Multibeam Line Detection Modeling and Path Planning

Multibeam bathymetry is a technique for measuring underwater topography and seafloor features that utilizes multiple acoustic beams to simultaneously emit sound waves into the water and infer the underwater topography by measuring the echo time and intensity. The technology is highly accurate, efficient and real-time, providing important support for marine scientific research, ocean engineering and marine resource development. Compared with single-beam technology, multibeam bathymetry has many advantages and has become a development trend in the field of bathymetry. In this paper, firstly, the mathematical model of multibeam bathymetry is established, and the single bathymetry case is qualitatively analyzed, and the formula for the coverage width and the formula related to the overlap rate are derived, and the results under the given conditions are calculated. Secondly, the seabed depth was calculated based on the angle β between the normal vector projection of the slope and the survey line and the distance traveled, and the slope gradient α, Then, the general relationship between the coverage width and β and other related factors was derived by substituting the expression for the coverage width and the results were obtained from the code operations. Finally, the path planning of the survey line was carried out based on genetic algorithm.