Method for Upgrading a 3D Imaging Sonar System from a Stationary Platform to a Moving Platform

This paper proposed a method for upgrading a 3D imaging sonar system from a stationary platform to a moving platform. In the underwater detection of infrastructures and small-scale structures in hydraulic engineering field, the three-dimensional imaging sonar system mounted on a stationary platform is an advanced technology but with a low measuring efficiency. Based on sonar measurement principle, coordinate and angle extraction technology, and three-dimensional spatial coordinate transformation, the real-time measurement of underwater structure by 3D imaging sonar system mounted on a moving platform is realized. The whole system consists of a 3D imaging sonar system (BV5000-1350), a satellite positioning and inertial sensor system (DGS680), a ship (moving platform), and a computer. After the installation and calibration of t DGS680 system, the times series of coordinates and angles (yaw, pitch and roll) of the BV5000-1350 system during the measuring period were obtained. By utilizing temporal interpolation and spatial coordinate transformation, the corrected 3D point clouds of underwater structures can be generated in real time. This method provides an economic and effective way to upgrade sonar measurement of small size equipment from stationary location to arbitrary path.