【摘要】 针对深海探测过程中对海底富钴结壳厚度变化曲线测绘的要求,基于超声波测厚原理和B样条曲线拟合算法,结合"蛟龙号"载人潜水器的位置信息设计了深海富钴结壳厚度测绘系统。首先利用超声探头获取富钴结壳测量点表面和底部基岩的两次回波信息,通过测量渡越时间计算结壳的厚度值;将测点厚度值与"蛟龙号"载人潜水器的传感器数据融合,根据测点间的位置间隔,通过基于轮廓关键点的B样条曲线拟合绘制航行过程中的结壳厚度变化曲线。模拟实验结果表明,测绘系统可以采集测点的结壳厚度,厚度计算误差约5.6%,B样条曲线拟合能有效绘制结壳的厚度变化,误差小于10%,拟合曲线与结壳截面的纹路相符。更多还原

【Abstract】 Aiming to meet the requirement of mapping the thickness variation curve of cobalt-rich crust in deepsea exploration process, a deep-sea cobalt-rich crust thickness mapping system was designed based on the principle of ultrasonic thickness measurement and B-spline curve fitting algorithm, and combined with the location information of "Jiaolong" manned submersible. Firstly, two echoes of cobalt-rich crust measurement of point surface and bottom bedrock are obtained by ultrasonic probe, and the crust thickness is calculated by measuring the transit time. Then the crust thickness is fused with the sensor data of "Jiaolong" manned submersible, and the crust thickness change curve is drawn by B-spline curve fitting based on the key points of the contour according to the position interval between the measurement points. The simulation results show that the crust thickness can be collected by the surveying and mapping system. The calculation error of the crust thickness is about 5.6%. The B-spline curve fitting can effectively plot the crust thickness variation, and the error is less than 10%. The fitting curve is consistent with the crust section lines.更多还原