三维声呐在水下沉船姿态探测中的应用

摘要

研究采用多波束测深声呐与三维扫描声呐相结合，获取水下沉船姿态数据及附近海底地形点云数据的方法。通过实例阐述数据采集、数据处理过程的关键因素，并采用环境光遮蔽算法对点云数据进行了可视化渲染。结果表明，该种方式点云数据完整、沉船细节清晰，可为沉船清理作业中的风险评估和决策制定提供关键的技术支持。%A way of combining multi⁃beam sounding sonar with 3D scanning sonar was studied to obtain the at⁃titude data of underwater shipwrecks and point cloud data of seabed terrain. The key factors of data acquisition and data processing were described through an example,and the point cloud data was visualized by ambient occlusion algorithm. The results show that this method can provide integrated point cloud data and clear detail of shipwreck , which can support risk assessment and critical decision⁃making for planning and execution of wreck removal opera⁃tions.