A Study of Seafloor Multibeam Detection Planning Based on Grid Segmentation and TLS Plane Fitting Law

This study utilizes the knowledge of plane and three-dimensional geometry to propose key mathematical models and solution methods for the seabed multibeam detection problem. Firstly, this paper derives the relationship between the coverage width of multibeam detection and the overlap rate of neighboring strips and establishes a combined coverage model. The multibeam detection problem is solved by transforming the complex seabed surface into a simple rectangular plane through the grid segmentation technique. In this paper, the mathematical model of coverage width and overlap rate is established, and the expression of iterative relationship is obtained. For the expression of coverage width under different survey line directions, the three-dimensional problem is planarized. A set of survey lines is designed to meet the requirements of coverage and overlap rate. Finally, an area zoning model based on the plane fitting method is proposed to solve the survey line planning problem under complex terrain.