Seabed cable detection method based on side scan sonar data fusion and precision processing

A technology of data fusion and side-scan sonar, which is applied in the direction of sound wave reradiation, radio wave measurement system, measurement device, etc., can solve the problems such as the complex implementation process of LOG operator submarine line extraction, and achieve the effect of solving the complex implementation process

Active Publication Date: 2018-11-23
SECOND INST OF OCEANOGRAPHY MNR
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies in the prior art, the present invention provides a seabed line detection method based on side-scan sonar data fusion and precision processing, and introduces the method of fusion of LOG&Canny

Method used

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  • Seabed cable detection method based on side scan sonar data fusion and precision processing
  • Seabed cable detection method based on side scan sonar data fusion and precision processing
  • Seabed cable detection method based on side scan sonar data fusion and precision processing

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0081] Embodiment 1 Comparative Analysis of Edge Detection Algorithms

[0082] By comparing five edge detection algorithms such as Laplace, Roberts, Kirsch, Canny, and LOG to analyze their advantages and disadvantages, it is verified that when the noise in the water column area is weak, the simple edge detection algorithm can monitor the seabed line better. Wherein the method effect of LOG&Canny combination of the present invention is better.

[0083] Table 1 time comparison of each method

[0084]

[0085] Table 1 records the time required for each method to run. This method can calculate the result in about 0.5s, which ensures the accuracy while also ensuring the efficiency. Although the latter methods have improved in time, they cannot guarantee Accuracy of bottom line detection.

[0086] image 3 , it can be seen that the detection effects of Kirsch algorithm, Roberts algorithm, Laplace algorithm, LOG algorithm, and Canny algorithm increase sequentially. The Kirsch ...

Embodiment 2

[0091] Embodiment 2 Implementation process of a submarine line detection method based on side-scan sonar data fusion and precision processing

[0092] step1: Convert the sound wave intensity to gray scale. Decode the XTF data to generate a grayscale file;

[0093] step2: Load the image. Build a Bitmap type variable and load a complete single-strip submarine sonar image f(x,y);

[0094]step3: Image filtering. Calculate LOG(x, y) using formula (2) to filter and denoise the original sonar image f(x, y), and obtain the image f'(x, y) after removing the Gaussian noise of the image;

[0095] step4: image sharpening. The edge strength of the image will be reduced during the filtering process in step 3, so Laplacian is used to sharpen the image to obtain f″(x,y);

[0096] step5: Gradient amplitude and direction angle calculation. Use the Sobel first-order differential template to calculate the gradients in the horizontal and vertical directions, and use formulas (3) and (4) to c...

Embodiment 3

[0101] Example 3 Specific application and comparison in Shenzhen Dapeng Bay sea area

[0102] The experiment adopts the survey data of Shenzhen Dapeng Bay sea area, and uses dual-frequency side-scan sonar equipment to simultaneously collect high-frequency (high-resolution, span 2*75m) and low-frequency (normal resolution, span 2*200m) two 100% overlap of adjacent track line measurement results, which are carried out synchronously with single-beam sounding, and 171 survey lines have been completed. The SSS instrument is Edgetech 4200FS, the frequency is 385KHz, and the single-beam sounder model is HY1600. The range of survey area is as Figure 7 As shown, the water depth variation in the survey area is 5-15m. There are not many types of geomorphology in the survey area, but there are many in number, mainly including: sand spots, fishing nets, sand pits, anchor trenches (anchor marks), reefs, etc.

[0103] Select the area with high noise in the water column area of ​​the sonar...

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Abstract

The invention discloses a seabed cable detection method based on side scan sonar data fusion and precision processing; the seabed cable detection in a sonar image is affected by multi-factors and hardto make, and the seabed cable is hard to be accurately detected in the prior art. The method can accurately detect the seabed so as to carry out later slope distance correction. The method uses a LOGfunction filtered image as the input image of a Canny detection algorithm, carries out seabed tracking, fuses the result with a threshold value method tracking result, removes abnormal values of thefused seabed cable via interpolation and filtering, and compares same with single beam sounding data. The method takes the Shenzhen Dapeng bay sea area as the case for verification, and obtains a tracking precision with a root-mean-square error at +/- 0.2m, thus verifying the feasibility of the method. The detection method can be applied in seabed cable precision detection under complex conditions.

Description

technical field [0001] The invention relates to a seabed line detection method based on side-scan sonar data fusion and precise processing. Background technique [0002] Side-scan sonar is an efficient means of obtaining seabed landform information, and has been widely used for its advantages of high precision, high efficiency and high seabed image quality. At present, side-scan sonar is mainly used in marine surveying and mapping, seabed geological detection, and seabed feature detection. In the generated side-scan sonar seabed grayscale image, the first real seabed echo point connection line of each ping data along the track direction, that is, the obvious boundary between the water column area and the image area is called the seabed line . It indicates the height of the towfish from the seabed, and its detection accuracy directly affects the accuracy of slant distance correction. When side-scan sonar data is collected, the towfish is generally towed, and when it is aff...

Claims

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Application Information

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IPC IPC(8): G01S15/88
CPCG01S15/89
Inventor 王胜平吴自银李家彪杨建松赵荻能罗孝文
Owner SECOND INST OF OCEANOGRAPHY MNR
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