<br>基于多波束回声测深仪的水下测绘与优化,Journal of Marine Science and Engineering

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基于多波束回声测深仪的水下测绘与优化
Journal of Marine Science and Engineering ( IF 2.7 ) Pub Date : 2024-07-20 , DOI: 10.3390/jmse12071222
Feihu Zhang ₁ , Tingfeng Tan ₁ , Xujia Hou ₁ , Liang Zhao ₂ , Chun Cao ₁ , Zewen Wang ₁

Affiliation

多波束回声测深仪 (MBES) 可实现广泛的水下环境探索。然而，由于相邻多波束声纳数据之间的相关性较弱以及帧间特征匹配的困难，所得到的水下测绘精度经常达不到期望的水平。为了解决这个问题，本研究提出了多波束数据处理系统的开发，其中包括声纳参数配置、数据存储和点云转换功能。随后，采用迭代扩展卡尔曼滤波器（iEKF）算法进行里程估计，便于点云图的初始构建。为了进一步提高测绘精度，我们利用广义迭代最近点（GICP）算法进行点云配准，有效合并同一位置不同时间收集的点云数据。最后，真实世界的湖泊实验表明，我们的方法实现了 15.10 m 的绝对轨迹误差 (ATE) 和 0.97 m 的平均局部点云配准误差。此外，我们还对各种类型的人造目标进行测量。实验结果表明，本文方法计算的目标平均定位误差为4.62 m，满足水下目标探测的精度要求。

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Underwater Mapping and Optimization Based on Multibeam Echo Sounders

Multibeam echo sounders (MBESs) enable extensive underwater environment exploration. However, due to weak correlation between adjacent multibeam sonar data and difficulties in inter-frame feature matching, the resulting underwater mapping accuracy frequently falls short of the desired level. To address this issue, this study presents the development of a multibeam data processing system, which includes functionalities for sonar parameter configuration, data storage, and point cloud conversion. Subsequently, an Iterative Extended Kalman Filter (iEKF) algorithm is employed for odometry estimation, facilitating the initial construction of the point cloud map. To further enhance mapping accuracy, we utilize the Generalized Iterative Closest Point (GICP) algorithm for point cloud registration, effectively merging point cloud data collected at different times from the same location. Finally, real-world lake experiments demonstrate that our method achieves an Absolute Trajectory Error (ATE) of 15.10 m and an average local point cloud registration error of 0.97 m. Furthermore, we conduct measurements on various types of artificial targets. The experimental results indicate that the average location error of the targets calculated by our method is 4.62 m, which meets the accuracy requirements for underwater target exploration.

更新日期：2024-07-20

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