Method of surveying bottom topography of water body and apparatus for realising said method

FIELD: physics.

SUBSTANCE: disclosed method employs reference depths and coordinates (depths and coordinates on the surveyed water body) and calculation of increments of depths and coordinates as a difference between two adjacent distance vectors measured by a multi-beam echo sounder. That way, each depth and its geodesic coordinates are calculated as a sum of increments of adjacent depths and their geodesic coordinates, starting with the depth and geodesic coordinates of the point of the reference depth. A device for realising the method is also disclosed.

EFFECT: high accuracy of surveying the bottom topography.

2 cl, 13 dwg

The invention relates to hydrography, in particular, to methods and means of capture of bottom topography by determining the depths at a given water area determining their geodetic coordinates.

There is a method of shooting of the bottom relief of water sounder [1], including the ship with the installed sonar set shallower waters, the radiation of the acoustic signals toward the bottom, receiving reflected from the bottom of signals, measurement of the distances from pievescola antenna sonar to the reflecting surface (bottom points), the determination of geographical coordinates of the vessel, the determination of geodetic coordinates pievescola antenna sonar measurements onboard, roll and heave, true course and speed of the vessel, determining the true depth values and their geodetic coordinates and their subsequent registration and indication.

It is also known a device for implementing this method, representing the sounder [2], containing priemyslu antenna, the transmitting unit, priamosmaritime unit, control unit, registration unit, the processing mapping of bottom topography, in which the output of pievescola antenna connected to the input of premoistening block, the output of the emitting unit is connected to pievescola antenna outputs priekaistaudami block data is t to the input of the recording unit, processing and mapping of bottom topography, the inputs of which are connected to the outputs of the ship's gauges components pitching, of course, the velocity and position, and the control unit is connected with the transmitting unit, priemyselna block and the block of information gathering, processing and mapping of bottom topography.

Significant disadvantages of the known method and device are relatively low precision shooting of bottom waters that do not meet the requirements for hydrographic surveying (see, for example: Rules hydrographic service No. 4 (ICB No. 4 shooting of the bottom topography, part 2 - Requirements and methods), L., GUNiO MO USSR, 1984), as well as the substantial complexity of the process, because of the need to perform calculations related to determining corrections for the deviation of the actual average speed of sound in water used in the calculations, the calculated values of the average speed of sound in water for a particular sonar defined indirect by on the measured values of temperature, salinity and density of sea water on accepted practice standard horizon depth or by direct measurement of sound velocity uniformly distributed points throughout the area.

Due to the fact that the required accuracy of the determination of the average sound velocity calculation put the m is provided only in a small local spatial region, in which the measured temperature, salinity and density of sea water or directly the speed of propagation of sound in water for a particular sonar, the precision shooting of bottom topography in the end, weighted by the error due to the influence of small-scale and large-scale variability over time of wind movement and turbulence, internal waves, underwater currents. This error can reach 3% of the measured depth (see, for example: D.E.Dinn, B.D.Loncarevic. The effect of so und velocity errors on multibeam sonar depth accuracy // Proccedings of American Hydrograhic Symposium. 1995, p.1001-1009).

In accordance with the requirements of the standards of the International hydrographic organization (see, for example: // Notes on hydrography. SPb., GUNiO MO of the Russian Federation, No. 248, 1999, p.27-32) in waters with depths of over 200 m, on which the picture is taken in the interests of safety of navigation, the mean square error (RMS) to determine the depth should not exceed 0.3%.

When using the known method for surveying terrain and device for its implementation CSP to determine the depth is for depths up to 100 m from 0.7 to 3.5 m, and for depths up to 200 m from 2.3 to 11.0 m, respectively, which does not meet the requirements.

There are also known ways of the bottom relief survey using multibeam sonar [3, 4, 5], which include the driving of the carrier vessel multibeam is Holota (MBE) on a given route (planned shooting tacks); radiation hydroacoustic signals to the bottom and receiving the reflected echoes from the bottom in the sensing area; measurement of distances from the antenna to the reflection from the bottom surface of the data signals MBE; determination of geodetic coordinates of the center of the receiving antenna of ship navigation receiver means for determining the location of the vessel; the measurement side, the keel and vertical muscular vessel media MBE ship navigation system; fixing the time point of reception of the reflected echo signals and the time of observation of the carrier vessel; calculating from the data of the depths of the waters and their geodetic coordinates, and determine necessary amendments thereto.

The disadvantage of these methods is that they have not sufficiently high precision and difficult to use. This is because when using locally defined General amendment measured using sonar depth is assumed constant for the entire area of the shooting. Due to the spatial-temporal variability of hydrological conditions is the average speed of sound in water, used to calculate the depth will vary from the actual values in the measuring point depth. Therefore, the measured sonar distance to the bottom will be a systematic error, which has a substantial amount is in and cannot be excluded in the accepted approach to accounting in existing ways of shooting.

Known methods, approximately solve the problem of the height of the instantaneous level according to his measurements, remote from the measuring point depth to the level position. Due to the excitement and tilt level surface instantaneous level height will be different from the observed level post that will introduce additional error in the designated depth with random and systematic components.

Also permanent errors, bearing systematic, include errors introduced by the misalignment of the instrument (primarily holotoy) and the ship's coordinate systems. This is not an accurate knowledge of the relative position sensors and inaccurate knowledge of the angular orientation of the structural axes of the antenna sonar relative to the ship's coordinate system.

In the known methods for determining amendments sonar associated with the spatial heterogeneity of the speed of sound in water at depths up to 30 m (according to the regulations on the shooting of bottom topography), it is necessary to perform complex and time-consuming step is the calibration of the echo sounder special chairwomen device. This operation must be done at least twice a day (at the beginning and at the end of shooting) to determine amendments sonar. In waters with depths greater than 30 m should be measured on a Hydra is a logical stations temperature, salinity and water pressure or the velocity of propagation of sound in water by a special meter to determine the corrections for the deviation of the actual speed of sound in water from the settlement and for the refraction of the acoustic beam sonar.

When the calibration of the echo sounder need to stop shooting and move to the area, shooting with the greatest depths, where when the ship is at anchor or drift to carry out immersion (upgrade) ship-control boards (ROM), or the receiving vibrator tiraumea device in the working area of the radiating the transducer 10 fixed horizons of calibration. The error in the determination of the amendments sonar by this method due to the disregarding of the bending of the rope under the influence of immersion vibrator or tarious Board (drive) current and drift of the vessel and eye depth horizon of the calibration label on the cable can be 1-4% [Nedlloyd. Hydrography. L., GUNiO MO USSR, 1988, s-312]. To determine with certainty amendments for changes in precipitation vessel in shallow water (sinking ship), you must perform a relatively large number of runs of the carrier vessel sonar at different depths, at different speeds and at different draught of the vessel in order to obtain data for the compilation of tables or nomograms.

In addition, you must determine is whether the instrumental group of amendments to the measured sonar distances to the bottom, the definition of which is also characterized by great complexity and laboriousness. Calibration measured by the sounder inclined distances performed by comparing the depth values measured by the Central and side beams of sounder at identical points in the zone stripes examination overlapping tacks [Dadashev A.A. Calibration of multibeam echo sounder on intersecting lines // Notes on hydrography. - 2000. No. 251, pp.42-46]. As distances measured Central probe beam, contain most of the above errors, and an exact match of reflection points on the bottom, to which the measured distance of the Central and side beams, almost impossible, not to achieve the desired level of precision shooting bottom relief.

In the depths of the waters of more than 30 m amendment sonar is calculated as the sum of private corrections resulting from accounting for certain errors: corrections for the deviation of the actual speed of sound in water from the calculation, the correction for refraction corrections for the deviation of the rotation frequency of the motor nominal corrections for the location of the zero depth sounder, corrections for the deepening of vibrators, corrections for inclination of the bottom. Evaluate the contribution of some of them in total measurement uncertainty of depth.

The method of determining corrections for the deviation of the actual speed of sound in water is t calculated is characterized by considerable complexity and laboriousness. This is because you need the points at the beginning and at the end of shooting and after each storm or during the entire period of filming to measure on a standard horizons temperature, salinity and hydrostatic pressure of the water or directly the speed of propagation of sound in water is uniformly distributed over the area of the points with the greatest depth, which is a very difficult and time consuming, especially at great depths. Processing of results of measurements performed on a complex algorithm. It should be noted that certain calculation method of the correction for the deviation of the actual speed of sound in water from the calculated correspond to the only place (some minor spatial domain), which measured the vertical distribution of temperature, salinity and density of water or directly the velocity of propagation of sound in water.

It is known [ocean Acoustics. - M.: Nauka, 1974.], the field speed of sound propagation in the seas and oceans is characterized as large-scale and small-scale spatial heterogeneity and temporal variability due to wind mixing, turbulence, internal waves and other processes. In the upper layer of the sea wind motion creates heterogeneity scale from the share of the to units of meters.

The influence of the microstructure of the field of sound speed and its variability on the accuracy of measurement of the depth sounder and determine its coordinates to the present time remains an unsolved problem. Therefore, the definition amendments Δzv with the required accuracy over the entire area during the entire period of filming currently used calculation method based on measurements of the vertical distribution of temperature, salinity, pressure or the speed of sound in water exploded in space and time points area is not possible, especially in the areas with the presence of small-scale spatial and temporal variability of hydrophysical parameters.

SKP corrections for refraction due to the fact that its computation is based on data rather rare hydrological stations, which are due to large spatial and temporal variability often do not correspond to the actual hydrological conditions at the remote station the site of the shooting, will have a significant value. Thus, when the error in the vertical profile of sound velocity 1 m/s direction of reception at an angle of 60°, the RMS value of this may be 0.13%. The accuracy of depth measurement due to the uncertainty of the direction of arrival of the echo caused by measurement error MSE of the spine of sound on the surface of the antenna sonar equal to 1 m/s, reaches 0.2%. The total contribution of the errors in the calculation of refraction and the uncertainty of the direction of reception of the reflected signal was estimated to be 0.3-0.5%. [D.F.Dinn, B.D.Loncarevic. The effect of sound velocity errors on multibeam sonar depth accuracy // Proceedings of American Hydrographic symposium. - 1995, p.1001-1009].

The sounders with a wide beam pattern RMS, due to the presence of the slope of the bottom, can reach 0.6 per cent.

To determine the corrections for the height level is required during shooting of bottom topography to perform monitoring vibration levels on a permanent or on an additional level positions. UPC amendments for level includes the UPC definition of zero depths at regular and additional tier posts, SKP transmission zero depths with constant or additional posts on temporary, SKP calculate the instantaneous level at the point of measurement. The total error of the height level may reach 0.6 m

For multibeam systems when shooting at a large scale is increasingly important issue relative orientation of the instrument coordinate systems sensors pitching, sonar and navigation coordinate system.

The accuracy of determining the coordinates of the position of the sensors in the ship coordinate system is systematic. This error will have a permanent sign and magnitude.

Due to the approximate nature of modern is the way of determining the center of gravity of the vessel and the position of the axes of the ship coordinate system (CS) to expect a substantial reduction of this error by increasing the accuracy of the measurement coordinate system, which itself is approximately defined in the hull, it is not necessary. Even more complex is the error introduced by misalignment of the ship and instrument SK. Due to the rotation of the instrument IC relative to the ship SC appears component of the vector-distance on x-axis of the latter. Due to errors in the angle θ will occur errors in the measured depth. This error will have a permanent mark, but can be varied by changing θ. Misalignment holotoy and ship coordinate systems in 0.5° will lead to systematic errors in determining the depth and position, reaching 1% of the measured distance and 2% of depth.

Known methods of capture of bottom waters MBE have significant methodological errors because of the impossibility of taking into account the spatial-temporal variability of the velocity of propagation of sound in water, because of the errors in the calculation of the height of the instantaneous level, because of the impossibility of accurate accounting mismatch instrument and ship coordinate system, resulting in practically does not provide the required level of precision shooting bottom relief.

It is believed that in the surveys of the seabed is particularly important for Maritime areas in the near future will be dominated by MBE. However, due to a more significant increase in the influence of refraction for rainy lateral rays increases and the error of the measured depths. So shooting when using MBE with large width may not meet the accuracy requirements of the standard MGO. Another significant disadvantage of MBE is that due to the expansion of the illuminated side beams spots on the bottom due to the increase in the area of the averaging depth increases the accuracy of the depth measurement. Therefore, the direction of development in the direction of increasing swath width MBE will remain ineffective as long as there is no solved the problem of increasing the resolution for extreme lateral rays.

The mapping of bottom topography UPC build bottom relief should not exceed 0.5 mm at the scale of the tablet, which is combined with the error in the determination of the depth of the known method and device for its implementation in most cases does not allow for this requirement.

In addition, in the production of imagery bottom relief with subsequent mapping of bottom topography, especially in the coastal area and in narrow places, you must have map information on both land and in the adjacent offshore area. The use for these purposes typographical topographic and navigation map is rather difficult. One of the reasons for this are the different map projections. Topographic maps are built in the projection of Ha is CCA-Kruger and navigation in Mercator projection. This reason is the main obstacle to the use of raster images of the printed maps in electronic geoinformation systems, such as display devices mapped information when you are shooting a bottom relief.

The purpose of this technical solution is to improve the accuracy of the shooting of the bottom relief.

The problem is solved due to the fact that the way to capture the topography of the area the sounder installed on the vessel, including the vessel is on a pre-set tacks, radiation hydroacoustic signals in the direction of the bottom receiving reflected from the bottom surface of the signals, the measurement of distances from pievescola antenna to the bottom, the coordinates of the ship on external sources of information, the measurement side, roll and heave, true course and speed of the vessel, the binding of the measurement time determining the true depth values by taking into account the errors, mapping the received information identifying the geodetic coordinates of the measured depths, the determination of the height of the instantaneous level sea, in which pre-installed the tacks have between pre-selected reference depth on the surface of the bottom waters of the shooting, in the coordinate points of the reference depth at the bottom of the AK is atarii install passive or active acoustic reflectors, determine the depth relative to the zero depth on each of the acoustic reflectors and their geodetic coordinates, measured at the side beams sonar sloping distance of two reference depths, measured on the closed route (transect), ending gals dimensions inclined distances to the same reference depths, and at the beginning of the gals, or up to two other reference depths, located on the bottom surface at a given distance, when determining the true depth values calculates the residuals distributed in the measured position vectors of the points of the bottom, at the end of each transect, the mapping of bottom topography perform pairing raster topographic and navigation cards measure time intervals distribution of signals and their subsequent conversion to the distance between the acoustic reflectors and acoustic transponders that are placed on the horizon line of work transceiver antenna, echosounder, when this form of the two receivers navigation database with the General center of the base, positioned in a plane parallel to the plane of the horizon line of work transceiver antenna, echosounder, with one axis base X is directed along the centerline of the sounder and the axis of the other of the base Y is directed along the beam to the right, the height of the instantaneous sea level determine the right near St is only on the horizon pievescola antenna, the error account when determining the true depth values is performed by the instrument measuring the speed of sound on the horizon pievescola antenna, and a device for implementing the method containing priemyslu antenna, the transmitting unit, priamosmaritime block, the block determining the average speed of propagation of sound in water, the control unit and the acquisition unit, information processing and mapping of bottom topography of the area, in which the output of transceiver antenna connected to the input of premoistening block, the output of the emitting unit is connected to pievescola antenna outputs premoistening unit connected to the input unit collecting information processing and mapping of bottom topography of the area, the inputs of which are connected to the outputs of marine gauges components of pitching, of course, the velocity and position, and the control unit is connected with the transmitting unit, priemyselna block and the block of information gathering, processing and mapping of bottom topography, which introduced additional block sonar transponders, the entrance through which the control unit is connected to the output of the receiver radio navigation and satellite navigation system, and the output connected to the input of the block collection, information processing and mapping of bottom topography of the area, and a device to measure the level of water surface, is AutoRAE its output connected to the input unit of the collection and processing of information.

The invention is illustrated by drawings (1-13).

Figure 1. Structural block diagram of the device. The device consists of pievescola antenna 1, the transmitting unit 2, premoistening unit 3, a control unit 4, unit determining the average speed of propagation of sound in water 5, block collection, information processing and mapping of bottom topography 6, block sonar transponders 7, measurement devices level 8 water surface, radionavigation receiver and/or satellite navigation system 9.

The output of the transmitting-receiving antenna 1 is connected to the input premoistening unit 3, the output of the emitting unit 2 is connected with pievescola antenna 1, and outputs premoistening unit 3 is connected to the input unit collecting information processing and mapping of bottom topography water area 6, the inputs of which are connected to the outputs of the ship's gauges components pitching, of course, the velocity and position, and the control unit 4 is connected with the transmitting unit 2, priemyselna unit 3 and unit information gathering, processing and mapping of bottom topography 6, which introduced additional unit determining the average speed of propagation of sound in water 5 in the direction of radiation of the acoustic signal, the output which through the control unit 4 is connected to the input premoistening unit 3, the control unit whatawhata connected to the output of the receiver radio navigation and satellite navigation system, and the output is connected to the input of block collection, information processing and mapping of bottom topography 6 waters, block sonar transponders 7 your input through the control unit 4 is connected to the output of the receiver radio navigation and satellite navigation system 9, a measuring device level 8 water surface with its output connected to the input unit of the collection and processing of information and mapping of bottom topography 6 waters.

Pievescola antenna 1 are collected from the piezoelectric acoustic transducers placed in the same housing, which can be used for both emission and reception of reflected from the bottom of signals. In the cycle of radiation these converters are connected in parallel, and during reception of the echo signals they operate independently from each other.

Figure 2. The transmitting unit. The transmitting unit 2 consists of a crystal oscillator 10, a stable frequency generator 11 of the repetition period of the emitted pulses, the device 12 forming the duration of the emitted pulse synchronizer 13, the quantization device 14, amplifier 15, an inverter 16, the switch 17.

The generator 10 produces a continuous oscillation frequency of 4.8 MHz, through which the synchronizer 13 is reduced to 600 kHz, and generates a pulse. The amplifier 15 amplifies the impulse to a value is required for the excitation of electro-acoustic transducers of the antenna 1. By means of switch 17 converters antenna 1 during radiation are connected to the transmitting unit 2, and during the reception to priemyselna block 3.

Figure 3. Priamosmaritime block. Priamosmaritime unit 3 consists of a bandpass amplifiers 18, antenna amplifier 19, the main amplifier 20, block shapers control codes 21, the filter unit 22, the amplitude detector 23, the filter 24 of the lower frequencies, the switch 25, the output of amplifier 26 and is designed to receive, amplify, and frequency selection of the signals received.

Figure 4. The control unit. The control unit 4 is composed of a ROM of the microinstructions 27, ROM control address selection 28, BIS firmware management 29, two microprocessors 30, 31, ROM 32, RAM 33, the shaping circuit 34 transfers, three buffer registers 35, 36, 37, and five highways: highway address 38, line macros 39, line 40 D, highway M 41, line L 42 and is designed to generate and transmit commands and information files received from external sources, as well as information contained in ROM.

Figure 5. The block determining the average speed of propagation of sound in water. The block determining the average speed of propagation of sound in water 5 consists of a decoder of the microinstructions 43, the buffer stages 44, the address register 45, arithmetical-logical unit 46, the multi is Lekarev 47, decoder 48, line 49, line 50 D, the battery 51.

6. Block collection, information processing and mapping of bottom topography. Block collection, information processing and mapping of bottom topography 6 consists of receiving registers 52, block system highway 53, an amplifier 54, the memory Manager 55, operating unit 56, the flow control unit commands 57, block firmware management 58, block 59 interrupt, the output of register 60.

7. Diagram of the formation of the navigation database, which shows the navigation satellites 61, acoustic reflectors 62, 63, 64, 65, vessel 66.

Fig. The relative position of the receiver section of the antenna, where the positions 67, 68, 69, 70 marked section of the antenna.

Fig.9. Functional diagram of the signal "enable", which includes the driver directivity (FHN) 71, a broadband filter 72 with the correction of the amplitude-frequency characteristics, the limiter 73, narrowband filter 74, the detector 75, the integrator 76, the threshold circuit 77.

Figure 10. Functional diagram of the signal processing, which includes a broadband filter 78 with the correction of the amplitude-frequency characteristics, the limiter 79, narrowband filter 80, the detector 81, the integrator 82, narrowband filter 83, the detector 84, the integrator 85, the threshold circuit 86, a scheme of selecting the maximum of 87.

11. Satellite communication module, which include the AET encoder 88, the processing unit 89 of message packets for transmission, the processing unit 90 of the algorithm packet messages matching device 91, the control unit 92 with the programme of work of the transmitter radiation (3-8 times/day), transmitting antenna 93 omnidirectional type.

Fig. SKP shooting bottom relief multibeam echo sounder for depth range 0-100 m by known methods to determine the depth.

Fig. SKP shooting bottom relief multibeam echo sounder for depth range 0-100 m by known methods to determine the depth.

Device for measuring sea level 8 is the automatic registration of sea-level type ADI-3795A (www.infomarcompany.com).

In domestic practice to bring bathymetric measurements to zero depths used two level surfaces: for sea without tides - long-run average level of the sea; tidal seas - the lowest theoretical level. Thus, the unity of measurements of depths is provided. The inconvenience of using the most lowest theoretical level as zero depths for tidal seas is that its height varies from place to place and has a slope of. For reference elevation points on land use in Russia Baltic system of heights, when the height are counted as lines normal to the ellipsoid, pending the t surface of the quasigeoid to the physical surface. On the seas and oceans of quasigeoid coincides with the geoid. To ensure the uniformity of measurements of the depths it is expedient to introduce a uniform level surface for all seas. As such a surface it is advisable to use the geoid, the equipotential surface which and time invariant. To transfer to the new system already obtained depth should be previousley. When conducting new surveys to determine the position of the instantaneous level of the surface should be used navigation satellite system (GLONASS or GPS in differential mode). The geoid is defined by the equation:

where W is the total gravitational potential;

W0 is a constant corresponding to the accepted model of the geoid.

The model of such a surface currently calculated NIMA and NASA according to marine gravity surveys and satellite altimetry data with an error of ±25 cm for any point in the World ocean.

During the survey in the coastal zone depth relative to the geoid is calculated by the formula:

where z is the measured depth from the instantaneous level;

HP is the height of the surface above the geoid.

The value of HP, in turn, is determined by the formula:

where h - measured height of the vessel above the ellipsoid;

Np - geoid height n is d ellipsoid at the given point.

While the measured values z and h will be measured in time, the calculated depth zr will remain constant over time. Further, when h and Np will be determined in the world geodetic system WGS-84 using satellite navigation systems, the calculated depth zr will also be determined in this system. This level surface is to provide a single high-rise the basis of the hydrographic measurements in all the seas of the Russian Federation.

Block sonar transponders 7 is a hydroacoustic navigation system that uses a combined system hydroacoustic navigation with long and ultra-short base, which allows the use of direction-finding system for solving the problem of the vessel to the installation point of the acoustic reflector. When this transducer active acoustic reflectors, as the vessel represents two have a common center of the base of the receivers. If two reception rooms are located in a plane parallel to the plane of the deck, and orthogonal to, the axis of one base directed along the centerline of the acoustic reflector and the axis of the other base is directed to the beam to the right.

The two have a common center of the base of the receivers allow you to determine the direction to the source signal line the Peres is placed two conical surfaces with matching tops. The phase shift Δφ₁the electrical signals of two point receivers (first, second), arriving at the inputs of the receiving channel associated with the angle between the baseline and the direction of arrival of the signal ratio

Δφ₁=kcosα, where α is the angle of arrival of the signal, k is a coefficient equal to k=2πf₀b/c, where b is the length of the baseline, f₀- carrier frequency, C is the speed of sound at the point of signal reception. Thus α=arccos(Δφ₁/k). The phase shift Δφ₂the electrical signals of two point receivers (third and fourth), arriving at the inputs of the receiving channel associated with the angle between the baseline and the direction of arrival ratio Δφ₂=kcosβ, β=arccosΔφ₂/k. Typing auxiliary angles φ and ψ (2), we obtain that at a known depth H of the underwater object expressions for the coordinates of the underwater object X₀, Y₀relative to the center of the base. When this plane with the y N is the third surface position. Obviously,

cosψ=R/D, where D is distance, R is the slant range, cosψ=x/D

cosα=x/R(cosΨcosφ)=(Dx)/(RD)=x/R, cosβ=y/R(cosΨcosφ)=(Dy)/(RD)=yR

This cosα=cosΨcosφ, cosβ==cosΨsinφ, X₀=Hcosφ/tgΨ,

Y₀=Hsinφ/tgΨ. Where did we get x₀=Δφ1/a; y₀=Δφ2/b.

Since the plane of the deck almost never coincides with the plane of the horizon, it also takes account of the influence of roll anglesand diff the rent γ. The trim does not affect the value of y₀and roll on the value of x₀the X axis is directed along the longitudinal axis of the underwater object, and the Y axis pointing along the beam. Corrected by taking into account the pitch and roll values of coordinates can be written as follows: x₁=Htg[arctan([0/H)+γ],where γ andpositive values when lowering the nose and starboard.

Information about the coordinates of the vessel relative to the underwater acoustic reflector allows to solve the problem of getting the vessel at the control point, as it is easily converted into values and course angle KU and the distance D: KU=arctan(y,x), D=(x²+y²)^1/2. The solution of the inverse problem allows to determine the vessel's position on the map or tablet, which pre-applied reference point. In that case, when it is also inclined distance to active acoustic reflector, the third surface is a sphere with radius equal to the inclined distance. The formula to calculate the coordinates are simplified and have the form x₀=(cRΔφ₁₂)/α, y₀=(cRΔφ₃₂)/β.

Each reception transducer consists of four hydrophones. Section antenna consists of two single and one dual-channel module, based on the linear bearing bracket. RA is standing between the receiving hydrophones dual channel module is 50 mm. The maximum spacing at the receiver on the bracket is 1000 mm perforated Bracket that allows you to place the receivers in close proximity to each other for holding the phase calibration and random spacing for measuring the direction of arrival of the acoustic signal. As receivers (hydrophones used piezoceramic spheres with a diameter of 30 mm, inside which are placed in the pre-amplifiers with gain of 30 dB. Spheres are placed on a steel plate size 145×145×10 mm with fastening elements and acoustic cover from the back side. The suppression ratio of the audio signal from the back side is not less than 30 dB.

The antenna complex consists of 8-channel 2-cell reception hydroacoustic hydroacoustic antennas and radiating antenna.

Each section of the receiving antenna is a 4 element nequality hydrophone module, designed to measure the projection of the vector of arrival of the acoustic signal on one of the horizontal axes in the regime of ultrashort base in DF mode, or to receive signals in mode long base 4 operating frequencies. Section of the receiving antenna are located in a horizontal plane perpendicular to each other.

Thus, when all hydrophone make the reception on the same operating frequency, implemented detection delay and direction of arrival of the response from a fixed active acoustic reflector mode ultra-short base, and when each of the hydrophones configured at its operating frequency, is the measurement mode delays from multiple acoustic reflectors in the mode of a long base. The system of information transmission on the hydroacoustic channel is implemented using the standard means of hydroacoustic communication. At the same time as forming devices and signal processing can be applied as available in sonar equipment, providing sonar mode of communication, and additional devices as set-top boxes, connected to the transmitting and receiving paths.

The operation of the device is as follows. Command pulses generated by the control unit 4 in the transmitting unit 2, by the formation of the acoustic pulse and the radiation pievescola antenna 1 toward the bottom, as well as the reception and conversion into an electrical signal reflected by the bottom of acoustic signals, transmission of these signals to the input premoistening block 3, which produces electrical signals proportional to the time delay of arrival of reflected from the bottom surface of the signals, which are determined be the deposits from pievescola antenna 1 to the points of reflection signals from the seabed.

At the same time on the command pulses from the control unit 4 run unit determining the average speed of propagation of sound in water 5, block sonar transponders 7, the device for measuring sea level 8.

Next on the command pulses from the control unit 4 units 3, 4 and 5 is supplied to the block collection, information processing and mapping of bottom topography 6, which also receives information from the ship's gauges components pitching, course, speed, technical means of defining the coordinate space.

Unit 6 determines the correction ΔZ_vthe depths measured by the sounder (H=ΣC_it_i/2, where C_i- the speed of propagation of sound in water, t_i- the time interval between emission of a signal, the reception of the echo from the bottom), the deviation of the actual speed of sound in water from the calculated specific sounder: ΔZ_v=C_i(C_cp/S_about-1), where C_ithe depth measured by the sounder With_about- the speed of propagation of sound in water, which is designed sounder, measured by unit determining the average speed of sound in water 5.

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 and navigation of the races of the world card 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 is part of the raster corresponding to the 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 essence of the proposed method is to use the reference depth coordinate (depth and position on the waters of the shooting) and the calculation of the increments of depth and coordinates of a difference between two related what's measured MBE vectors of distances. Thus, each depth and its geodetic coordinates are calculated as the sum of the increments of adjacent depths and their geodetic coordinates, starting with the depth and geodetic coordinate reference depth.

The summation of the increments of depth, measured through a small period of time within which hydrological conditions can be taken constant, allows to eliminate the influence of the errors, wearing a systematic character. To them, for example, include errors due to field variability of the speed of sound, the deviation of the instantaneous level of that observed in the multilevel post, by changing the orientation of the instrument coordinate system, etc. using the reference depth also allows you to ease the requirements on the use of marine scientists posts.

The proposed method of shooting of the bottom topography using reference depth includes:

- installation of passive or active acoustic reflectors;

- determination of depth (relative to the zero depth) over each of the reflectors and their geodetic coordinates by block sonar transponders;

the measurements at the side beams inclined distance between two acoustic reflectors located on the bottom surface at a specified distance;

- production measurements on the closed route (transect), ending it the dimensions of inclined distances to the same acoustic reflectors, in the beginning of the gals, or up to two other acoustic reflectors located on the bottom surface at a specified distance;

- manufacture of continuous emission and reception of reflected from the bottom of hydroacoustic signals in the area of sensing and measuring distances from the antenna sonar to reflect the bottom of these signals;

- measurement of the average sound velocity in the water on the horizon pievescola antenna through the block determining the average speed of sound in water 5;

- measurement of sea level fluctuations through the device of sea-level measurement 8;

- determination of geodetic coordinates of the center of the radio antenna marine diamondcutter NCR coordinates;

- measurement of parameters-Board, keel and vertical muscular, of course, the velocity and position of the ship;

- the definition of true course and speed of the center of gravity of the marine vessel navigation system;

- fixing the time within moments of the reception antenna of the echo reflected from the bottom of hydroacoustic signals and in moments of observation vessel;

- calculation of residuals distributed in the measured position vectors of the points of the bottom, at the end of the gals (shooting);

- calculation and registration of the data and the desired depths and geodetic coordinate their place.

Calculations based on the essence of the method, performed by four the Ulam:

where:

-is the desired vector position of a point of the bottom in the geodetic coordinate system, when it is calculated through the increment to the vector position of the point being probed in the previous parcel a side beam, starting from the Central beam and further from the Central beam to the penultimate lateral beam on the left or on the right Board;

-is the desired vector position of point bottom, when it is calculated through the increment to the vector position of point bottom, probing the same beam MBE in the previous parcel;

-- the average value of the position vectors of the point of reflection, calculated in two ways;

-,the position vectors of the reference points on the bottom;

-- increment vector position of the current point to its value for the previous point sensing in the parcel;

-- increment vector position of the current point to its value for the previous point sensing in the previous parcel;

-- the current number of lateral beam sensing;

- l₀p₀the number of lateral beams on the left or on the right Board, excluding Central;

-, l₀- in the top position of the sensed an extreme ray of point bottom, calculated by the increment to the vector position of a point, previous probing beam in the parcel;

-- number of the current increment to the vector position of point bottom, calculated between adjacent lateral rays, starting from the Central;

-the vector j is the reflection of the sensed lateral beam computed for the first package in the beginning of the shooting;

-the increment of position vector of the echo between the moments of reception of the reflected signals of the current and previous pulser pulse;

- i - the number of the current parcel;

- n is the number of pulser pulses when shooting for the entire period between the points of intersection of the base acoustic transducers.

After closure of the gals on the base of acoustic transducers at the end of the gals (shooting) are calculated residuals:

Data residuals are distributed in the measured position vectors of the points of the bottom respectively to the room side of the beam or the number of increments used to compute a vector of points measured by the Central beam.

The formula to calculate the adjusted position vectors of the points of the bottom is:

For the components of the vectors get:

where:

-,,- coordinates and the depth reference m=1, 2, 3, 4 depths;

- ΔX_i,j, ΔY_i,j, Δz_i,j(i=1, k, n; j=0, 1, p, j) - increment coordinates and depths;

- ΔX_ak, ΔY_ak, ΔZ_ak- increment the coordinates of the antenna position MBE for the period of time between adjacent parcels probe pulses antenna MBE.

In order to obtain formulas for evaluating the accuracy of determination of coordinates and depth points of the bottom when shooting the proposed method was accepted that the greatest error will be made when i→n-1; j=l₀. Rewriting equation(8), (9), (10) for values of j=n-1; j=l₀and equating;;;;;and turning to the expression of uncertainty as to the differentials of functions of several variables, we get the following expression of accuracy of definition of coordinates and depth when shooting the proposed method:

where:

- δx₀, δy₀, δz₀- error coordinates and depth op the nuclear biological chemical (NBC point;

- δx_ak, δy_ak, δz_ak- errors in the determination of the increments of the coordinates of the antenna position MBE and depth for the period of time between the pulser pulses;

- δΔx_i,l, δΔy_i,l, δΔz_i,l- error increments of the coordinates of the bottom and the depth specified on the measured distances of the adjacent probing rays in one parcel;

- δΔx_k,j, δΔy_k,j, δΔy_k,j- errors in the determination of the increments of the coordinates of the bottom and the depth specified on the measured distances of the same name of the probing beams at two consecutive messages probing beams.

Analysis formulas(11), (12), (13) made on the basis of the hypothesis that the components under the sign of the sum in the right parts are not burdened by the constant systematic components of error, since the increments of the given errors are practically absent, and include only random errors that are small in size and have different signs. Therefore, when a large number of measurements of all of these amounts will tend to zero.

Thus, errors in the determination of the depth and coordinates of the proposed method of shooting reference bathymetric field will mainly be determined by the errors of the coordinates and the depth at the point of reference depths.

Results of mathematical modeling of real in the circumstances showed the proposed method provides a higher accuracy of the measurement is more than two times in comparison with known methods.

Thus, the proposed method of creating a reference bathymetric field ensures accuracy of representation of depths and coordinates necessary for metrological support of hydrographic measurements.

Evaluation of the accuracy of survey of the topography of the proposed method is performed on the basis of model calculations. With this aim, the authors compared the accuracy of depth measurements obtained by MBE, with the modeled mathematically defined surface for the adopted parameters of the motion of the ship, the parameters of pitch and precision of their measurements, the instrumental precision echo sounder, given the variability of the sound speed, and change the height level in the area of the shooting.

When modeling the process of shooting the bottom topography was taken that the sounder measures the fixed directions of slope distance as the length of the straight line connecting the antenna sonar with the point of intersection of the probing beam with a mathematically defined surface.

Positioning the antenna sonar in the geodetic coordinate system was performed according to the formula of coordinate transformation for the case of postponement and turn a new coordinate system relative to the old one:

where X_ha, Y_ha, Z_Hageodetic coordinates of the antenna sonar;

A - matrix of the guides of the cosines of the axes of the geodetic coordinate system (CS) in marine SC;

x_AE, y_AE, z_AE- the coordinates of the antenna sonar in SC;

x₀, y₀, Z₀- the origin coordinates of geodetic SC in marine SC. The calculation of matrix elements And was produced by the formulas:

where α is the true course of the ship;

P, R - corners of the keel and side muscular.

Direction cosines of vectors, which are measured by the sonar distances were calculated by the formulas:

where θ is the direction of reception of the reflected acoustic signal.

The formula used to calculate the coordinates of the antenna sonar in geodetic SC are of the form:

The start position of the ship SC in each moment parcel was determined by the amount of movement of the vessel at a given speed according to the given direction with regard to the simulated yaw of the vessel and heave and increment instant level due to tide.

The coordinates of the point of the bottom was determined as the intersection point of each of the probing beam with the plane defined by the normal equation

where X, Y, Z are the current coordinates of the plane of the adopted geodetic IC;

α_Pthat β_Pthat γ_pthe angles formed by the normal to the plane with the coordinate axes;

R - length normals, placed on the plane from the origin.

In the model, the plane was set three parameters α_Pthat β_Pp. While p was taken as the average depth in the area of the shooting. The parameter plane β was calculated by the formula

To determine the coordinates of the intersection point of the probing beam with the plane of the probe beam were presented in the form of a straight line passing through the point location of the antenna sonar:

where b₁b₂b₃- direction cosines of a straight line, which was calculated by the formula.

where in the right hand side in parentheses are direction cosines ORT of the probing beam instrument in the UK.

Expressions for computing geodetic coordinates of a point of the bottom have the form

where- direction cosines of the normal to the plane.

Calculated by the third formula applicata Z_Btaken for true depth. X_Band Y_Bwas taken as the true coordinates of the modified depth of the calculated values of X_B, Y_B, Z_Bformed arrays of true depth and its coordinates.

True the e measured distances to points of the bottom was calculated by the formula

Measured in the instrument SK depth and the ordinate was calculated by the formula

The geodetic coordinates of the point on the bottom,,was calculated by the formula

Calculated by the formula (25),he started the calculated coordinates fixed depth, and applicatifor fixed depth. The results of calculations of these quantities for each of the probing beam and for all parcels of the probing beam was formed arrays of fixed depths, computed x, y and the measured distances

The process of pitching of the vessel was simulated harmonic oscillations of the form:

where A_i, T_i, ψ_i(i=BK, BK, ck) is the set of values of the amplitude, period and phase corresponding to the index process: VK - heave, Bq - side pitching, QC - pitching.

When modeling the change in the height of the instantaneous level the objective was to use the parameters characterizing the maximum possible in nature, the rate of this process, and thereby to test the developed method for the critical conditions. To this end the firm analyzed observational data levels in a variety of marginal seas of Russia, characterized by different types of tides. The analysis revealed the maximum rate of change of the height of the level, which is typical for irregular diurnal tides and is 141 cm per hour at an amplitude of about 560 cm Minimum rate of change of the height of the level inherent to the same type of tides and is characterized by the value of the order of 2 cm per hour at an amplitude of 12 see The diurnal and semidiurnal tides rate of change of the height of the tide, respectively 33 and 46.5 cm per hour when the amplitude 264 and 140 cm, respectively. Using the maximum value of the velocity and amplitude, the height of the tide at each time of measurement depths were represented in the model by using the expression

where A₀- asked the amplitude of the tide,

- asked the rate of change of the height of the tide.

As in the simulation changes the height of the tide, when modeling the actual values of speed of sound on the highway and on the surface of the antenna sonar objective was to use data about the maximum natural temporal and spatial variability of these parameters and thereby to assess the degree of their impact on the accuracy of the proposed method of shooting. This was used daily maximum average quadratic deviation of the temperature and salinity of water at standard levels for the entire sub-Arctic zones of the World ocean. The maximum variability of the adopted values for each horizon was determined as the increment caused by the daily variances of temperature and salinity on the i-horizon

where K₁To₂the coefficients of proportionality,

σ_tmaxi, σ_smaxi- maximum daily average standard deviation of temperature and salinity on the i-th horizon.

For the calculations were the following values of the coefficients K₁and K₂in the temperature interval from 0 to 20°C. when the temperature of water by 1°C the speed of sound increases by 3.4 m/s, i.e. K₁=3,4 (m/s)/°C, while salinity increase by 1% - decrease by 0.58 m/s, i.e. K₂=0,58 (m/s)/%O.

In the calculations of the values of σ_{t max i}, σ_{s max i}took the values of the random numbers from 0 to 1, by the computer, the mark which was set of conditions if the random number n≤0.5, then n=-n, otherwise n=n.

The average speed of sound along the vertical profile was calculated by the formula

where V_i(i=1, 2) is the speed of sound on the horizons, limiting layer averaging;

ΔZ_K=Z_i+1-Z_i- the thickness of the layer averaging,

n - number of layers averaging,

ΔV_i(i=1,2) is the magnitude of the spatial-temporal variability of the mean values of the speed of sound on the horizon, calculated by FD is the mule (28).

This speed value was taken as the actual and the magnitude of the deviation average speed calculated for the profile arithmetic mean values were calculated as the difference of these values was taken as the error value calculated average speed of sound for each parcel echo sounder probe beam.

For modeling the spatial variability of the speed of sound on the horizon antenna sonar data used sound velocity measurements at a depth of 1 m in the course of the vessel and the amplitude and spatial frequency of small-scale fluctuations (respectively 1.5 m/s and 230 m) used in the model to determine the deviation of the actual speed of sound calculated by the formula

where A_vthe amplitude of the small-scale fluctuations of the sound velocity on the surface of the antenna.

V is the velocity of the ship when shooting,

T₁- spatial period of the small-scale fluctuations of the speed of sound.

To calculate the absolute errors of depths obtained during the surveys of the traditional and proposed technologies were used arrays true, fixed and calculated depths. The absolute error was calculated as the difference between the corrected and calculated depths with the true and was presented as a function of the true coordinates of the depths. Polucen the e values of absolute errors was formed in two arrays to characterize the accuracy of survey on traditional and proposed technologies. In addition, the calculated absolute errors of depths was calculated RMS by the formulas:

where n is the number of pulser pulses at the gals;

l - the number of probing beams

Quantitative evaluation of the accuracy of the bottom relief survey using multibeam echosounder made on the basis of a priori estimates of the main components of the errors in the formulas [D.F.Dinn, B.D.Loncarevic. The effect of sound velocity errors on multibeam sonar depth accuracy // Proceedings of American drographic symposium. - 1995, p.1001-1009]. The formula for RMS measurement depth is:

and the formula for calculating the RMS determine the position of the measured depth is

where θ is the angle from the median plane to the direction of reception of the reflected pulses,

σ_r- RMS distance measurement;

y is the horizontal distance from the antenna sonar to the measured depth

σ_r, σ_p- RMS angles pitching (R - roll, P - trim),

σ_VK- RMS height heave;

z is the measured depth;

V_SSR- the average speed of sound in the layer of thickness z,

- RMS determine the average speed of sound;

V_SWA- the speed of sound on the horizon antenna sonar;

σ_SWA- RMS is the distribution of speed of sound on the horizon antenna sonar

σ_OS- RMS determine the precipitation vessel during the survey,

σ_CR- RMS of the height of the instantaneous level,

σ_h- RMS observation of the position of the ship on the gals,

σ_α- RMS determine the true course of the ship;

σ, σ, σz - RMS measurement of the position of the sensors in the ship coordinate system;

Δt is the interval from observation until measure the depth of;

V is the absolute speed of the ship.

Error of depth and its position when shooting multibeam echo sounder bottom relief was calculated by the formulas (34), (35) for depths in the range 0-100 and 0-200 m, measured in the directions of reception of reflected bottom of signals in the range of 0-60° in 3°. In the calculations CRU observation on the gals for a first range of depths was taken equal to 5 m, and the second 20 M.

SKP shooting bottom relief multibeam echo sounder on existing technology in the depth range 0-100 m shown in the drawing (Fig). Drawing (Fig) shows the RMS of the bottom relief survey multibeam echo sounder on existing technology in the range of depths of 0-200 m

The result showed that the existing technology of the bottom relief survey using multibeam echo sounders does not provide the required accuracy of the measurement of depths, because the error in determining the depth of 2-6 times the acceptable level. The error in determining the position of the depths to 6 times more than tre the accuracy has been created, mainly because accepted for the calculations of the low level of accuracy of observation. When used to determine the ship to tack precision NCR type "grace" or satellite navigation GLONASS differential mode attitude errors in the determination of the coordinates of the depth and the required accuracy of its determination would be reduced to 3. When this survey was carried out MBE, with the formation of six rays through 1.5°. The initial sensing angle was 45°, the depth of 200 m, side and keel pitching with an amplitude of 1.5° and 2.5°, respectively, vertical rolling with amplitude of 1 m, the frequency pulser pulse 1 MEAs./with the number of parcels - 115.

Average quadratic errors of depth and its position accordingly when taking relief of the bottom of the known method and the proposed method were:

a) to a depth of z=200 m, the angle of the probe beam 45-50°:

- the proposed method, σ_zn=0.32 m, σ_Xyn=1.49 m;

a well - known method σ_zs=1.1 m; σXys=1.97 m;

b) for depth z=200 m, the angle of the probe beam 55-60°:

- the proposed method, σ_zn=0.31 m, σXyn=0.92 m,

a well - known method σ_zs=1.49 m; σXys=1.89 m;

g) to a depth of z=300 m slope angle of the probe beam 50-60°:

- the proposed method, σ_zn=0.56 m, σXyn=1.49 m,

a well - known method σ_zs=1.93 m; σXys=2.41 m;

d) for depth z=200 m plecaki: side - 6.5; keel - 5.5°; σ_R=0.5%, the angle of the probe beam 50-60°:

- the proposed method, σ_zn=0.52 m, σXyn=1.19 m,

- known method σ_zs=1.49 m; σXys=1.98 m

The results show that the proposed method for the capture of bottom waters provides a higher accuracy compared with the traditional: even for critical conditions when the tilt angles of the probe beam 50-60° and the maximum depth of the estimated range of 200 m and more. SKP depth measurement in a known manner in 3.5-5 times higher than the RMS measure the depth of the proposed method. SKP determine the position of the measured depth when shooting on traditional technology for the same conditions in 1.6-2 times the RMS coordinate depth of the proposed method. With increasing angles of pitching up to 5-6° this ratio decreases to values of 2.9 and 1.6.

Thus, the proposed method of shooting of the bottom topography meets the modern requirements on the accuracy and details of the measurement of depths, and it is useful for the capture of bottom waters in the production of integrated hydrographic studies.

When using the proposed method and device for its implementation, intended to capture the topography of the area, the requirement for precision depth when shooting topography of the area, set the i.i.d. applicable regulations, due to the possibility of measuring the Doppler shift frequency of the reference acoustic signal acoustic Doppler log, the absolute velocity of the ship with sonar on external sources of information (for example, satellite navigation systems like GPS), which determine the average vertical velocity of propagation of sound in the aquatic environment. When taking relief of the bottom echo sounder root mean square error of determining the vertical speed of sound propagation should not exceed ±7.5 m/S.

This requirement can be achieved if the speed of the vessel will be determined from the mean square error not exceeding ±0.037 m/s, which may be implemented with the determination of geodetic coordinates from the mean square error not exceeding ±7,8 m

Installed on hydrographic ships navigation systems, in particular, combined receiver-indicators-satellite and radionavigation systems onshore facilities allow us to determine the geodetic coordinates with an accuracy of ±6.0 m, and for their work in differential mode ±3.0 m

When pairing topographic raster maps and navigation for mapping of bottom topography errors obtained raster maps are no more than two pixels, nab is emer, for scale maps 1:250000 with a resolution of 400 dpi, this amounts to 30 m on the Earth's surface that does not exceed the error of a raster map.

The practical realization of the proposed method and device for its implementation the technical complexity is not due to the fact that for its implementation uses standard measuring tools installed on hydrographic vessels intended to capture bottom relief.

Sources of information

1. Kolomiychuk N Hydrography. L., GUNiO MO USSR, 1988, s-277.

2. Hare R. Depth and position error budgets for multibeam echosounding // International Hydrographic Review. 1995, v.LXXII, No. 2, p.37-69.

3. Patent RU No. 2010457.

4. Patent RU No. 2209530.

5. Patent RU No. 2292062.

1. The way to capture topography water sounder installed on the vessel, including the vessel is on a pre-set tacks, radiation hydroacoustic signals in the direction of the bottom receiving reflected from the bottom surface of the signals, the measurement of distances from pievescola antenna to the bottom, the coordinates of the ship on external sources of information, the measurement side, roll and heave, true course and speed of the vessel, the binding of the measurement time determining the true depth values by taking into account the errors, mapping the received information identifying the geodetic coordinates of the measured depths, opredeleniya instantaneous sea level, wherein the pre-determined tacks have between pre-selected reference depth on the surface of the bottom waters of the shooting, in the coordinate points of the reference depths on the bottom set of passive or active acoustic reflectors, determine the depth relative to the zero depth on each of the acoustic reflectors and their geodetic coordinates, measured at the side beams sonar sloping distance of two reference depths, measured on the closed route (transect), ending gals dimensions inclined distances to the same reference depths, and at the beginning of the gals, or up to two other reference depths, located on the bottom surface at a given the distance, when determining the true depth values calculates the residuals distributed in the measured position vectors of the points of the bottom, at the end of each transect mapping of bottom topography perform pairing topographic raster maps and navigation, measure time intervals distribution of signals and their subsequent conversion to the distance between the acoustic reflectors and acoustic transponders that are placed on the horizon line of work transceiver antenna, echosounder, when this form of the two receivers navigation database with a common center base, RAS is Olga them in the plane, parallel to the plane of the horizon line of work transceiver antenna, echosounder, with one axis base X is directed along the centerline of the sounder and the axis of the other of the base Y is directed along the beam to the right, the height of the instantaneous sea level determined on the horizon pievescola antenna, taking into account the errors in determination of true depth values is performed by the instrument measuring the speed of sound on the horizon pievescola antenna.

2. The device for implementing the method according to claim 1, containing priemyslu antenna, the transmitting unit, priamosmaritime block, the block determining the average speed of propagation of sound in water, the control unit and the acquisition unit, information processing and mapping of bottom topography of the area, in which the output of transceiver antenna connected to the input of premoistening block, the output of the emitting unit is connected to pievescola antenna outputs premoistening unit connected to the input unit collecting information processing and mapping of bottom topography of the area, the inputs of which are connected to the outputs of the ship's gauges components pitching, of course, the velocity and position, and the control unit is connected with the transmitting unit, priemyselna block and block information gathering, processing and mapping of bottom topography, characterized in that additionally introduced Blo the sonar transponders, entrance through which the control unit is connected to the output of the receiver radio navigation and satellite navigation system, and the output connected to the input of the block collection, information processing and mapping of bottom topography of the area, and a device to measure the level of water surface, which is its output connected to the input block of collecting and processing information.