detector measurement band, S1For turning back in this mapping
Vertical range between the Duan Yuqi return phase that sets out in path；S2For the path of turning back in survey and draw next time set out section and this
Vertical range between the return phase in the path of turning back in mapping.
The invention has the benefit that
1. the present invention can be based on existing small range priori topographic map with incrementally being constructed large-scale seabed
Shape figure can significantly improve mapping precision and mapping speed in particular for polar region and deep-marine-environment.
2. the map that the present invention constructs meets global coherency requirement, the coordinate system and priori topographic map coordinate of each sub- map
System's alignment, ensure that mapping precision.
3. the present invention can be realized using AUV as carrier it is autonomous measurement and map structuring, have a wide range of applications basis and
Promotional value.
Detailed description of the invention
Fig. 1 is mapping process schematic diagram of the invention；
Fig. 2 is the schematic illustration that an alignment point of the invention determines；
Fig. 3 is the schematic illustration that the present invention is once surveyed and drawn；
Fig. 4 is the schematic illustration that reregistration point of the present invention determines；
Fig. 5 is the schematic illustration that the present invention repeats mapping；
Fig. 6 is the schematic illustration of interconnection constraint of the present invention building；
Fig. 7 is the schematic illustration of staff cultivation model construction of the present invention；
Fig. 8 is flow chart of the invention.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Fig. 1 to Fig. 8 a kind of large-scale seabed topographic map based on priori topographic map expands patterning process, including such as
Lower process:
S1 is starting point with one of in priori topographic map 1 fixed alignment point 6, turns back path 7 to priori landform along one
Zone of ignorance 8 outside figure is surveyed and drawn 10 knot of reentry point being then return in priori landform Fig. 1 to obtain sonar surveying and mapping data
Shu Benci mapping.Wherein, mapping process meets following require:
At least there are two in two groups of sub- maps of mapping that set out section and the back-turning section in same path of turning back obtain respectively to come
It overlaps from the sub- map of different groups of mappings；This is surveyed and drawn the return phase in path of turning back and surveys and draws going out for path of turning back next time
At least there are two in two groups of sub- maps of mapping that hair section obtains respectively to overlap from different groups of the sub- map of mapping.Occur
The more more then mapping precisions of the sub- map quantity of the mapping of overlapping are higher.
During being somebody's turn to do, in order to improve each mapping precision, need first to determine in priori topographic map 1 before each mapping
Then one alignment point 6 is that starting point carries out expansion mapping with the alignment point 6.
As shown in Fig. 2, first planning the starting point 2 and terminal 3 of guidance path 4 according to priori landform Fig. 1, so before mapping every time
It is filtered navigation using the terrain match airmanship of AUV afterwards, finds alignment point 6.
The determination of alignment point 6 comprises the following processes:
The expression formula of the corresponding particle assembly sequence of any location point in setting filtering navigation procedure are as follows:
(xi,yi,li), i=1,2,3...n, wherein xiAnd yiPosition coordinates for particle at the i moment, liIt is particle in i
The likelihood value at moment, n are the total number of particles in particle assembly；
Calculate the mean value and variance of the particle assembly sequence in step S11, wherein equal value expression are as follows:
Variance expression formula are as follows:
S13 calculates covariance matrix, the expression formula of covariance matrix according to the variance of particle assembly sequence are as follows:
S14 calculates the Gaussian Profile probability value of each particle, the expression of Gaussian Profile probability value according to covariance matrix
Formula are as follows:
Wherein,
Judge that current location point navigation system is according to the likelihood value of particle sequence, Gaussian Profile probability value and preset threshold
No to meet the condition of convergence, the position is 6 position of alignment point if meeting, and is otherwise navigated again until finding alignment point 6.It receives
Hold back condition are as follows:
If meeting Δ < ε, illustrate to match Navigation system convergence；
Wherein,ε is the preset threshold of navigation system, which is known quantity.
Alignment point is closer to the boundary of priori landform Fig. 1, then the precision of mapping process is higher, therefore, in order to guarantee to survey
It draws precision and maintains highest level, be pair it is preferable to determine the borderline point of priori landform Fig. 1 is located at when determining alignment point 6
On schedule, AUV can be surveyed and drawn with maximum navigation accuracy.
In step S1, the determination of reentry point 10 is comprised the following processes:
The expression formula of the corresponding particle assembly sequence of any location point in setting navigation return course are as follows: (x 'i,y′i,l
′i), i=1,2,3...n, wherein x 'iWith y 'iFor the position coordinates at particle i moment, l 'iFor the likelihood value at particle i moment, n is
Total number of particles in particle assembly.
The calculation formula of mean value are as follows:
The calculation formula of variance are as follows:
The calculation formula of the burst error of error ellipse and rectangle are as follows:
Wherein, θ indicates the angle of elliptical long axis and abscissa line, λ1And λ2It respectively indicates elliptical long axis and short axle is long
Degree, thus the oval section determined is the position error section of navigation system reentrant procedure.
It is the position error section of navigation system reentrant procedure by the section that ellipse determines, if burst error fully enters elder generation
It tests in 1 region of topographic map, then the position is reentry point 10, and otherwise planning is navigated until finding reentry point 10 again.
In step S1, in order to guarantee AUV during being surveyed and drawn along the traveling of path 7 of turning back, AUV is any in section of setting out
The sub- map that section mapping obtains can find it and overlap generation association in the sub- map that return phase either segment is surveyed and drawn
Constraint, therefore, path 7 of turning back should meet following requirement:
In formula, L is the width of detector measurement band, S1For turning back in this mapping
The vertical range set out between section 71 and its return phase 72 in path 7；S2For the section of setting out in the path 7 of turning back in survey and draw next time
Vertical range between 71 and the return phase 72 in the path 7 of turning back in this mapping.
In order to balance mapping efficiency be associated with matching degree, L, S1、S2Between meet condition:
S2 repeats step S1 as shown in Figures 4 and 5, until completing the spy of the surrounding zone of ignorance 8 to be measured of priori landform Fig. 1
It surveys.
S3, as shown in fig. 6, the mathematical model of the data building global restriction obtained according to mapping, process are as follows:
Section 71 is set out between the sub- map of mapping that return phase 72 obtains respectively there are overlapping region due to adjacent,
Can according to sub- map match position construct its interconnection constraint, due to the degree of association between the central point of two sub- map k, l by
Terrain match position error J is determined, it is therefore desirable to first determine interconnection constraint, expression formula are as follows:
Wherein, C indicates normaliztion constant, ZkAnd ZlIt indicates the sub- map k of mapping and surveys and draws the sequence of the overlapping region of sub- map l
Column height, Λ indicate the measurement error of landform.
According to interconnection constraint calculation of position errors, its calculation formula is:
The global restriction relationship in course line may finally be formed according to the location information of acquisition and the constraint relationship.As shown in fig. 7,
The global restriction relationship of track line is by black triangle (i.e. terrain match navigator fix point and track line control point) and black
Filled circles composition, wherein terrain match navigation spots need to consider position error.In order to facilitate founding mathematical models, will own here
Constraint be divided into 3 kinds, they are respectively:
1, calculate that the reckoning that navigation provides constrains by AUV, the reference navigator fix at two neighboring control point 15 is calculated as respectivelyWithPosition error is calculated asIts expression formula are as follows:In formula: Fi,i+1Expression system
State-transition matrix；Qi,i+1The observation error of expression system.
2, the constraint obtained by the matching positioning between each sub- map, anchor point are calculated asPosition error is calculated as
Wherein k and l respectively indicates the index sequence number of two sub- topographic maps with data correlation.
3, it is provided by Terrain Contour Matching navigation system, anchor point is calculated asPosition error is calculated as
The constraint relationship between flight tracking control point needs to consider correlation degree, the more high line then between the two of correlation degree
It is thicker, on the contrary it is thinner.Mathematical model, expression formula are constructed according to above-mentioned global restriction are as follows:
The optimal solution of flight tracking control point position can be obtained in the minimum value of mathematical model in S4, solution procedure S3.It is obtaining
The optimal solution set for obtaining the control point of track can be obtained by the optimal result of global map later.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of large-scale seabed topographic map based on priori topographic map expands patterning process, it is characterised in that: including following mistake
Journey:
S1, using a fixed alignment point in priori topographic map as starting point, along one turn back path to priori topographic map outside
Zone of ignorance is surveyed and drawn to obtain sonar surveying and mapping data, and the reentry point being then return in priori topographic map terminates this survey
It draws；Wherein, mapping process meets following require:
At least there are two in two groups of sub- maps of mapping that set out section and the back-turning section in same path of turning back obtain respectively from not
The sub- map of mapping with group overlaps；This is surveyed and drawn the return phase in path of turning back and surveys and draws the section of setting out in path of turning back next time
At least there are two in the two groups of sub- maps of mapping obtained respectively to overlap from different groups of the sub- map of mapping；
S2 repeats step S1 until detection terminates；
S3, according to the mathematical model for the data building global restriction that mapping obtains；
S4, the optimal solution for solving the mathematical model obtain turning back the position of each aerial survey point on path.
2. a kind of large-scale seabed topographic map based on priori topographic map according to claim 1 expands patterning process,
It is characterized in that:
In step S1, the determination method of the alignment point is comprised the following processes:
Its mean value and variance, particle collection are calculated according to the corresponding particle assembly sequence of any location point in terrain match navigation procedure
It closes sequence and includes particle position coordinate and likelihood value,
Covariance matrix is calculated according to the variance of particle assembly sequence；
The Gaussian Profile probability value of each particle is calculated according to covariance matrix；
Judge whether current location point navigation system is full according to the likelihood value of particle sequence, Gaussian Profile probability value and preset threshold
The sufficient condition of convergence, the position is alignment point position if meeting, otherwise again the navigation of planning terrain match until finding pair
On schedule.
3. a kind of large-scale seabed topographic map based on priori topographic map according to claim 2 expands patterning process,
It is characterized in that:
The expression formula of the corresponding particle assembly sequence of any location point are as follows: (xi,yi,li), i=1,2,3...n, wherein xi
And yiPosition coordinates for particle at the i moment, liLikelihood value for particle at the i moment, n are the total number of particles in particle assembly；
The mean value computation formula of the particle assembly sequence are as follows:
The variance calculation formula of the particle assembly sequence are as follows:
The expression formula of the covariance matrix are as follows:
The calculation formula of the Gaussian Profile probability value are as follows:
Wherein,
The condition of convergence are as follows:
Meet Δ < ε, then illustrates that navigation system restrains；
Wherein,ε is the preset threshold of navigation system.
4. a kind of large-scale seabed topographic map based on priori topographic map according to claim 3 expands patterning process,
It is characterized in that:
In step S1, the determination of reentry point is comprised the following processes:
Its mean value and variance, grain are calculated according to the corresponding particle assembly sequence of any location point in terrain match navigation return course
Subclass sequence includes particle position coordinate and likelihood value,
The burst error of error ellipse and rectangle is calculated according to the variance of particle assembly sequence；
If burst error fully enters in priori landform graph region, which is reentry point.
5. a kind of large-scale seabed topographic map based on priori topographic map according to claim 4 expands patterning process,
It is characterized in that:
The expression formula according to the corresponding particle assembly sequence of any location point in terrain match navigation return course are as follows: (x 'i,
y′i,l′i), i=1,2,3...n, wherein x 'iWith y 'iFor the position coordinates at particle i moment, l 'iFor the likelihood at particle i moment
Value, n are the total number of particles in particle assembly；
The calculation formula of the mean value are as follows:
The calculation formula of the variance are as follows:
The calculation formula of the burst error of the error ellipse and rectangle are as follows:
Wherein, θ indicates the angle of elliptical long axis and abscissa line, λ1And λ2Elliptical long axis and minor axis length are respectively indicated, by
The section that this ellipse determines is the position error section of navigation system reentrant procedure.
6. a kind of large-scale seabed topographic map based on priori topographic map according to claim 5 expands patterning process,
It is characterized in that:
The process of the mathematical model of the data building global restriction obtained according to mapping are as follows:
Section is set out and the sub- map of the mapping with overlapping region that return phase obtains respectively establishes interconnection constraint according to adjacent,
According to interconnection constraint calculation of position errors,
According to position error, systematic error and calculate that error establishes the mathematical model of global restriction.
7. a kind of large-scale seabed topographic map based on priori topographic map according to claim 6 expands patterning process,
It is characterized in that:
The expression formula of the interconnection constraint are as follows:
Wherein, C indicates normaliztion constant, ZaAnd ZbIndicate the sequence height of the overlapping region of the sub- map of mapping, Λ indicates landform
Measurement error；
The calculation formula of the position error are as follows:
The calculation formula for calculating error are as follows:
Wherein, Fi,i+1It is reference navigation system by the i moment to the state-transition matrix at i+1 moment；Qi,i+1For with reference to navigation system
By the i moment to the observation error at i+1 moment；PiIndicate the reference Navigation system error at i moment；
The expression formula of the mathematical model of the global restriction are as follows:
Wherein,For systematic error,Indicate the position error surveyed and drawn between sub- map k and the sub- map l of mapping.
8. a kind of large-scale seabed topographic map based on priori topographic map according to any one of claims 1 to 7 expands composition
Method, it is characterised in that:
In step S1, access point is located at the boundary of a priori shape figure.
9. a kind of large-scale seabed topographic map based on priori topographic map according to any one of claims 1 to 7 expands composition
Method, it is characterised in that:
In step S1, path of turning back meets following require:
In formula, L is the width of detector measurement band, S1For the path of turning back in this mapping
The Duan Yuqi return phase that sets out between vertical range；S2For set out section and this mapping in the path of turning back in survey and draw next time
In path of turning back return phase between vertical range.
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| CN113932811A (en) * | 2021-08-25 | 2022-01-14 | 河海大学 | Novel terrain matching navigation system and method |
| CN113932811B (en) * | 2021-08-25 | 2023-10-27 | 河海大学 | Novel terrain matching navigation system and method |
| CN114216465A (en) * | 2021-12-08 | 2022-03-22 | 哈尔滨工程大学 | Submarine topography navigation parallel matching method |
| CN114216465B (en) * | 2021-12-08 | 2022-11-01 | 哈尔滨工程大学 | Submarine topography navigation parallel matching method |
| CN117824664A (en) * | 2024-03-05 | 2024-04-05 | 河海大学 | Active SLAM method of autonomous unmanned system based on multi-beam sounding sonar |
| CN117824664B (en) * | 2024-03-05 | 2024-05-28 | 河海大学 | Active SLAM method of autonomous unmanned system based on multi-beam sounding sonar |
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