Three-dimensional sonar visualization processing method based on multi-beam phased array sonar system

A processing method and nano system technology, which is applied in the field of 3D sonar visualization processing based on multi-beam phased array sonar system, can solve the problem of large amount of data, large amount of information, collection environment and noise in underwater 3D sonar system Clear and other issues, to achieve the effect of improving clarity and readability, high precision

Active Publication Date: 2013-07-10
ZHEJIANG UNIV
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Problems solved by technology

[0006] The data of the underwater 3D sonar system has the characteristics of large data volume, large amount of information, complex processing, and obvious influence of the collection environment and noise.

Method used

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  • Three-dimensional sonar visualization processing method based on multi-beam phased array sonar system
  • Three-dimensional sonar visualization processing method based on multi-beam phased array sonar system
  • Three-dimensional sonar visualization processing method based on multi-beam phased array sonar system

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Embodiment Construction

[0025] The 3D sonar visualization processing method based on the multi-beam phased array sonar system of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0026] Such as figure 2 Shown, the system that the realization of the inventive method depends on comprises the following several modules:

[0027] Communication storage module 200, including GPS communication 201, attitude sensor communication 202, data acquisition and network communication 203; visualization processing module 210, including real-time data processing 211, three-dimensional visualization display 212; data off-line processing module 220, including data storage 221, scene Reconstruction 222; parameter setting module 230, including energy threshold setting, TVG setting, range setting, pulse setting, sonar position setting; parameter setting module 230 implements parameter adjustment and setting during the operation of the entire system.

[0028] Such as ...

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Abstract

The invention discloses a three-dimensional sonar visualization processing method based on a multi-beam phased array sonar system. The method includes the following steps: collecting sonar data, and sending the sonar data through a network; obtaining the sonar data through the network frame by frame, and converting range images corresponding to all frames of sonar data to point cloud data in a global coordinate system; filtering the point cloud data, connecting the point cloud data obtained through filtering to form triangular patches, and calculating the normal vector and the vertex of each triangular patch; carrying out registration on a current frame and a previous frame, carrying out mosaic processing on the point cloud data of the current frame and the previous frame after the registration, then merging the point cloud data of the current frame and the previous frame after the mosaic by adoption of an ergodic cross point algorithm, and updating a three-dimensional scene image model point set; and generating a three-dimensional scene image according to intensity of merged point cloud data and the normal vectors and the vertexes of the triangular patches. The three-dimensional sonar visualization processing method based on the multi-beam phased array sonar system is high in speed and accuracy.

Description

technical field [0001] The invention relates to the field of image data processing, in particular to a three-dimensional sonar visualization processing method based on a multi-beam phased array sonar system. Background technique [0002] The multi-beam phased array three-dimensional imaging sonar system is a relatively advanced and widely used system in the field of underwater applications in recent years. The system uses single-frequency sonar pulses and uses phased array technology to generate tens of thousands of beam signals at the same time to transmit the entire observation scene. system) to obtain the range image of the underwater three-dimensional lattice in real time. The three-dimensional scene graph composed of these range images updates the image at a speed of 10 frames per second to 20 frames per second to meet the needs of real-time monitoring. Cooperate with the position information of the sonar system obtained from GPS (Global Position System) and the state...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/52
Inventor 田翔史勇强周凡陈耀武
Owner ZHEJIANG UNIV
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