Underwater sonar system point cloud data noise reduction method

Abstract

The invention discloses an underwater sonar system point cloud data noise reduction method, which comprises the following steps of (1) removing discrete data points without connected regions in pointcloud data based on an underwater acoustic signal reflection principle; (2) performing sidelobe effect suppression on the point cloud data; (3) removing noise based on correlation of continuous multi-frame point cloud data; (4) dynamically normalizing the point cloud data to process and remove noise data and background data; and (5) for the point cloud data of the three-dimensional data structure,physically meaningless point cloud data is removed according to the actual physical meaning of the three-dimensional point cloud data. Different noise reduction strategies are adopted for different noises respectively to achieve comprehensive noise reduction of the point data, and the noise reduction effect is improved.

Description

technical field [0001] The invention belongs to the technical field of signal processing, and in particular relates to a noise reduction method for point cloud data of an underwater sonar system. Background technique [0002] Underwater sonar imaging is based on sonar point cloud data, so the quality of point cloud data processing directly determines underwater sonar imaging and a series of subsequent sonar data processing processes, including extracting useful target information from point cloud data and detecting underwater objects Wait. In principle, ultrasonic signals in water will produce specific underwater acoustic effects, including sidelobe effects, reverberation effects, etc., and certain noise signals will also be generated during signal acquisition and signal transmission, which cannot completely solve the data noise from the root. The problem. The interference of noise will bring certain difficulties to algorithms such as target detection, recognition, and tra...

AI Technical Summary

Problems solved by technology

[0003] The patent application with the application publication number CN105785349A discloses a noise removal method for a phased array three-dimensional acoustic camera sonar. The noise removal method performs uniform removal of noise, without classification and denoising, which will result in poor denoising effect

[0004] The patent application with the application publication number CN109035224A discloses a multi-beam point cloud based submarine pipeline detection and 3D reconstruction method. In this submarine pipeline detection and 3D reconstruction method, a point cloud denoising filter method based on density analysis is used to The point cloud data of the pipeline is denoised, and the denoising effect of this single denoising method is not good.

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