基于自适应卡尔曼滤波的多波束数据改正方法

Multi-beam Data Correction Method Based on Adaptive Kalman Filter

多波束测深数据质量受声速误差等因素影响较大,针对该情况,利用自适应卡尔曼滤波以相邻条带中央波束作为先验信息,对多波束测深数据进行改正。首先,以相邻条带的中央波束数据构建海底地形大致走向的趋势线作为先验信息,结合观测值与检查线测深值,得到观测值和先验信息的偏差;其次,利用卡尔曼滤波对观测值进行改正并对方法进行分析;最后,利用自适应卡尔曼滤波对多波束测深数据进行优化。实验表明:利用自适应卡尔曼滤波能够对声速整体误差影响的多波束测深数据进行有效改正。

The quality of multi-beam bathymetric data is greatly affected by sound velocity error and other factors.In view of this situation,this paper USES adaptive Kalman filter to correct multi-beam bathymetric data with adjacent band central beam as prior information.Firstly,the trend line of the general trend of seabed terrain is constructed with the central beam data of adjacent bands as the prior information,and the deviation of the observed value and prior information are obtained by combining the observation value and the sounding value of the inspection line.Secondly,Kalman filter is used to correct the observed values and analyze the method.Finally,adaptive Kalman filter is used to optimize the multi-beam sounding data.The experiment shows that the adaptive Kalman filter can effectively correct the multi-beam sounding data affected by the overall error of sound velocity.