Three-Dimensional Reconstruction Method of Submarine Cables Based on High-Speed ROV Cruising with Multibeam Imaging Sonar
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摘要: 海底电缆(简称海缆)是海上风力发电场电能输送的关键通道, 其安全运行对系统稳定性至关重要。然而，海缆所处环境复杂, 目前常规的三维重建方法成本高, 且在深海环境下适应性差。为此, 文中提出一种基于高速遥控水下航行器(ROV)巡航的多波束图像声呐海缆三维重建方法。该方法借鉴了合成孔径思想, 并采用空间雕刻算法简化计算, 综合处理ROV巡航过程中多次声呐观测信息共同反映的空间占据情况。仿真试验结果表明，相较于主流方法，文中方法在使用常规的多波束图像声呐的情况下不仅降低了海缆重建的成本, 还能实现更高的重建精度, 具有良好的应用价值和推广潜力。Abstract: Submarine cables, serving as the critical conduits for power transmission for offshore wind farms, are pivotal to the system’s stability. However, due to their complex marine environments, currently, conventional three-dimensional(3D) reconstruction methods for submarine cables are costly and demonstrate poor adaptability in deep-sea environments. Therefore, this paper proposed a 3D reconstruction method for submarine cables based on high-speed remotely operated vehicle(ROV) cruising with multibeam imaging sonar, drawing on the concept of synthetic aperture and simplifying calculations through a spatial carving algorithm. This method comprehensively processed the multiple sonar observation information obtained during the ROV cruising to collectively reflect the spatial occupancy. The simulation test results show that, compared with the mainstream methods, the proposed method not only reduces the cost of submarine cable reconstruction by using conventional multibeam imaging sonar but also achieves higher reconstruction accuracy, demonstrating significant application value and promotion potential.
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图 5 高速ROV海缆三维重建算法流程图
Figure 5. Flow chart of the high-speed ROV submarine cable 3D reconstruction algorithm
表 1 MS400P与M750d参数对比
Table 1. Comparison of MS400P and M750d parameters
设备 垂直开角/(°) 波束开角/(°) 波束数 更新频率/Hz MS400P 2 143 512 20 M750d 20 130 
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表 2 重建结果定量分析
Table 2. Quantitative analysis of the reconstruction results
实验组 裸露段
长度/mm裸露段
误差/%悬空段
长度/mm悬空段
误差/%1 548.23 9.11 39.24 58.30 2 617.98 2.45 57.77 38.62 3 596.15 1.16 91.25 3.05
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