Multi-probe multi-beam real-time sound ray bending correction method

The invention discloses a multi-probe multi-beam real-time sound ray bending correction method, which belongs to the technical field of sound ray correction, is used for multi-beam sound ray correction, and comprises the following steps of: calibrating the position relation of a multi-beam signal transmitting transducer and a multi-beam signal receiving transducer relative to a carrier coordinate system; recording the propagation time of a round-trip signal and the incident angle of a return signal, and carrying out initial sound ray bending correction and beam homing calculation by adopting a constant sound velocity value; using the constraint condition that the water depths of overlapped strips among a plurality of beam strips are the same, and using the equivalent sound velocity gradient as an unknown parameter to carry out nonlinear iterative solution; and the equivalent sound velocity gradient obtained through solution is used for sound ray bending correction and beam homing calculation again, and a fina