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中文摘要：
基于无人无缆自主水下航行器及其测量传感器开展海洋环境勘察与监测是未来海洋开发的重要应用领域,测量数据的矢量建模及其可视化显示是其中的关键技术之一。针对AUV的多波束声呐地形测量数据,开展了地形矢量模型构建与可视化研究,给出了传感器数据处理与时空配准、海底地形坐标变换等方法,设计了一种优化的Delaunay三角网建模算法,构建了三维海底地形矢量模型,提出了三维矢量模型真实感表达方法。基于海试测量的离散数据完成了具有真实感特点的三维海底地形矢量模型的构建与显示,实验结果表明：所提出的研究方法是合理、可行的,克服了多波束声呐只能提供离散地形高程数据的缺点,其地形数据的连续矢量化处理与可视化显示的优点对于海洋环境立体化与可视化监测具有重要的意义和应用前景。
英文摘要：
Oceanography survey and surveillance is an important application field in future ocean exploitation,which is based on autonomous underwater vehicle（AUV） and its measuring sensors;and one of the key technologies is vector modeling and visualization based on measuring data.Aiming at the measuring terrain data from multi-beam sonar,terrain vector modeling and visualization are studied,and the methods of sonar data processing,spatio-temporal registration and coordinates transformation are proposed.An improved Delaunay triangulation modeling algorithm is designed to set up the vector model of terrain,and a realistic expression method of 3D vector model is proposed on the OpenGL platform.Based on the multi-beam sonar terrain data from the AUV sea trial,which has the characteristics of discrete and redundant,all the above methods are tested and verified.Test results indicate that the methods designed in this paper are reasonable and feasible,which overcomes the weak points that multi-beam sonar could only provide discrete terrain elevation data and couldn＇t support the function of vector terrain data scanning.The advantage of continuous vector terrain data processing and visualization is very important for oceanographic survey and surveillance.
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