多波束测深瞬时姿态误差的改正方法

The Methods of Removing Instantaneous Attitude Errors for Multibeam Bathymetry Data

详细分析多波束测深瞬时姿态误差对水深的影响及在3维地形图上的外观表现,针对性地提出相应的改正措施。将测量的水深数据去除地形趋势信号,得到受姿态误差影响的水深误差数据,采用其是否与横摇变化率和横摇测量值具有线性关系判断属时延还是尺度引起的姿态误差,再搜索确定时延值或尺度系数,以此参数对受影响的区域进行改正。从实测数据处理结果来看,改正结果较理想。

The influences of instantaneous attitude errors on multibeam bathymetry data are analyzed in detail.According to different sources,we use corresponding algorithms to correct induced depth errors.At first,we need to remove the influence of terrain trend through Fourier or Wavelet tool.Then the linear relation of depth errors and roll rate or roll can be used to infer whether the errors are induced by time delay or attitude scale.Once the sources of attitude are known,the parameters of biases can be obtained by adjusting until disappearance of the linear relations. Finally, the induced depth errors will be corrected by the parameters. The method is verified by the real data. It can provide a reference for improving multibeam bathymetry, especially in shallow water.