| To solve the problem of high precision sound ray tracking in multibeam bathymetry, an adaptive sound ray tracking algorithm based on polynomial fitting is proposed. Firstly, according to the sound velocity profile and the given error threshold, the angle intervals are adaptively divided, and the polynomial fitting coefficients of the horizontal displacement and propagation time of the sound ray on the incident angle are calculated for each interval to construct the coefficient table and time table. Then, the horizontal displacement of the sound ray and the water depth of the end point are obtained by segmentation calculation of the sound ray. The simulation results show that the proposed algorithm improves the calculation accuracy to the millimeter level, and the computational efficiency is improved by 29%, 91% and 91% compared with the template interpolation algorithm, the Douglas Peucker (DP) algorithm, and the Adaptive Division Based on Minimum Variance (ADMV) algorithm, respectively. The survey line data of the 5700m water depth is used to verify the performance of the algorithm in the position calculation of multibeam bathymetry. The results show that the proposed algorithm can effectively reduce the amount of computation while achieving high-precision sound ray tracking, which has good engineering application prospect. |
