CN-121977514-A - Unmanned ship water depth measuring method and electronic equipment

CN121977514ACN 121977514 ACN121977514 ACN 121977514ACN-121977514-A

Abstract

The application provides a water depth measuring method of an unmanned ship, which is provided with a first positioning device, a second positioning device and a depth measuring device, and comprises the following steps of determining the plane distance and the height difference between the first positioning device and the second positioning device according to the positions of the first positioning device and the second positioning device; the method comprises the steps of determining the pitch angle of the unmanned ship according to the plane distance and the height difference, measuring an initial water depth value of the unmanned ship through the depth measuring device, determining the water bottom gradient according to the pitch angle and the initial water depth value, and determining the corrected water depth value of the unmanned ship according to the pitch angle, the initial water depth value and the water bottom gradient. According to the scheme provided by the application, the accuracy and reliability of unmanned ship water depth measurement can be improved, especially, the measurement of underwater abrupt change terrains such as channel side slopes, underwater submerged reefs and the like is more accurate, the plane position deviation of the water depth point caused by the longitudinal inclination angle of the unmanned ship is effectively avoided, and the real water depth value of the corresponding point position is obtained.

Inventors

ZHANG XINGQIANG
LIU HONG
ZOU YINGJUN
YIN XUEWEI
YANG JINGDAO

Assignees

上海达华测绘科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260205

Claims (10)

1. A method for measuring the depth of water in an unmanned ship, wherein the unmanned ship is provided with a first positioning device, a second positioning device and a depth measuring device, the method comprising the steps of: determining a plane distance and a height difference between the first positioning device and the second positioning device according to the positions of the first positioning device and the second positioning device; Determining the pitch angle of the unmanned ship according to the plane distance and the height difference; Measuring an initial water depth value of the unmanned ship through the depth measuring device; Determining the gradient of the water bottom according to the longitudinal inclination angle and the initial water depth value; And determining the corrected water depth value of the unmanned ship according to the longitudinal inclination angle, the initial water depth value and the water bottom gradient.
2. The unmanned ship water depth measuring method according to claim 1, wherein, The first positioning device is arranged at the bow of the unmanned ship, and the second positioning device is arranged at the stern of the unmanned ship; The installation heights of the first positioning device and the second positioning device are the same, so that the phase center connecting line of the first positioning device and the second positioning device and the head and tail center line of the unmanned ship are in a straight line.
3. The unmanned ship water depth measuring method according to claim 1, wherein the depth measuring device is installed at the bottom of the unmanned ship and is located on a projection line of the first and second positioning devices at the bottom of the unmanned ship.
4. The unmanned ship water depth measuring method according to claim 1, wherein the positions of the first and second positioning devices are represented by three-dimensional coordinates including longitude, latitude, and elevation; The method for determining the plane distance and the height difference between the first positioning device and the second positioning device according to the positions of the first positioning device and the second positioning device comprises the following steps: Determining a planar distance between the first positioning device and the second positioning device according to the longitude and the latitude of the first positioning device and the second positioning device; And determining the height difference between the first positioning device and the second positioning device according to the heights of the first positioning device and the second positioning device.
5. The unmanned ship water depth measurement method according to claim 1, wherein the determining the water bottom gradient according to the pitch angle and the initial water depth value comprises: determining a beam center point of the sounding device according to the longitudinal inclination angle, the initial water depth value and the heading azimuth angle of the unmanned ship; Determining the width of the wave beam footprint of the depth measuring device according to the wave beam angle and the initial water depth value of the depth measuring device; searching by taking the beam footprint width as a diameter and taking the beam center point as a circle center to obtain a first sounding point and a second sounding point; Measuring the water depth values of the first depth measurement point and the second depth measurement point through the depth measurement device; And determining the water bottom gradient according to the water depth value of the first sounding point, the water depth value of the second sounding point and the wave beam footprint width.
6. The unmanned ship water depth measuring method according to claim 5, wherein the azimuth heading angle of the unmanned ship is determined according to the positions of the first and second positioning devices.
7. The unmanned ship water depth measuring method according to claim 5, wherein the searching by using the beam footprint width as a diameter with the beam center point as a center of a circle, to obtain a first sounding point and a second sounding point, comprises: taking the beam footprint width as a diameter by taking the beam center point as a circle center, and searching in the navigation advancing direction of the unmanned ship to obtain the first sounding point; and searching in the direction opposite to the navigation advancing direction of the unmanned ship by taking the beam footprint width as the diameter and taking the beam center point as the circle center to obtain the second sounding point.
8. The unmanned ship water depth measuring method according to claims 1 to 7, wherein the first and second positioning devices are global navigation satellite systems.
9. The unmanned ship water depth measurement method according to any one of claims 1 to 7, wherein the depth measuring device is a depth measuring transducer.
10. An electronic device, the electronic device comprising: A processor; A memory for storing processor-executable instructions; wherein the processor is configured to perform the unmanned ship water depth measurement method of any one of claims 1-9.

Description

Unmanned ship water depth measuring method and electronic equipment Technical Field The invention relates to the field of surveying and mapping, in particular to an unmanned ship water depth measuring method and electronic equipment. Background The unmanned ship measuring technology takes an autonomous navigation platform as a core, fuses GNSS RTK high-precision positioning (real-time dynamic differential positioning (RTK) technology based on a Global Navigation Satellite System (GNSS)), single-beam sounding, ADCP (acoustic Doppler flow profiler) flow speed and other multi-source sensors, realizes real-time acquisition and remote return of underwater topography, hydrology, water quality and other data, and can perform all-weather efficient operation in rivers, lakes and offshore waters through route planning and automatic obstacle avoidance. Unmanned ship is applied more and more widely in mapping work, takes high accuracy, high efficiency and strong adaptability as core advantage, gradually replaces traditional manual work and ship carrying operation. However, the unmanned ship has lighter ship body (about 20-30 kg), and can have the trim phenomenon of rising of the ship head and sinking of the ship tail during measurement navigation, the reason is mainly hydrodynamic action, the bottom of the ship body of the unmanned ship is subjected to hydrodynamic lift force during navigation, the ship head is lifted, at this time, measurement operation is carried out, the beam emitted by the sounding instrument transducer fixedly arranged on the unmanned ship is emitted to the water bottom not vertically, but at a certain angle, and is reflected in a certain area of the water bottom and then received by the sounding instrument transducer, so that the water depth value is obtained, but the obtained water depth value has errors, and the plane position also has errors. When the speed of the unmanned ship is increased, the hydrodynamic effect is more obvious, the longitudinal inclination angle is increased and can reach 3-5 degrees, the plane position deviation of the measured water depth value is more obvious at the moment, and particularly, when the abrupt change condition exists in underwater topography, the water depth error caused by the abrupt change is larger. Therefore, there is a need for an unmanned ship water depth measurement method that can effectively overcome the above-mentioned problems and obtain reliable unmanned ship water depth measurement data. Disclosure of Invention The embodiment of the application provides a water depth measuring method and electronic equipment for an unmanned ship, which can weaken the influence of a longitudinal inclination angle and a water bottom topography inclination on water depth measurement to a large extent when the unmanned ship runs at a high speed, and improve the water depth measuring precision and reliability of the unmanned ship water depth measurement, especially in a steep slope area. The embodiment of the application provides a water depth measuring method of an unmanned ship, wherein the unmanned ship is provided with a first positioning device, a second positioning device and a depth measuring device, and the method comprises the following steps: determining a plane distance and a height difference between the first positioning device and the second positioning device according to the positions of the first positioning device and the second positioning device; the method comprises the steps of determining the pitch angle of the unmanned ship according to the plane distance and the height difference, measuring an initial water depth value of the unmanned ship through the depth measuring device, determining the water bottom gradient according to the pitch angle and the initial water depth value, and determining the corrected water depth value of the unmanned ship according to the pitch angle, the initial water depth value and the water bottom gradient. In an embodiment, the first positioning device is mounted on the bow of the unmanned ship, the second positioning device is mounted on the stern of the unmanned ship, and the mounting heights of the first positioning device and the second positioning device are the same, so that the phase center connecting line of the first positioning device and the second positioning device is in a straight line with the head-tail center line of the unmanned ship. In an embodiment, the depth finding device is mounted to the bottom of the unmanned ship and is located on a projection line of the first and second positioning devices on the bottom of the unmanned ship. In an embodiment, the positions of the first positioning device and the second positioning device are represented by three-dimensional coordinates, the three-dimensional coordinates comprise longitude, latitude and elevation, the plane distance and the height difference between the first positioning device and the second positioning device are determined according to