多波束测深声呐自主数据质量监测及门限控制

Autonomous data quality monitoring and depth gate control of multibeam bathymetric sonar

为满足水面无人艇等海洋无人平台的需求,确保多波束测深声呐系统在无人监控和参数调节下具备可靠自主工作能力,本文提出一种数据质量在线监测及门限参数控制方法。通过建立基于质量和异常因子的监测模型,结合粒子滤波技术,提高海底地形跟踪门限控制抗差性。仿真和湖上试验显示该方法能判定数据有效性、适应地形变化,并提供合理深度门限,适用于多波束测深声呐系统的在线数据质量监测和无人自主控制。

To meet the requirement of ocean unmanned platforms,such as unmanned surface vehicles,and ensure the reliable autonomous operation of multibeam bathymetric sonar systems under unmanned monitoring and parame-ter adjustment,a method for online monitoring of data quality and threshold parameter control is developed.By es-tablishing a monitoring model based on quality and anomaly factors coupled with particle filtering,the robustness of threshold control for seabed terrain tracking is improved.Simulation and lake trials show the capability of the meth-od to determine data validity,adapt to changes in underwater terrain,and provide reasonable depth thresholds.This approach is applicable for online data quality monitoring and autonomous control of multibeam bathymetric so-nar systems.