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A multi-beam forward-looking sonar target detection method

A forward-looking sonar, target detection technology, applied in image analysis, image enhancement, instruments, etc., can solve the problems of large detection step angle, low resolution, difficult to determine the real position of the target, etc., to reduce processing pressure and complexity. The effect of improving the quality of sonar images and improving the detection accuracy

Inactive Publication Date: 2018-10-26
710TH RES INST OF CHINA SHIPBUILDING IND CORP
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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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[0029] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0030] The invention provides a multi-beam forward-looking sonar target detection method, which specifically includes the following steps:

[0031] Step 1: Perform low-pass filtering on the original multi-beam forward-looking sonar image X1 to obtain a low-noise sonar image X2.

[0032] The original image noise of multi-beam forward-looking sonar is relatively large, and the image noise is mainly caused by the scattering of particles in the water and the diffuse reflection of water surface waves. These noises appear as white reflection areas with different areas and irregular distribution on the multi-beam forward-looking sonar image, with strong intensity, and have the characteristics of time-varying and space-varying jumps, and their positions and intensities in the image are random probability distributed. Commonly used low-pass filtering methods are ...

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Abstract

The invention discloses a multi-beam forward-looking sonar target detection method. Using the present invention can effectively detect the target. The present invention first adopts the median filter based on 3×3 window to remove the scattering noise in the image and improve the quality of the sonar image; The corrosion operation of the window kernel to do one erosion operation and the morphology operation can better remove the false target with a small area, that is, further reduce the noise, reduce the processing pressure and complexity of the recognition process; Remove false targets and improve detection accuracy.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/136G06T7/62G06T5/20G06T5/00
CPCG06T2207/20032
Inventor 林飞宇石涛陈尧杨海鹏刘春宇
Owner 710TH RES INST OF CHINA SHIPBUILDING IND CORP
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