Secondary Detection of MRU Position Deviation and Terrain Elimination of Multi-beam Abnormal Stripe
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摘要:
针对多波束测深数据中常出现的沿航迹向异常条纹在浅水影响显著,传统方法机理不完善和异常消除不彻底问题,基于多波束数据处理原理分析成因,认为主要由于诱导涌浪未补偿或姿态传感器（motion reference unit,MRU）位置偏差量测不准带来的诱导涌浪补偿残余所致,为此提出基于往返测线测深点对深度不符值的MRU位置偏差二次分段探测方法和异常条纹消除方法。首先通过最近平面点搜索,发现同名点对；然后分段构建深度不符值与欲探测的MRU位置偏差关系模型,并借助支持向量机回归参数抗差估计法估计位置偏差；最后给出修正模型,消除测深数据中异常条纹影响。实验表明,所提方法从机理上较彻底地消除了异常测深条纹影响,也为MRU安装偏差探测提供了一种新方法。
Abstract:ObjectivesThe anomaly along-track stripes which often appear in the multi-beam sounding data have significant influence on shallow water. Aiming at the problem that the mechanism of traditional methods is not perfect and the elimination of anomalies is not complete, the causes are analyzed based on the multi-beam data processing principle. It is considered that the main reason is induced heave compensation residual caused by uncompensated induced heave or inaccurate measurement of position deviation of motion reference unit（MRU).
MethodsFor this reason, a method of position deviation detection and elimination of abnormal stripes based on the sounding data of common coverage area is proposed. First, homologous point pairs are found by automatic nearest plane point searching. Second, the relationship model between the water depth difference of the homologous point and the position deviation to be detected was constructed, and the position deviation was estimated by support vector machine regression parameter robust estimation method. Finally, a modified model is given to eliminate the influence of abnormal stripes in the sounding data.
ResultsExperimental results show that: (1) After the calibration of the proposed method, the standard deviation of the difference between the common coverage area of the round-trip lines decreases from 8.5 cm to 2.6 cm. (2) The mutual difference between the detection results of each section is about 1 cm. (3) The proposed method performs (significantly different) on adjacent lines with 50% and 15% overlap area, with standard deviations decreasing from 6.9 cm to 3.9 cm and from 12.9 cm to 7.6 cm, respectively. (4) Using the detected relative position deviation to correct the entire measurement area, the standard deviation of the discrepancy value in the common coverage area is reduced from 0.07 m to 0.03 m.
ConclusionsThe proposed method can completely eliminate the influence of abnormal sounding stripes and provide a new method for detecting MRU installation deviation. However, the results are affected by the overlap area of the adjacent lines, so it is recommended to be performed on the round-trip lines whenever possible.
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http://ch.whu.edu.cn/cn/article/doi/10.13203/j.whugis20210556
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图 2 各因素对单ping测深和沿航迹测深的影响
Figure 2. Effects of Different Factors on Depth in a ping and Along-Track
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图 3 MRU位置偏差分段探测及异常条纹消除
Figure 3. Determination of MRU Location Bias and the Elimination of Abnormal Stripe Terrain
表 1 影响测深的因素及其特点
Table 1 Influence Characteristics of Different Factors on Depth
影响因素 影响特点及变化周期 潮位误差 ping内测深数据整体抬升或降低,变化周期与潮位周期相同 安装偏角 对ping断面测深数据影响与波束入射角相关,在整个测线内一直存在 声速误差 对ping断面测深数据影响随波束入射角增大而增大,在局域一直存在 动吃水 引起ping断面测深数据整体抬升或降低,与船速变化周期相关,一段时间内保持稳定 诱导涌浪 引起ping断面测深数据的整体抬升或降低,与姿态的变化周期相关,变化周期短 
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表 2 两相邻测线不同公共覆盖率情况下的位置偏差探测结果
Table 2 Position Offset Detections of Two Surveying Lines with Different Common Coverage
段数 公共区域覆盖率/% 50 100 15 x/m y/m x/m y/m x/m y/m 1 -1.75 1.88 -1.84 1.78 -1.46 2.19 2 -1.73 1.89 -1.84 1.78 -1.55 2.03 3 -1.77 1.89 -1.84 1.78 -1.84 2.07
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表 3 不同公共覆盖率的相邻测线改正结果
Table 3 Correction Results of Adjacent Lines with Different Common Coverages
公共区域覆盖率/% 改正前后 最大值/cm 最小值/cm 平均值/cm 标准差/cm 100 前 21.0 -25.3 6.9 8.5 后 14.1 -12.8 2.1 2.6 50 前 37.8 -48.3 6.0 6.9 后 35.4 -48.6 4.0 3.9 15 前 62.3 -56.5 17.4 12.9 后 73.4 -64.7 6.4 7.6
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