【摘要】：多波束測深聲納作為當(dāng)前最重要的海底探測設(shè)備被廣泛應(yīng)用于現(xiàn)代海洋監(jiān)測與海底資源調(diào)查等領(lǐng)域。在多波束測深過程中,由于絕對真實水深無法獲知,且測量結(jié)果受眾多不確定因素影響,難以直接評估其測深質(zhì)量；再加上測深數(shù)據(jù)中不可避免地含有異常值,這將導(dǎo)致海底假地形的產(chǎn)生,嚴(yán)重影響測量成果的深入應(yīng)用,也造成了大量測量人力和物力浪費(fèi)。因此迫切需要一種高效、穩(wěn)健的異常值自動檢測與剔除方法。針對以上現(xiàn)狀本文提出一種基于CUBE(Combined Uncertainty Bathymetry Estimator)的多波束測深異常值檢測方法。在此基礎(chǔ)上,結(jié)合課題組多波束測深儀的研制設(shè)計與開發(fā)了多波束測深實時顯控軟件,并對其擴(kuò)展了海底特性一體化探測功能。因此本文重點(diǎn)研究不確定度傳播模型、節(jié)點(diǎn)估計更新過程、擇優(yōu)過程的最優(yōu)準(zhǔn)則以及顯控軟件設(shè)計開發(fā)等四個問題。 首先,通過對多波束測深原理、組成和海底高程計算、波束腳印位置解算等多波束后處理技術(shù)的研究,分析得到在測量和處理過程中主要影響垂直不確定度和水平不確定度的因素,結(jié)合上述因素分別建立合理的垂直不確定度和水平不確定度傳播模型,計算了各項誤差源對深度誤差和位置誤差的影響和測區(qū)內(nèi)測睬點(diǎn)的深度和不確定度信息。 其次,結(jié)合貝葉斯理論研究了節(jié)點(diǎn)估計的吸收、介入和擇優(yōu)三個階段的原理并編程實現(xiàn)。實例計算了測深點(diǎn)序列吸收測深點(diǎn)信息的網(wǎng)格節(jié)點(diǎn)估計更新過程。進(jìn)行了基于介入機(jī)制和擇優(yōu)過程的最優(yōu)準(zhǔn)則的研究,提出一種基于prior的最小相對深度誤差準(zhǔn)則。通過海試數(shù)據(jù)處理驗證了本文研究的基于CUBE的多波束異常值檢測算法的穩(wěn)健性與高效性。 最后,完成了多波束測深實時顯控軟件的設(shè)計與開發(fā),詳細(xì)介紹了該實時顯控軟件的系統(tǒng)工作流程和功能,該實時顯控軟件具有功能豐富、性能完備的特點(diǎn)。同時,對多波束測深實時顯控軟件功能進(jìn)行了擴(kuò)展,增加了海底地貌和海底淺地層剖面顯示界面,設(shè)計了一套海底特性一體化探測顯控軟件。通過實際海上試驗,驗證了該一體化顯控軟件的穩(wěn)定性和實用性。為研究基于CUBE的多波束異常值檢測算法的實際應(yīng)用奠定了良好的基礎(chǔ)。
[Abstract]:Multi-beam sounding sonar as the most important submarine detection equipment has been widely used in modern ocean monitoring and seabed resources survey and other fields. In the process of multi-beam bathymetry, it is difficult to evaluate the bathymetric quality directly because the absolute true water depth is not known, and the measured results are affected by many uncertain factors, and the bathymetric data inevitably contain abnormal values. This will lead to the generation of pseudo-topography, which will seriously affect the deep application of survey results and lead to a large amount of human and material resources wasted. Therefore, there is an urgent need for an efficient and robust method for automatic detection and elimination of outliers. In this paper, a method of detecting outliers in multi-beam sounding based on CUBE (Combined Uncertainty Bathymetry Estimator) is proposed. On this basis, the real-time display and control software of multi-beam bathymetry is designed and developed in combination with the research and development of the multi-beam sounder in our research group, and the integrated detection function of submarine characteristics is extended. Therefore, this paper focuses on the uncertainty propagation model, the updating process of node estimation, the optimal criteria of the optimal process and the design and development of display control software. First of all, through the multi-beam bathymetric principle, composition and submarine elevation calculation, beam footprint location calculation and other multi-beam post-processing technology, The main factors that affect vertical and horizontal uncertainty in measurement and processing are analyzed and reasonable vertical uncertainty and horizontal uncertainty propagation models are established in combination with the above factors. The influence of each error source on depth error and position error and the information of depth and uncertainty of test point in measuring area are calculated. Secondly, combined with Bayesian theory, the principles of three stages of node estimation, including absorption, intervention and optimal selection, are studied and realized by programming. An example is given to calculate the grid node estimation updating process in which the bathymetric point sequence absorbs the bathymetric point information. A minimum relative depth error criterion based on prior is proposed. The robustness and efficiency of the multi-beam outlier detection algorithm based on CUBE are verified by sea trial data processing. Finally, the design and development of the real-time display and control software for multi-beam sounding is completed, and the system flow and function of the real-time display and control software are introduced in detail. The real-time display and control software has the characteristics of rich function and complete performance. At the same time, the function of real-time display and control software for multi-beam bathymetry is extended, and the interface between submarine geomorphology and submarine shallow strata section is added, and a set of integrated detection and control software for submarine characteristics is designed. The stability and practicability of the integrated display and control software are verified by the actual offshore test. It lays a good foundation for the practical application of multi-beam outlier detection algorithm based on CUBE.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：P229

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