An underwater intelligent obstacle avoidance sonar system and obstacle detection method

Abstract

The invention relates to an underwater intelligent obstacle avoidance sonar system. The underwater intelligent obstacle system avoidance sonar system comprises a sound wave emission module, a sound wave receiving module and a data processing module, wherein the sound wave emission module is used for emitting sound wave signals in a specific format underwater; the sound wave receiving module is used for receiving the sound wave signals in the specific format underwater; the data processing module is used for processing the received sound wave signals. An obstacle detection method includes the steps of constructing nonlinear features of echo signals, restraining bubble echo noise according to the nonlinear features, detecting a partial wave crest in the echo signals and achieving obstacle detection through calculation on the width of the partial wave crest. The underwater intelligent obstacle avoidance sonar system can effectively avoid the problem of false alarms, generated by bubble bands, of obstacle avoidance sonar.

Description

technical field [0001] The invention relates to the field of underwater obstacle avoidance, in particular to an underwater intelligent obstacle avoidance sonar system and an obstacle detection method. Background technique [0002] With the rapid development of automatic control, electronic computer and energy technology, the application of underwater unmanned vehicles is becoming more and more extensive. Autonomous intelligent obstacle avoidance is a key for underwater unmanned vehicles to move underwater. In order to ensure the navigation safety of underwater unmanned vehicles, most underwater unmanned vehicles are equipped with obstacle avoidance sonar. [0003] When the underwater unmanned aerial vehicle is active near the shore, the obstacle avoidance sonar is greatly affected by the underwater bubbles caused by the navigation of the ship, and the bubble belt is often misreported as an obstacle, thus forming a false alarm. Most of the existing obstacle avoidance sonars...

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Problems solved by technology

[0004] The purpose of the present invention is to overcome the defect that the existing obstacle avoidance sonar easily misreports bubbles as obstacles, thereby providing an obstacle avoidance sonar system and obstacle detection method that can effectively avoid the false alarm problem caused by the formation of bubble strips

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