Measuring Error Analysis Of The Multi-beam Echo-sounder System Based On The Deep-sea AUV

The multibeam echosounder system, as a kind of underwater topography survey equipment, is widely used in the field of ocean exploration. As a task sensor, the multibeam echosounder can be mounted in a lot of carrying platforms, such as survey ship, towfish and underwater robots. The underwater robots, due to its great advantages, rise suddenly in recent years among the carrying platforms,. Underwater robot includes remote operated vehicle and vehicle without cable, where the no cable type underwater robot is called autonomous underwater vehicle, particularly in the field of marine surveying.Based on the deep-sea autonomous vehicle which is developed by the team,through analysis of survey boat and fish, the characteristics of multibeam sounding platform are summarized. The error sources of deep-sea autonomous vehicle platform are analyzed. Through the square estimation, the depth error estimation model of the system and the position error estimation model are established based on the deep-sea autonomous underwater platform. The lake trial voyage data is used the models, and the depth error and position error sections are got, which is useful in verifying the models. Through the South China Sea test, the functionality and reliability of the multi-beam sounding system are tested. In this paper, the main research results are as follows:Firstly, according to the characteristics of the deep-sea AUV platform and comparing with survey ship and the towfish platform, the advantage of deep-sea AUV multi-beam sounding system is got. The error source of the sounding system is analyzed.Secondly,through the analysis of error sources of the AUV platform the depth error estimation model of the multi-beam echosounder system is established.At last,through the analysis of error sources of the AUV platform the position error estimation model of the multi-beam echosounder system is established.