Three-dimensional composite imaging method of hyperspectral laser, system and unmanned self-propulsion device

Abstract

The invention provides a three-dimensional composite imaging method of a hyperspectral laser, a system and an unmanned self-propulsion device. The method includes steps of scanning an underwater suspicious zone through hyperspectrum so as to determine a detecting target in a suspicious zone; scanning the detecting target through a laser, and acquiring a backward scattering signal; confirming the distance information with the detecting target through the backward scattering signal; preforming interference shielding treatment on intensity information, spectrum information, and polarization information of the backward scattering signal, and acquiring the position information of the detecting target after analyzing the distance information with the detecting target; according to the intensityinformation, spectrum information, and polarization information of the backward scattering signal after removing interference, generating a three-dimensional image of the detecting object. Through combination of active laser scanning and hyperspectral passive imaging, the polarization information and spectral information of the detecting target are extracted; through information fusion of the both, speciality inversion of the small underwater target is completed, thereby realizing the accurate identification and high-precision location of the detecting target under the water.

Description

technical field [0001] The invention relates to the technical field of underwater detection, in particular to a hyperspectral laser three-dimensional composite imaging method, system and unmanned self-propelled vehicle. Background technique [0002] The ocean is an important part of the global life support system and a valuable asset for the sustainable development of human society. With people's continuous attention to ocean resources and the rapid development of underwater unmanned vehicle technology, the scope of people's ocean exploration continues to expand, and the required target information is becoming more and more abundant. For deep-sea exploration and operation problems of thousands of meters or even more than 10,000 meters, especially when operating on the seabed, it is often carried out under the state of unmanned remote control. For example, in the large-scale survey of resources tens of meters away from the seabed, Remote Operated Vehicle (ROV), Autonomous Un...

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Problems solved by technology

[0003] However, in practical applications such as underwater detection, it is necessary to solve three-dimensional "perception" problems, such as three-dimensional space positioning, distance measurement, motion analysis, etc.; traditional sonar detection methods cannot solve the above three-dimensional "perception" problems well

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