基于CUBE多波束异常值检测算法与显控软件

发布时间：2018-08-31 13:59

【摘要】：多波束测深声纳作为当前最重要的海底探测设备被广泛应用于现代海洋监测与海底资源调查等领域。在多波束测深过程中,由于绝对真实水深无法获知,且测量结果受众多不确定因素影响,难以直接评估其测深质量；再加上测深数据中不可避免地含有异常值,这将导致海底假地形的产生,严重影响测量成果的深入应用,也造成了大量测量人力和物力浪费。因此迫切需要一种高效、稳健的异常值自动检测与剔除方法。针对以上现状本文提出一种基于CUBE(Combined Uncertainty Bathymetry Estimator)的多波束测深异常值检测方法。在此基础上,结合课题组多波束测深仪的研制设计与开发了多波束测深实时显控软件,并对其扩展了海底特性一体化探测功能。因此本文重点研究不确定度传播模型、节点估计更新过程、择优过程的最优准则以及显控软件设计开发等四个问题。首先,通过对多波束测深原理、组成和海底高程计算、波束脚印位置解算等多波束后处理技术的研究,分析得到在测量和处理过程中主要影响垂直不确定度和水平不确定度的因素,结合上述因素分别建立合理的垂直不确定度和水平不确定度传播模型,计算了各项误差源对深度误差和位置误差的影响和测区内测睬点的深度和不确定度信息。其次,结合贝叶斯理论研究了节点估计的吸收、介入和择优三个阶段的原理并编程实现。实例计算了测深点序列吸收测深点信息的网格节点估计更新过程。进行了基于介入机制和择优过程的最优准则的研究,提出一种基于prior的最小相对深度误差准则。通过海试数据处理验证了本文研究的基于CUBE的多波束异常值检测算法的稳健性与高效性。最后,完成了多波束测深实时显控软件的设计与开发,详细介绍了该实时显控软件的系统工作流程和功能,该实时显控软件具有功能丰富、性能完备的特点。同时,对多波束测深实时显控软件功能进行了扩展,增加了海底地貌和海底浅地层剖面显示界面,设计了一套海底特性一体化探测显控软件。通过实际海上试验,验证了该一体化显控软件的稳定性和实用性。为研究基于CUBE的多波束异常值检测算法的实际应用奠定了良好的基础。
[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.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：P229

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