多波束系统安装偏差整体校准的地形特征匹配方法
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摘要
针对目前多波束测深系统采用patch test方法、基于去耦性原理确定多波束系统安装偏差因理论不完善带来的实施复杂、计算精度偏低问题,提出了一种多波束系统安装偏差整体校准新方法。首先将地形转换为图像;再利用相关条带地形图像,借助SIFT匹配算法,获取了匹配点对;最后基于匹配点对坐标,利用附有不等式约束的最小二乘平差方法,实现了多波束系统安装偏差的整体解算。试验验证了该方法在简化实施过程、改善安装偏差校准精度方面的有效性。
The patch test method based on decoupling principle to determine MBES(multibeam echo sounders)installation biases often results in complex operation and low accuracy due to theoretical imperfections. Therefore, the overall calibration of the biases is proposed. Firstly, MBES sounding terrain is converted into grayscale image. Then, SIFT(scale-invariant feature transform) is used for matching related terrain images and founding matching point pairs. Finally, the inequality-constrained least square adjustment is used for obtaining the MBES installation biases by the matching point pairs coordinates. The experiment verifies the validation of this method in simplifying the implementation and improving the accuracy of determining these biases.
The patch test method based on decoupling principle to determine MBES(multibeam echo sounders)installation biases often results in complex operation and low accuracy due to theoretical imperfections. Therefore, the overall calibration of the biases is proposed. Firstly, MBES sounding terrain is converted into grayscale image. Then, SIFT(scale-invariant feature transform) is used for matching related terrain images and founding matching point pairs. Finally, the inequality-constrained least square adjustment is used for obtaining the MBES installation biases by the matching point pairs coordinates. The experiment verifies the validation of this method in simplifying the implementation and improving the accuracy of determining these biases.
引文
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[26] 常青,张斌,邵金玲.基于SIFT和RANSAC的特征图像匹配方法[J].华东理工大学学报(自然科学版),2012,38(6):747-751.CHANG Qing,ZHANG Bin,SHAO Jinling.Features image matching approach based on SIFT and RANSAC[J].Journal of East China University of Science and Technology (Natural Science Edition),2012,38(6):747-751.
[27] 余小东,武莹,何腊梅.反距离加权网格化插值算法的改进及比较[J].工程地球物理学报,2013,10(6):900-904.YU Xiaodong,WU Ying,HE Lamei.Improvement and comparison of inverse distance weighted grid interpolation algorithm[J].Chinese Journal of Engineering Geophysics,2013,10(6):900-904.
[2] YANG Fanlin,LI Jiabiao,HAN Litao,et al.The filtering and compressing of outer beams to multibeam bathymetric data[J].Marine Geophysical Research,2013,34(1):17-24.DOI:10.1007/s11001-012-9164-2.
[3] WEI Yukuo,LI Haisen,LU Dan,et al.Dynamic calibration for multi-beam bathymetric system based on characteristic data processing[C]//Proceedings of 2010 IEEE International Conference on Information and Automation.Harbin,China:IEEE,2010:1548-1552.DOI:10.1109/ICINFA.2010.5512267.
[4] 刘芳兰,张志荣,余平.多波束系统横摇、纵倾参数的校正方法[J].吉林大学学报(地球科学版),2004,34(4):621-624.LIU Fanglan,ZHANG Zhirong,YU Ping.The methods correcting roll and pitch biases of multi-beam bathymetric system[J].Journal of Jilin University (Earth Science Edition),2004,34(4):621-624.
[5] 魏玉阔.多波束测深假象消除与动态空间归位技术[D].哈尔滨:哈尔滨工程大学,2011.WEI Yukuo.Technique of bathymetric artifact elimination and seafloor footprint positioning for multibeam bathymetry[D].Harbin:Harbin Engineering University,2011.
[6] SEUBE N,LEVILLY S,DE JONG K.Automatic estimation of boresight angles between IMU and multi-beam echo sounder sytems[M].ZERR B.Quantitative Monitoring of the Underwater Environment.Cham:Springer,2015.
[7] SEUBE N,KEYETIEU R.Multibeam echo sounders-IMU automatic boresight calibration on natural surfaces[J].Marine Geodesy,2017,40(2-3):172-186.DOI:10.1080/01490419.2017.1310156.
[8] HOY S,KISSINGER K.Multibeam calibration:conducting a patch test NOAA ship okeanos explorer,february 2010[EB/OL].[2017-12-13].http://oceanexplorer.noaa.gov/edu/explorer-in-training/hoy/poster.pdf.
[9] GUERIOT D,CHEDRU J,DANIEL S,et al.The patch test:a comprehensive calibration tool for multibeam echosounders[C]//Proceedings of OCEANS 2000 MTS/IEEE Conference and Exhibition.Providence,RI:IEEE,2000:1655-1661.DOI:10.1109/OCEANS.2000.882178.
[10] Costal Oceangraphic Inc.User’s manual hypack max[M].Middletown:Costal Oceangraphic,Inc,2007.
[11] IHO.Manual on hydrography[M].Monaco:International Hydrographic Bureau,2005.
[12] 中华人民共和国交通运输部.JTT790-2010 多波束测深系统测量技术要求[S].北京:人民交通出版社,2010.Ministry of Transport of the People’s Republic of China.JTT790-2010 MBES measurement technical requirement[S].Beijing:China Communications Press,2010.
[13] 王闰成.多波束测深系统的安装校准[J].海洋测绘,2003,23(1):34-37.WANG Runcheng.Installation and calibration of multi-beam sounding system[J].Hydrographic Surveying and Charting,2003,23(1):34-37.
[14] DUNNEWOLD J.Dynamic calibration of multibeam system[M].Delft:Delft University Press,1998.
[15] 张志伟,暴景阳,肖付民.多波束换能器安装偏差对海底地形测量的影响[J].海洋测绘,2016,36(1):51-54.ZHANG Zhiwei,BAO Jingyang,XIAO Fumin.Effects of multibeam transducer installation offsets upon seafloor mapping[J].Hydrographic Surveying and Charting,2016,36(1):51-54.
[16] 张志伟,暴景阳,刘晟.平面拟合法校正多波束换能器横向安装偏差[J].海洋通报,2017,36(4):394-398.ZHANG Zhiwei,BAO Jingyang,LIU Sheng.Roll offset calibration of multibeam transducer by plane fitting method[J].Marine Science Bulletin,2017,36(4):394-398.
[17] 孙文川,暴景阳,金少华,等.一种多波束换能器横摇角度偏差二次校准方法[J].武汉大学学报(信息科学版),2016,41(11):1440-1444.SUN Wenchuan,BAO Jingyang,JIN Shaohua,et al.A re-calibration method for roll bias of multi-beam sounding system[J].Geomatics and Information Science of Wuhan University,2016,41(11):1440-1444.
[18] BJORKE J T.Computation of calibration parameters for multibeam echo sounders using the least squares method[J].IEEE Journal of Oceanic Engineering,2005,30(4):818-831.
[19] 宋迎春,朱建军,陈正阳,等.部分参数有非负约束平差模型的一种新算法[J].武汉大学学报(信息科学版),2007,32(10):883-887.SONG Yingchun,ZHU Jianjun,CHEN Zhengyang,et al.A new approach for adjustment model with some nonnegative constrained parameters[J].Geomatics and Information Science of Wuhan University,2007,32(10):883-887.
[20] 宋迎春,左廷英,朱建军.带有线性不等式约束平差模型的算法研究[J].测绘学报,2008,37(4):433-437.SONG Yingchun,ZUO Tingying,ZHU Jianjun.Research on algorithm of adjustment model with linear inequality constrained parameters[J].Acta Geodaetica et Cartographica Sinica,2008,37(4):433-437.
[21] 朱建军,谢建.附不等式约束平差的一种简单迭代算法[J].测绘学报,2011,40(2):209-212.ZHU Jianjun,XIE Jian.A simple iterative algorithm for inequality constrained adjustment[J].Acta Geodaetica et Cartographica Sinica,2011,40(2):209-212.
[22] 薛耀红,赵建平,蒋振刚,等.点云数据配准及曲面细分技术[M].北京:国防工业出版社,2011.XUE Yaohong,ZHAO Jianping,JIANG Zhengang,et al.Point cloud data registration and surface subdivision technology[M].Beijing:National Defend Industry Press,2011.
[23] LOWE D G.Distinctive image features from scale-invariant keypoints[J].International Journal of Computer Vision,2004,60(2):91-110.
[24] 齐冰洁,刘金国,张博研,等.高分辨率遥感图像SIFT和SURF算法匹配性能研究[J].中国光学,2017,10(3):331-339.QI Bingjie,LIU Jinguo,ZHANG Boyan,et al.Research on matching performance of SIFT and SURF algorithms for high resolution remote sensing image[J].Chinese Optics,2017,10(3):331-339.
[25] CHUM O,MATAS J.Optimal randomized RANSAC[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2008,30(8):1472-1482.
[26] 常青,张斌,邵金玲.基于SIFT和RANSAC的特征图像匹配方法[J].华东理工大学学报(自然科学版),2012,38(6):747-751.CHANG Qing,ZHANG Bin,SHAO Jinling.Features image matching approach based on SIFT and RANSAC[J].Journal of East China University of Science and Technology (Natural Science Edition),2012,38(6):747-751.
[27] 余小东,武莹,何腊梅.反距离加权网格化插值算法的改进及比较[J].工程地球物理学报,2013,10(6):900-904.YU Xiaodong,WU Ying,HE Lamei.Improvement and comparison of inverse distance weighted grid interpolation algorithm[J].Chinese Journal of Engineering Geophysics,2013,10(6):900-904.
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