Course angle rotation-based multi-beam side-scan sonar image real-time splicing method

A side-scan sonar and heading angle technology, applied in image enhancement, image data processing, sound wave re-radiation, etc., can solve the problems that the analysis technology cannot be disclosed as a commercial secret, accurate real-time splicing cannot be performed, and the accumulation of errors is large. , to achieve the effect of improving the display effect, reducing the accumulated error, and improving the calculation speed

Inactive Publication Date: 2012-10-03
HARBIN ENG UNIV
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Problems solved by technology

At present, some well-known foreign sonar equipment manufacturers have developed corresponding sonar imaging software, but the price is expensive, and its analysis technology is a commercial secret and cannot be disclosed. It is rare, but the existing single-beam sonar image processing method calculates the coordinates

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  • Course angle rotation-based multi-beam side-scan sonar image real-time splicing method
  • Course angle rotation-based multi-beam side-scan sonar image real-time splicing method
  • Course angle rotation-based multi-beam side-scan sonar image real-time splicing method

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Embodiment Construction

[0023] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0024] combine figure 1 , the concrete steps of the real-time splicing method of multi-beam side-scan sonar images based on heading angle rotation in the present invention are as follows:

[0025] The first step is to read the original information of the N channels on the left and right sides of the sonar file, and set the initial position of the stitched image;

[0026] The second step is to remove the water column area in the raw data because the transducer receives underwater noise before the first echo point returns;

[0027] The third step takes the GPS coordinates received by the towfish as the center, and writes the N channel data of the first ping in the original sonar file after removing the water column area as a whole to the canvas, avoiding the burden of calculating the echo points one by one. from the accumulated error, and record the current ping n...

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Abstract

The invention provides a course angle rotation-based multi-beam side-scan sonar image real-time splicing method. The method comprises the following steps of: acquiring initial data in all channels of a multi-beam side-scan sonar, and setting an initial position for splicing images; removing a water column area generated because an energy transducer receives an underwater noise before a first echo point returns; writing N channel data of the first ping in the initial data from which the water column area is removed into a canvas, and recording the current ping number and the current course angle; reading N channel data of the next ping and corresponding global positioning system (GPS) and course angle information, calculating the difference value between the course angles of the first ping and the next ping, if the course angle does not change, splicing the images in sequence according to the GPS information, and if the course angle changes, splicing the images after rotating the data, wherein the rotating angle is the difference value between the course angels; and modifying gaps in the spliced image. The invention discloses a multi-beam side-scan sonar image real-time splicing method which is high in precision and low in calculation amount and has a good display effect.

Description

technical field [0001] The invention relates to an image mosaic method, in particular to a new method for real-time mosaic of multi-beam underwater acoustic images. Background technique [0002] The vast ocean space is of great significance to the survival and development of human beings. With the development and utilization of the ocean, it is very important to detect the topography of Haiti and draw the topographic map of the seabed to master detailed marine geographic information. In the current ocean detection, acoustic detection system is mainly used as the main means. However, in the process of towing side-scan sonar detection, the hull will inevitably be affected by various factors. Due to the characteristics of sonar slant-range imaging, unstable factors such as inaccurate GPS positioning and abnormal jumps exist, resulting in side-scanning problems. Scanning sonar images cannot truly display the seabed topography, thus making it impossible to obtain accurate seabed...

Claims

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Application Information

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IPC IPC(8): G01S15/89G01S7/539G06T5/50
Inventor 叶秀芬李鹏邓莹莹希吉尔
Owner HARBIN ENG UNIV
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