Multi-beam forward-looking sonar target detection method

Abstract

The invention discloses a multi-beam forward-looking sonar target detection method. A target can be effectively detected by using the multi-beam forward-looking sonar target detection method. The multi-beam forward-looking sonar target detection method comprises the steps of: firstly, removing scattering noise in an image by using a median filter based on a 3*3 window to improve the quality of a sonar image; then, carrying out fixed threshold segmentation, segmenting a target and a background, performing an erosion operation by using a 3*3 rectangular window kernel, wherein the erosion operation of a morphological operation is capable of well removing a false target with a small area, that is the noise is further reduced, the processing pressure and complexity of identifying processing are alleviated; finally, further removing the false target by using an area ratio and a major-minor axis data ratio, therefore the correct rate of detection is improved.

Description

technical field [0001] The invention relates to the technical field of digital image processing, in particular to a multi-beam forward-looking sonar target detection method. Background technique [0002] With the development of science and technology and the in-depth study of autonomous underwater robots, sonar technology has been developed by leaps and bounds. The attention and research on imaging sonar is also rapidly maturing. There are already acoustic holographic imaging test systems close to optical image quality, sonic mirror imaging systems, etc. Although the quality of acoustic images obtained by these imaging systems is good, they are not suitable for real environments. . The underwater open environment in practical applications has high requirements for sensors, and it is necessary to accurately perceive the real information of the surrounding environment. Active sonar is the most widely used detection equipment for autonomous underwater vehicles, and multi-beam...

AI Technical Summary

Problems solved by technology

[0003] Although the multi-beam forward-looking sonar image is the same as the optical image, it is essentially a planar or spatial distribution map of energy, but because of the complex and changeable characteristics of the underwater acoustic channel, as well as the projection and scattering characteristics of the sound wave itself, making Its image is very different from the optical image

The multi-beam forward-looking sonar image in the underwater environment mainly has the following characteristics: (1) Low resolution: the wavelength of the detection sound wave emitted by the sonar detection device is generally longer, and the detection step angle is larger, and the distance between adjacent beams is not Continuously changing, with a certain interval, resulting in low resolution of the sonar image

(2) Serious noise interference: the underwater acoustic channel and the ocean environment are complex and changeable, and there are interferences of attenuation, reverberation, and scattering during the propagation of sound waves

In addition, other sounds in the marine environment are also the main source of sonar image noise, and targets are often submerged in these disturbances, making it difficult to detect

(3) Multipath phenomenon: Multipath phenomenon is caused by the propagation of sound waves in the process of propagation, so that a target has multiple return values, resulting in ghosting in the image, making it difficult to determine the true position of the target

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