The 3D Reconstruction Method of Submarine Cables Based on High-Speed ROV Cruising with Multibeam Sonar
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摘要: 作为海上风力发电场电能输送的关键通道, 海底电缆的安全运行对系统稳定至关重要, 但由于其所处环境复杂, 针对海缆的三维重建技术成为其检测和维护的关键手段。目前常规的海缆三维重建方法成本高, 且在深海环境下效果有所下降。因此, 文中提出一种基于高速遥控水下航行器(ROV)巡航的声呐海缆三维重建方法, 借鉴了合成孔径思想, 并采用空间雕刻的方法简化计算, 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。在仿真试验中开展了与主流方法的对比, 结果显示文中方法使用常规的多波束图像声呐不仅降低了海缆重建的成本, 还能实现更高的重建精度, 具有重要的应用价值和推广潜力。Abstract: Submarine cables, serving as the critical conduits for power transmission in offshore wind farms, are pivotal to the system's stability. However, due to their complex environments, three-dimensional (3D) reconstruction technology for these cables has become a key method for their inspection and maintenance. Currently, conventional 3D reconstruction methods for submarine cables are costly and less effective in deep-sea environments. Therefore, this paper proposes a 3D reconstruction method for submarine cables based on high-speed Remotely Operated Vehicle (ROV) cruising with sonar, drawing on the concept of synthetic aperture and simplifying calculations through spatial carving. This method comprehensively processes the multiple sonar observation information obtained during the ROV cruising to collectively reflect the spatial occupancy. In the simulation experiments of submarine cable 3D reconstruction, a comparison with mainstream methods was conducted. It is evident that the proposed method not only reduces the cost of submarine cable reconstruction by using conventional multibeam 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. Flowchart 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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