Depth sounding data bidirectional in-flight filtering method considering submarine topography gradual change

The invention discloses a sounding data bidirectional in-flight filtering method considering submarine topography gradual change. The method comprises the following steps: S1, carrying out linear filtering in combination with an incidence angle cosine value reciprocal and one-way propagation time in Ping; s2, eliminating a beam abnormal value by using absolute median difference filtering in the Ping; and S3, carrying out depth sounding data filtering based on Ka lman filtering between Ping, and marking beam abnormal data. On-flight and high-precision filtering of the sounding data is realized, and the on-flight acquisition quality and efficiency of the multi-beam sounding data are ensured. 本发明公开了一种顾及海底地形渐变性的测深数据双向在航滤波方法，包括：步骤S1，Ping内联合入射角余弦值倒数与单程传播时间的线性滤波；步骤S2，Ping内利用绝对中位差滤波剔除波束异常值；步骤S3，Ping间基于Ka lman滤波的测深数据滤波，标记波束异常数据。实现了测深数据的在航、高精度滤波，确保了多波束测深数据在航获取的质量和效率。