海洋测绘2023，Vol.43Issue(6)：16-19,4.DOI:10.3969/j.issn.1671-3044.2023.06.004
3D正态分布变换在多波束自动校准中的应用
Exploration and application of 3D normal distribution transformation in multi-beam automatic calibration
摘要
Abstract
Multibeam Bathymetry System measured depth data has Roll errors,Pitch errors,Yaw errors,and it must be calibrated.Currently,commercial software named Caris is mainly used for manual labor calibration.Automatic calibration is the Iterative Closest Point algorithms(ICP).For the defects that the Caris requires manual intervention and ICP is prone to falling into a local cycle,this article attempts to use the 3D normal distribution transformation(NDT)configuration method to establish a joint probability density function and establish a matching point cloud Conversion between clouds and targets by establishing a combined probability density function.Using the Hessian matrix and gradient to optimize the conversion parameters to complete the automatic calibration of multiple beam bands.Combined with the manual registration results in Caris,this paper verifies that the algorithm achieves better matching effects in flat areas,slope areas and other terrains by comparing and analyzing the matching effect of 3D-NDT algorithm,and provides an important algorithm basis for automatic multi-beam calibration.关键词
多波束测深系统/3D正态分布变换/最大似然函数/Hessian矩阵/目标函数梯度Key words
multi-beam sounding system/3D-NDT/maximum likelihood function/hessian matrix/target function gradient分类
天文与地球科学引用本文复制引用
董新钰..3D正态分布变换在多波束自动校准中的应用[J].海洋测绘,2023,43(6):16-19,4.基金项目
天津水运工程勘察设计院有限公司设计院发展基金(SJY202109). （SJY202109）
