Method of reconstructing sea bottom relief in depth measurement by hydroacoustic means and device to this end

FIELD: physics.

SUBSTANCE: invention may be used in executing meteorological interpolations including analysis of wind fields, radiological and chemical contamination, topographical interpolations and solving other problems, for example, research of ocean, applied problems caused by necessity in sea bed mapping to support research and design works in sea areas.

EFFECT: expanded performances, higher validity of reconstruction.

2 cl, 2 dwg

The invention relates to methods of spatial interpolation recovery of the seabed at discrete measurements of depths through sonar and can be used when performing interpolating meteorological, including analysis of the wind fields, the analysis of radiological and chemical contamination, topographic interpolation and others.

A device for detection of seabed by measuring parameters of the echo signal by probing the bottom of the rectangular pulses [1]. Depending on the soil type echo signal at normal incidence to the bottom changes its shape in a wide range from theoretically undistorted rectangular pulse at the monoliths to a considerably wide pulse with a very flat front and a duration of a few times the duration of the parcel on the ground, representing the liquid mass. As an informative parameter is the steepness of the rise front of the echo signal, which is measured and compared with a pre-graduated grid coated with a boundary rigidity for different types of soil. Since it is almost impossible to block the excitation signals of the entire study area, for further development of the surface topography or of obtaining relief of the two-dimensional scalar geoprocess the governmental characteristics apply methods of linear and non-linear interpolation (see, for example, problems of environment and natural resources. M, VINITI, 1999, No. 11, s). In addition to the primary disadvantage of low reliability of recognition of seabed due to the fact that the slew rate of the echo signal is determined mainly by the acoustic properties of the interface water/soil, not the entire thickness of the soil, in the presence on the surface of liquid soil roughness or stony deposits, the slew rate of the front of the echo signal is determined by the reflective properties of irregularities or sediments, resulting in overestimated values of stiffness of the soil, and in combination with the subsequent restoration of the terrain surface by interpolation of measurements can lead to arbitrary decisions and, consequently, to a significant loss in the implementation of specific tasks.

In the known technical solution [2], representing the sonar technology for detection of marine soils, due to the fact that the degree of the physical condition of the soil on the elongation of accompolish, based on the dependence of the elongation of the echo signal from the physico-mechanical characteristics of the soil improved the accuracy of determining the parameters reflecting boundary and reliability of measurement results compared with the technical solution [1]. However, recovery of relief on saiclebelia surface is to use a formal method of interpolation of the measured values, which leads to substantial losses in the implementation of specific tasks.

In the known method [3]which represents the method of determining the depths of the waters phase side-scan sonar and phase of the side-scan sonar for its implementation, including the radiation of the acoustic signal toward the bottom and reception of the reflected signals at two points located vertically at a given distance, the measurement time delay common-mode signals, the angle of the pitching side of the carrier antennas and determining from the data areas of the ward in-phase signal and the desired depths of the waters of the calculations, which measure the time delay of arrival of the reflected sonar signal vertically, determine the time delay of arrival of the same common-mode signals in the case of reflection from smooth bottom surface for each current direction in accordance with a mathematical expression with the definition of convergence of the calculated and measured values of time delay.

The definition of convergence of the calculated and measured values can reduce the error in determining the depth of the waters to survey the topography of the area. However, the implementation of this method requires a preliminary calculation to determine the estimated directions, provided that, on condition the AI use the results of previously conducted surveys on the study area. Because over time the structure of the surface soil does not remain constant due to the variation of the hydrodynamic geophysical factors, using the calculated data is not always accurate and can lead to significant errors in the final results when shooting topography. In addition, recovery of bottom topography across the sample surface, as in the known technical solutions [1, 2], is to use a formal method of interpolation from the measured discrete values, resulting in significant losses in the realization of specific tasks, in particular at formalization of measurement results in cartographic products.

When using the known methods of solving the problem of recovery of the relief is to build a continuous two-dimensional function that passes through the measured discrete values of depth. Thus the first step is triangulation of measurement points, i.e. the set of points of measure enter the relationship of "proximity" points, and the second stage is built the actual search function, as a composition of elementary weight functions (linear or nonlinear). When such processing source information property relief is not taken into account, and in the process, artifacts can appear false ridges and troughs in the form of relief and followed the Sabbath.) it is at this stage is broken morphological recovery method of relief.

Identified deficiencies deprived known method of recovery of the seabed in the measurements of the depths by acoustical means, installed on mobile offshore facilities, including depth measurement with the definition of the amendments, due to the installation location hydroacoustic equipment, determination of the vertical distribution of sound speed in water reflected signals by obtaining data on the triangulation of observations and their subsequent interpolation, shape recovery of bottom topography, building a bottom surface, in which when determining the amendments additionally measure the Doppler shift frequency of the reference signal hydroacoustic lag, determine the speed of the rolling sea object by diamondcutter radio and satellite navigation systems, and the determination of the vertical distribution of velocity of sound in water perform time series density of sound energy reflected from internal discontinuities of the aquatic environment and the bottom, by registering all incoming signals scattered from the internal heterogeneity of the marine environment, from the moment of sending a sound pulse until the arrival of the reflected from the bottom of the signal formation time series density is Bokovoy energy, reflected from internal discontinuities of the marine environment and the bottom in accordance with the dependence of U(Z=0,t), where Z is the depth at time t, and the speed of sound in water C(Z) is determined by solving the inverse scattering problem, additionally register low-frequency waves through artificially induced high-frequency waves are pumping, recovery landforms perform relative changes in elevation in accordance with the inequality

|h(r₂)-h(r₁)|<A|r₂-r₁|^λwhere h(r₂)-h(r₁the difference of the heights in two spatial points r₁, r₂; And (h older continuous), λ (indicator holder) is a positive number; 0<λ≤1. at the same time carry out the assessment of the accuracy of reconstruction of the relief on the value of relative elevation changes depending on the spatial scale, the construction of the relief surface of the bottom data triangulation observations are interpreted as patterns undirected graph with the definition of the lengths (weights) of the edges of the graph, and the device for implementing the method, representing the sonar to determine the depths of the waters, containing functionally connected to the first and second antennas, one of which is radiant, and the second reception forming piemeslotie channels, computer, control unit, in which b is OK control connected with priekaistaudami channels, the solver, which introduced additional driver signals the pump, plotter, parametric radiating tract, whose output is connected with the radiating antenna and the input is connected to the output of the shaper pump, whose output is connected to the output of the control unit, plotter their inputs connected to the outputs of the transmitter and control unit [4].

In contrast to the known technical solutions [1, 2, 3], in which the definition of the amendments is performed by determining the average vertical velocity of sound propagation in water by determining the hydrological parameters by measuring the temperature and salinity at standard levels or by measuring the velocity of propagation of sound in water at different horizons through the installation of additional sensors in the aquatic environment, connected by a communication medium measuring apparatus depth, in the known technical solution [4] additionally measure the Doppler shift of the reference signal and the speed of movement of the carrier on external sources of information, which determine the average vertical velocity of propagation of sound in water environment, on the received values which define an amendment that allows for continuous monitoring of the change in the average vertical velocity distribution the value of sound in sea water in the process of monitoring of the World ocean, simplifies the process of determining the average vertical velocity of sound propagation in the water environment with the required accuracy for determining the corrections of the measured values of depth, and also eliminates the need for additional special equipment.

When using this method are accuracy requirements determine the depth at surveying the works of established existing regulations in terms of navigation, due to the possibility of measuring the Doppler shift of the reference signal hydroacoustic lag and speed of movement of the carrier instrumentation depth on external sources of information, which determine the average vertical velocity of propagation of sound in the aquatic environment.

Shape recovery of bottom topography on discrete measurements performed by the integral transformation, which does not increase the error of the observations in the original data when processing in contrast to known methods, with the differential character.

Methods of processing sets of homogeneous polynomials are the most developed methods in computer algebra, and combinatorial analysis method geospatial field spot measurements allows to solve applied problems taking into account the spatial and temporal dynamics of these field is.

Application of a known method of recovery of the seabed in the measurements of the depths by acoustical means, installed on mobile offshore [4] mainly limited by two technical challenges is the shooting of the bottom relief and subsequent mapping for navigation and determination of the average vertical velocity of sound propagation in water at different horizons for studying the processes of moving water layers.

At the same time, there are a number of tasks, including conducting environmental status of marine waters in the vicinity of offshore oil and gas terminals and defining the boundaries of the contaminated waters and continental shelves and the definition of biological resources.

Determination of the parameters of the limits of the continental shelf requires work on the inventory and preparation of coastal inventory of the coastal zone, including the mapping of cadastral survey and topographic maps.

The absence of maps, cadastral survey and topographical plans for marine waters of the continental shelf from the legal point of view makes it difficult coastal hydraulic engineering, which is associated with defining the boundaries of the coastal zone. In addition, there are possible conflicts when defining the boundaries of the marine vodoohda the different zones and coastal protective strips, in accordance with the Water code of the Russian Federation 2006, as amended by Federal law dated 14.07.2008 No. 118-FZ measured from the line of maximum tide.

The objective of the proposed technical solution is the extension of functionality while enhancing the reliability of the reconstruction of the shape of the seabed at discrete measurements of depths through sonar technology.

The problem is solved due to the fact that in the method of recovery of the seabed in the measurements of the depths by acoustical means, installed on mobile offshore facilities, including depth measurement with the definition of the amendments, due to the installation location hydroacoustic equipment, determination of the vertical distribution of sound speed in water reflected signals by obtaining data on the triangulation of observations and their subsequent interpolation, shape recovery of bottom topography, building a bottom surface, when defining the amendments additionally measure the Doppler shift frequency of the reference signal hydroacoustic lag, determine the speed of the rolling sea object by diamondcutter radio and satellite navigation systems, the definition of vertical distribution of sound speed in water perform time series density sound the th energy reflected from internal discontinuities of the aquatic environment and the bottom, by registering all incoming signals scattered from the internal heterogeneity of the marine environment, from the moment of sending a sound pulse until the arrival of the reflected from the bottom of the signal formation time series density of sound energy reflected from the internal heterogeneity of the marine environment and the bottom in accordance with the dependence of U(Z=0,t), where Z is the depth at time t, and the speed of sound in water C(Z) is determined by solving the inverse scattering problem, additionally register low-frequency waves through artificially induced high-frequency waves are pumping, recovery landforms perform relative changes in elevation in accordance with the inequality

|h(r₂)-h(r₁)|<A|r₂-r₁|^λwhere h(r₂)-h(r₁the difference of the heights in two spatial points r₁, r₂; And (h older continuous), λ (indicator holder) is a positive number; 0<λ≤1, thus perform an assessment of the accuracy of reconstruction of the relief on the value of relative elevation changes depending on the spatial scale, the construction of the relief surface of the bottom data triangulation observations are interpreted as patterns undirected graph with the definition of the lengths (weights) re the er graph, in which in contrast to prototype advanced during the formation of the time series sound energy density determines the number of echo signals from the registered inhomogeneities, while profiling the bottom of the sonar perform profiling of the bottom high-frequency profilograph, low-frequency parametric profilograph and multibeam echo sounder, fluctuation of sea level, determine the strength characteristics of the soil on the measured drag coefficients and friction from the shoreline to the limits of the continental shelf, forming cadastral maps taking into account the restored bottom topography and maps of sections of soil strength characteristics of the soil, when rendering a registered area of the bottom topography perform the output of geospatial data in two-dimensional and three-dimensional view of the structure data in SVG format, building the profile of the terrain incision is performed by interpolating the points of the vertical section of the soil in the form of two-dimensional rational spline NURBS functions, the approximation of the characteristic points of the section are performed on the basis of the cubic spline with zero derivative boundary, the mapping results characteristics of soils of the continental shelf put the geodetic coordinates of the points penetrometer display resolution is the call of the soil, the distance between sections does not exceed half the minimum diameter of the inhomogeneities and the registration of inhomogeneities measurement frequency sections is more than 1/8÷1/10 of the diameter of the inhomogeneities, and the device for implementing the method, representing the sonar to determine the depths of the waters, containing functionally connected to the first and second antennas, one of which is radiant, and the second reception forming piemeslotie channels, computer, control unit, which control unit is connected with priekaistaudami channels, transmitter, which introduced additional driver signals the pump, plotter, parametric radiating tract, whose output is connected with the radiating antenna and the input is connected to the output of the shaper pump, whose output is connected to the output of the control unit, plotter their inputs connected to the outputs of the transmitter and control unit, unlike the prototype additionally introduced the second side-scan sonar, multi-generator probe pulses, the multichannel receiver of the echo signals, the functional block control, multibeam sonar, high-frequency profilograph, low-frequency parametric profilograph, block penetrometers, tide gauge block, block visualisation and, at this low frequency parametric profilograph their inputs coupled to the output driver signals the pump and the multi-generator probe pulses, which other outputs connected to the inputs of the second side-scan sonar, high-frequency profilograph and multibeam echosounder accordingly, the multi-channel receiver echoes their outputs connected to the inputs of the functional block control that its output connected to the input of the transmitter and the input-output input-output control unit, the tide gauge block and the block penetrometer on the hydroacoustic communication channel connected to the functional block control unit rendering its inputs connected to the outputs of the functional block management control unit, transmitter and plotter, respectively.

Novel features of the proposed technical solution consists in the fact that, in addition, during the formation of the time series sound energy density determines the number of echo signals from the registered inhomogeneities, while profiling the bottom of the sonar perform profiling of the bottom high-frequency profilograph, low-frequency parametric profilograph and multibeam echo sounder, determine the strength characteristics of the GRU is the measured drag coefficients and friction from the shoreline to the limits of the continental shelf, form cadastral maps taking into account the restored bottom topography and maps of sections of soil strength characteristics of the soil, when rendering a registered area of the bottom topography perform the output of geospatial data in two-dimensional and three-dimensional view of the structure of the data in SVG format, building the profile of the terrain incision is performed by interpolating the points of the vertical section of the soil in the form of two-dimensional rational spline NURBS functions, the approximation of the characteristic points of the section are performed on the basis of the cubic spline with zero derivative boundary, the mapping results characteristics of soils of the continental shelf put the geodetic coordinates of the points penetrometer showing sections of the soil, the distance between sections does not exceed half of the minimum diameter of the inhomogeneities and the registration of inhomogeneities measurement frequency sections is more than 1/8÷1/10 of the diameter of the inhomogeneities, and the device for implementing the method, representing the sonar to determine the depths of the waters, containing functionally connected to the first and second antennas, one of which is radiant, and the second reception forming piemeslotie channels, computer, control unit, which control unit is connected with priamo the illuminating channels, the solver, which introduced additional driver signals the pump, plotter, parametric radiating tract, whose output is connected with the radiating antenna and the input is connected to the output of the shaper pump, whose output is connected to the output of the control unit, plotter their inputs connected to the outputs of the transmitter and control unit, unlike the prototype additionally introduced the second side-scan sonar, multi-generator probe pulses, the multichannel receiver of the echo signals, the functional block control, multibeam sonar, high-frequency profilograph, low-frequency parametric profilograph, block penetrometers, tide gauge block, the block visualization, while the low-frequency parametric profilograph their inputs coupled to the output driver signals the pump and the multi-generator probe pulses, which other outputs connected to the inputs of the second side-scan sonar, high-frequency profilograph and multibeam echosounder accordingly, the multi-channel receiver echoes their outputs connected to the inputs of the functional block control that its output connected to the input of the transmitter and the input-output input-output control unit, the unit mareo is rufov and block penetrometer on the hydroacoustic communication channel connected to the functional block control the unit of rendering its inputs connected to the outputs of the functional block control block control computer and plotter, allowing to solve problems of ecological monitoring, determination of biological resources, define limits of the continental shelf.

Novel features of the prior art have been identified that allows to make a conclusion on the conformity of the proposed technical solution the condition of patentability "inventive step".

The essence of the proposed method and device for its implementation is illustrated by drawings (figure 1, figure 2).

Figure 1. The block diagram of the device includes the imaging unit signals the pump 1, intended for the formation of dual-frequency probing signal pump with a given length and a given modulation, generation of pulses of the synchronization signal and Gating the receiving channel, parametric radiating tract 2, designed to enhance the pumping signals on both frequencies to the nominal level (in separate channels may be phase correction amplitudes), the emitting transducer pump 3, which is designed to convert electrical signals into acoustic signals required directivity, the receiving antenna signal of the difference frequency of 4, prednaznachennuyu for forming directivity for the reception and education of the acoustic wave difference frequency into electrical signals, the receive path 5 that is designed for pre-processing the received signals and amplifying them to the level required for registration of received signals, the plotter 6, the control unit 7, the transmitter 8, sonar lag 9, multibeam sonar 10, high-frequency profilograph 11, the low-frequency parametric profilograph 12, block penetrometer 13, block tide gauge 14, a multichannel pulse generator 15, the multichannel receiver of the echo signals 16, the second side-scan sonar 17, block imaging 18.

Figure 2. Algorithm visualization registered area of terrain

Concept and principle of operation of the devices 1-9 similar concepts and principle of operation of the device prototype [4].

Multibeam sonar 10 is designed to search for fish aggregations, quantitative stock assessment and profiling of the bottom at the operating frequency 204 kHz, with a width of directivity 6×10 C and 12×20 degrees and pulse duration of 50, 200, 500 microseconds in the range of depths of 5, 10, 20, 50, 100 and 200 m

The second side-scan sonar 17, as the first (device prototype), is designed to capture bottom topography on the second Board and search and quantify fish accumulations and solitary fish away from a vessel. Operating frequency of the Pinger is 286 and 320 kHz, the width of the characteristic is cteristic direction of 1.5×50 3×50 degrees when the pulse duration 50, 100 μs and 1 MS in the range of depths of 10, 20, 50, 100 and 200 m

High frequency profilograph 11 is designed for accurate profiling of the bottom relief.

Low-frequency parametric profilograph 12 is designed for profiling the bottom sediments operating frequencies 10 and 150 kHz, with a width of directivity 3×4 C and pulse duration of 0.5, 1 and 2 MS in the range of depths of 10, 20, 50, 100 and 200 m

Multichannel pulse generator 15 includes emitting paths multibeam echosounder 10 of the first and second side-scan sonars, generators, pumping bass parametric profilograph 12.

Multi-channel receiver of the echo signals 16 contains reception paths multibeam echosounder 10 of the first and second side-scan sonars high-frequency profilograph 11, the low-frequency parametric profilograph 12, four signal processor, designed for converting analog signals into digital form and initial processing of these signals, the communication interface, the control circuit, the driver signals, the circuit time automatic gain control and signal transducer sensors.

The penetrometer 13 is intended to determine the undisturbed soil structures in terms of its natural occurrence and is a conical projectile possesses the hydrated sensors, under the influence of gravity or by using borax penetrate into the soil. The measured drag coefficients and friction are determined by the strength characteristics of the soil. Depending on the working depth in the range of 0.5 to 2000 m using a set of sensors with depth of penetration into the soil at a distance of from 3 to 20 meters Analogues are penetrometry type TM - 153 and CPT.

A tidal gauge 14 is intended for registration of sea level fluctuations. Depending on the depth of the water environment are automatic tide gauge type AMB-20 and MMA-200.

To receive daily information on the nature of the fluctuations of the sea level tide gauge installed in different points of the marine environment in the direction from the shoreline. Information recorded by the tide gauge, is used to correct the measured depths during the shooting of the bottom topography on the areas where level positions normal types do not provide sufficient accuracy or using them is difficult, and to determine the nature of the tide and its harmonic components when solving problems related to safe operation of the marine terminal, including oil and gas deposits. The measurement results are transmitted to the ship by radio and acoustic communication channel.

Block imaging 18 is a hardware computing and videosredtube software to display the selected information (underwater peaks, depression, pipelines, pollution, sections of the soil, the products of the biosphere) in a two-dimensional or three-dimensional representation.

The method is implemented as follows.

When the vessel is at a predetermined area of the bottom relief survey tacks located from the shoreline towards the sea, through the first and second side-scan sonars installed from the right and left sides of the vessel are shooting bottom relief, search and quantitative assessment of the products of the biosphere (as clusters and single copies)by multibeam echosounder 10 perform profiling of the bottom and search for the products of the biosphere, through the high-frequency profilograph 11 perform profiling of the bottom, through the low-frequency parametric profilograph 12 perform profiling of the bottom sediments. Synchronously with the sensing surface of the bottom and the process of determining depths to determine the vertical velocity of sound propagation in the water environment through hydroacoustic lag 9 through tide gauge block 14 fluctuation of sea level and through regular marine receiver-indicators or satellite radio navigation systems determine position and speed of the ship.

The data define an amendment to the depths on the known dependencies and algorithms and wodatiha in the transmitter 8. The measured values of the depths treated by known algorithms, as in the prototype. For measured values of sound speed in water in a vertical plane define a field speed of sound. Determination of vertical distribution of sound speed in water time series density of sound energy reflected from internal discontinuities of the aquatic environment and the bottom, perform, as in the prototype, by registering all incoming signals scattered from the internal heterogeneity of the marine environment, from the moment of sending a sound pulse until the arrival of reflected from the bottom of signals forming the time series density of sound energy reflected from the internal heterogeneity of the marine environment and the bottom. The speed of sound in water is determined by solving the inverse scattering problem with the registration of low-frequency waves pumping through artificially induced high-frequency waves are pumping, they will judge the relative orientation of the interacting waves and the magnitude of the parameter of nonlinearity of the medium.

Further processing of the time series and the procedure of determination of parameters of hard-inhomogeneous medium according to the algorithms proposed in the prototype.

According to the received discrete measurements of depth values, and taking into account the coefficients of the scattering of sound by the bottom denote the class of functions to which the belongs in relief.

Studies landforms at different spatial scales (according to ProType) showed that the relative elevation changes the power related with spatial scale in the form

|h(r₂)-h(r₁)|<A|r₂-r₁|^λwhere

h(r₂)-h(r₁the difference of the heights in two spatial points;

r₁, r₂And (h older continuous), λ (indicator holder) is a positive number; 0<λ≤1.

With the search function H(r) is expressed as the inverse Fourier transform:

N(x,y)=ℑ(F(ζ), where ζ is the operator inverse Fourier transform,

.

Here i is the imaginary unit, ξ=(cosφ, sinφ),

,

k=0,1,2...

Here

- Radon transform of the function H(x, y) to (x, y)∈R×R=Ω, i.e. the integral transform relating the function H(x, y) on Ω its integrals over all direct (relative to the Euclidean length): x=-tsinφ+pcosφ; y=tcosφ+psinφ.

For a compactly supported function H(x, y) in a simply connected domain Ω. the accuracy of the estimates will be better than the accuracy of traditional treatments interpolation.

Determine the error in Θ(N) recovery relief in the form of the maximum value of the absolute value of the difference between the true surface and restored:

, where K is the total number p is pout moments top accuracy. Accuracy assessment points δ(I_k) will be determined by the location of measurement points.

For optimal distributed points (measurements)that can be defined on the original set of points (see, for example, Sobol I.M. Multidimensional quadrature formulas and Haar functions. M., Nauka, 1969, s.) accurate estimation of the time for the normalized functions is selected in accordance with the expression δ(I_k)≤2/Nk.

Shape recovery of the seabed can be performed after each series of discrete measurements.

In the study of underwater objects, such as marine sections of pipelines, registered echo signals underwater objects are distinguished by their frequency characteristics and estimate their size in the frequency range between the minimum and maximum values of target strength on the frequency dependency (see, for example: Glue K., Medvyn, Acoustical Oceanography. Fundamentals and applications. M.: Mir, 1980, - 580 C.). The value of the target strength is analyzed depending on the works of ka, where a is the radius of the target, k=2π/λ is the wave number. For acoustically hard spherical objects the value of target strength in the intermediate region between the Rayleigh and geometric scattering, i.e. in the region where 1<ka<10, ranges, asymptotically approaching its constant the mu value when ka> >1 (see, for example: Urik R.J. Fundamentals of hydro-acoustics. Leningrad: Sudostroenie. 1978. - 448 C.). The reason for these fluctuations, as shown by theoretical and experimental studies, is the re-emission surface and diffracted waves, which contribute to the formation of the echo signal along with the mirror. The resulting interference between these two types of waves with sufficient duration of pulses leads to oscillations in the frequency dependencies of target strength. The level of these oscillations, the number, spacing between them is determined by the physical parameters of the object, its geometrical size, which allows it to be used as a simple and quite informative features classification and frequency dependence of target strength. Evaluation of the sizes of objects in the aggregate taking into account the absolute value of the target strength is quite sufficient to distinguish objects based on their size and on this basis to decide on belonging to a particular class.

In experimental studies the problem of scattering of sound in acoustically hard elastic sphere, outside the area of effective nonlinear interaction of the waves was solved in accordance with known methods (see, for example: Uketsuke, Aisles, Nuder. The echo signal is crystals from elastic objects. Tallinn: Academy of Sciences of the ESSR, 1974, 214 C.), which allows you to explore with a sufficient degree of accuracy of the sound field of a reflecting object in a homogeneous environment when we can neglect the effect of nonlinear interaction reflected from the object pump waves. These cases include the option of scattering from bodies located in the far zone of the parametric antenna or scattering from spheres arranged in a homogeneous environment with considerable absorption for pump waves, for example in water-saturated homogeneous silt.

Analysis of experimental results showed that for objects made of solid steel sphere, the shape of the reflected signal depends on the ratio between the diameter of the sphere and the length of the acoustic wave. In the case of spheres of acoustically soft material (foam) or hollow and the air-filled sphere with a thin wall shape of reflected pulses in places lows on the frequency dependencies of target strength is different from the shape of the pulse reflected from a solid sphere, which allows the envelope of the echo signal to distinguish a sphere made of acoustically hard and soft materials.

Quantification of the products of the biosphere is done by several algorithms depending on the structure and density of the accumulation of organic food products.

The algorithm is kolichestvennoi assessment generally determines the transition of the number of echo signals to absolute value - the number of organic food, which is determined by the normalized value of the average density of the clusters. Regularities of distribution of density clusters of bioproducts depth is determined by dividing the range into layers and density of clusters for each layer.

In particular, the evaluation of the quantitative characteristics of sparse clusters is based on the expression for the average density of the sparse clusters (see, for example: Ermoliev VA Echo-counting and echo-integrating system for quantitative assessment of fish aggregations. - M.: Food industry, 1979. - c.193):

,

where K₁- number of echo signals from bioproducts from layer 1;

S is the cross section area of the sounder, m;

H - thickness of clusters, m;

Q - repetition frequency of the emitted signals;

T - time of the vessel above the cluster, h;

m is the number of layers.

When scattered clusters use direct echo of the account.

The measured drag coefficients and friction through block penetrometer 13 determine the strength characteristics of the soil.

Penetrometry are conical shells, equipped with sensors, which under the action of gravity or by using borax penetrate into the soil and are installed with the vessel in the direction from the shoreline into the sea. When the volume is measured coefficients of resistance and friction, which determine the strength characteristics of the soil at several horizons in the depth of the soil in the range from 3 to 20 m along the entire length of the waters from the shoreline. Subsequent analysis establish the structure of the soil and make a judgment about the facilities of a particular structure of the underwater soil structure soil of the continental shelf.

The mapping information is carried out by applying the geodesic coordinates of the reflection of hydroacoustic signals from the seabed on the tablet, which is constructed by pairing topographic raster maps and navigation in the following sequence:

- raster navigation map in Mercator projection is subjected to vectorization shoreline navigation maps;

- sampled area, the relevant Maritime area, on which the picture is taken of the bottom topography given vectorization shoreline navigation maps;

- an entry is made in the final raster navigational charts;

- raster topographic maps in the projection of the Gauss-krüger is to scale the navigation map;

- convert the coordinates of the projection of universal transverse Mercator geographic coordinate;

- converts geographic coordinates Mercator projection;

- sampling plot races is RA, the relevant land (coastal) region;

- writes in the final raster topographic maps;

- according to the results of the records in the resulting raster navigational and topographical maps based final raster map combined navigation and topographic information in Mercator projection;

- in the final raster map to be displayed on the display device also displays the path of the vessel.

The mapping results characteristics of soils of the continental shelf put the geodetic coordinates of the points penetrometer display of sections of soil. The distance between sections does not exceed half the minimum diameter of the inhomogeneities and the registration of inhomogeneities measurement frequency sections is more than 1/8÷1/10 of the diameter of the inhomogeneities.

Processing and visualization of the registered areas of the bottom topography, soil, underwater objects, products of the biosphere through a transmitter 8, a plotter 6 and block visualization 18.

When rendering a registered area of the bottom topography data to VRML interpreter (figure 2) are formed in the computer memory of the computing device is further loaded into the interpreter. Why in the boot VRML file included site JavaScript functions which control Studio strobe, flash the ut region of the visible space. Software tools for cartographic visualization are data structures in SVG format, which supports vector and raster data. Rendering data in SVG format is a declarative language interpreter SVG. The data in the SVG structure are formed similarly to the formation of data in VRML format. Based on the data in the XML structure (geospatial information, including the location coordinates relative to the shoreline marine terminals, their dimensions, and so on)received from the database on request, carried out the conversion in browser memory in the structure of the SVG using XSLT T. For simultaneous presentation of geospatial data in two-dimensional and three-dimensional representation is to support the synchronization of navigation and the other scene. To map the scene is the rectangle corresponding to the current region of space, the data which is loaded into the memory of the VRML interpreter. The synchronization SVG is based on JavaScript functions embedded in SVG and HTML. Since synchronization from VRML to make more difficult, the boot file VRML enabled site with JavaScript navigation function, which does not allow three-dimensional image beyond the window of view and constantly monitoring window coordinates of view. These coordinated the ATA serve the necessary information for synchronization with the map stage, which is possible using the timer HTML.

The navigation system is built using an alternative to known technology GA organizing principle point of observation of the three-dimensional scene that uses the standard principle is the observation point is located outside the stage and when navigating the scene is stationary, and change the coordinates of the observation point and the angle. Thus, the center of rotation is not explicitly specified, which is one of the reasons for the loss of image when navigating. In the technology used, the observation point is always in the center of the window of observation and visualized small trihedron axes, and the beginning of the trihedron is always the center of rotation of the image and when navigating the stage moves relative to this center.

In the visualization module 18 also shows the area of the bottom topography and underwater sections of the soil. While performing the interpolation points of the heights (depths) methods of two-dimensional spline functions, specifically in the form of two-dimensional irregular rational fundamental splines (NURBS) (see for example: N. Golovanov. Geometric modeling. M, Fitalic, 2002, - 472 C.). The advantage of this method is to perform interpolation of the elevation points in the form of two-dimensional rational two-dimensional spline NURBS functions, allowing you to build up a smooth surface for wboy landforms, even for breakages with a negative angle. Secondly, the surface elevation is given by the analytical dependence, i.e. a finite set of parameters fixed set of functions (polynomial splines). The analytical form of the task of relief, i.e. in the form of superposition of analytic functions of two variables, allows you to use the entire apparatus of differential geometry to describe the morphometric properties of the terrain, such as calculating the value of the function (height, depth) or differential (slope) at any point (or points) the area of assignment functions. Thirdly, NURBS provide local edit the shape of the surface. In addition, for the same area of land the size of the array DEM data using NUBRS will be at least an order of magnitude less than traditional point of view. The use of NURBS increases the effectiveness of visualization registered and stock information by reducing processing time and required memory. The use of NURBS-based computing is already a fait accompli: graphics packages all operating systems embedded processing algorithms and visualization NURBS, such as graphics packages low: DirectX and OpenGL for Windows. However, when DEM obstacles associated with the effect of the occurrence of some Sith is the Nations violations of monotonicity in the change of the surface - the local appearance of spurious oscillations. In particular the technical implementation of this obstacle is eliminated either by adding new points in the array for interpolation, or by using methods isogeometric approximation by splines (see, for example: B. I. Kvasov Methods isogeometric approximation by splines. - M - Izhevsk: center "Regular and chaotic dynamics". Institute of computer science. 2006. - 416 S.).

In the first case, the resolution of problems associated with the increasing importance of expert work in an iterative procedure for constructing NURBS, the second - with a significant complication of mathematical algorithms technology.

In the proposed method is implemented the construction of a DEM-based NURBS in the form of iterative expert automated procedure. As a programming language used the language MatLab. In this system, the build quality of a DEM is determined by expert comparison of the position of the contour calculated by NURBS, with the position of the corresponding isohypse (isobaths) on the original map.

In a particular implementation of the proposed method, source of information about the terrain serve as a raster map.

In General, when the approximation of the elevation profile of one-dimensional splines should be set to the values of the two first derivatives at the end points of the section. However, such information is unknown is local, and get it in practice impossible. Therefore, as the base spline to approximate the elevation profile along the section used a simple cubic spline with zero boundary derivatives. Due to the fact that there is no explicit two-dimensional splines, because you cannot construct the infinite system of algebraic equations to reconcile the two first derivatives in all directions at adjacent edges of two pieces of spline surfaces, constructing a two-dimensional spline function is performed using tensor products of univariate splines (see, for example: Zavialov YS.. B. I. Kvasov, Miroshnichenko V.L. Methods of spline functions. - L. - M.: Nauka, 1980. - 350 S.).

Approval of the first two differentials center for adjacent rectangular areas of the map is provided by the overlap of job related NURBS.

Thus, the technology of construction of the DEM in analytical form based on NURBS eliminates the phase triangulation and thus to eliminate the drawbacks of the existing technologies. The proposed implementation of the technology can be adapted to other types of source information, and may include more complex types of basic splines.

Implementation of the proposed technical solution the technical difficulties does not represent, as it can be implemented on the basis calculates the selected means and standard shipboard meters depth, technical means of navigation and navigational software.

Sources of information:

1. Inventor's certificate SU # 1103171.

2. Patent RU No. 2045081 C1.

3. Inventor's certificate SU # 1829019 A1.

4. Patent RU No. 2326408 C1.

1. Method of recovery of the seabed in the measurements of the depths by acoustical means, installed on mobile offshore facilities, including depth measurement with the definition of the amendments, due to the installation location hydroacoustic equipment, determination of the vertical distribution of sound speed in water reflected signals, by obtaining data on the triangulation of observations and their subsequent interpolation, shape recovery of bottom topography, building a bottom surface, when defining the amendments additionally measure the Doppler shift frequency of the reference signal hydroacoustic lag, determine the speed of the rolling sea object by diamondcutter radio and satellite navigation systems, and the determination of the vertical distribution of sound speed in water perform on time series of the density of sound energy reflected from internal discontinuities of the aquatic environment and the bottom, by registering all incoming signals scattered from the internal heterogeneity of the marine environment, from the moment of sending a sound pulse is ISA until the arrival of the reflected from the bottom of the signal formation time series sound energy density, reflected from internal discontinuities of the marine environment and the bottom in accordance with the dependence of U(Z=0, t), where Z is the depth at time t, and the speed of sound in water C(Z) is determined by solving the inverse scattering problem, additionally register low-frequency waves through artificially induced high-frequency waves are pumping, recovery landforms perform relative changes in elevation in accordance with the inequality
|h(r₂)-h(r₁)|<A|r₂-r₁|^λwhere h(r₂)-h(r₁the difference of the heights in two spatial points r₁, r₂; And (h older continuous), λ (indicator holder) is a positive number; 0<λ≤1, thus perform an assessment of the accuracy of reconstruction of the relief on the value of relative elevation changes depending on the spatial scale, the construction of the relief surface of the bottom data triangulation observations are interpreted as patterns undirected graph with the definition of the lengths (weights) of the edges of the graph, characterized in that it further during the formation of the time series sound energy density determines the number of the echoes from the registered inhomogeneities, while profiling the bottom of the sonar perform profiling of the bottom high-frequency profilograph, discocactus the m parametric profilograph and multibeam echo sounder, fluctuation of sea level, determine the strength characteristics of the soil on the measured drag coefficients and friction from the shoreline to the limits of the continental shelf, forming cadastral maps taking into account the restored bottom topography and maps of sections of soil strength characteristics of the soil, when rendering a registered area of the bottom topography perform the output of geospatial data in two-dimensional and three-dimensional views of data structures in SVG format, building the profile of the terrain incision is performed by interpolating the points of the vertical section of the soil in the form of two-dimensional rational spline NURBS functions, the approximation of the characteristic points of the section are performed on the basis of the cubic spline with zero derivative boundary, the mapping results characteristics of soils of the continental shelf put the geodetic coordinates of the points penetrometer showing sections of the soil, the distance between sections does not exceed half the minimum diameter of the inhomogeneities and the registration of inhomogeneities measurement frequency sections is more than 1/8÷1/10 of the diameter of the inhomogeneities.

2. The device for implementing the method, representing the sonar to determine the depths of the waters, containing functional soy is yennie the first and second antennas, one of which is radiant, and the second reception forming piemeslotie channels, computer, control unit, which control unit is connected with priekaistaudami channels, transmitter, which introduced additional driver signals the pump, plotter, parametric radiating tract, whose output is connected with the radiating antenna and the input is connected to the output of the shaper pump, whose output is connected to the output of the control unit, plotter their inputs connected to the outputs of the transmitter and control unit, characterized in that it further introduced the second side-scan sonar, multi-generator probe pulses, multi-channel receiver signals, block functional management, multibeam sonar, high-frequency profilograph, low-frequency parametric profilograph, block penetrometers, tide gauge block, the block visualization, while low-frequency parametric profilograph their inputs coupled to the output driver signals the pump and the multi-generator probe pulses, which other outputs connected to the inputs of the second side-scan sonar, high-frequency profilograph and multibeam echosounder accordingly, the multi-channel receiver echoes its in the passages connected to the inputs of the functional block control its output connected to the input of the transmitter and the input-output input-output control unit, the tide gauge block and the block penetrometer on the hydroacoustic communication channel connected to the functional block control unit rendering its inputs connected to the outputs of the functional block control block control computer and plotter, respectively.