Underwater target tracking method based on forward-looking sonar image

Abstract

The invention relates to an underwater target tracking method based on a forward-looking sonar image, and the method can accurately track the position of an underwater target, and includes carrying out the real-time quick detection of the underwater target, and completing the installation and debugging of a GPS, an attitude sensor, a holder, a PC and forward-looking sonar equipment; controlling the pan-tilt to move in a detection range through the PC, and giving a tracking target; acquiring information data; recovering the sonar information into a gray level image of the sonar according to theintensity of the forward-looking sonar callback signal; preprocessing the images, extracting two groups of feature points to obtain two groups of feature point sets, matching the feature point sets to separate correct matching from error matching, and calculating a target image, transformation coordinates and a transformation matrix; and performing repeated matching and repeated transformation toobtain a transformation matrix of the current target position, thereby realizing underwater target tracking based on forward-looking sonar image matching. According to the underwater target trackingmethod, the position of the target is accurately tracked, the detection speed is high, and the method has the characteristic of real-time performance.

Description

technical field [0001] The invention relates to the field of image processing, in particular to an underwater target tracking method based on forward-looking sonar images, which can realize real-time tracking of underwater targets. [0002] technical background [0003] Forward-looking sonar uses the echo information of sound waves for imaging, and is mainly used in underwater target detection, seabed survey and detection, underwater intrusion detection, underwater search and rescue, and navigation. Due to the influence of the complex underwater optical environment, the characteristics of underwater targets are difficult to obtain and even difficult to image. Therefore, sonar has become a very important means for detection in environments with poor water quality conditions, such as turbid waters. The existing forward-looking sonar equipment DIDSON (Dual-Frequency Identification Sonar) is a sonar that uses an audio frequency "lens" to generate images that are almost equivalen...

AI Technical Summary

Problems solved by technology

Traditional template matching algorithms such as image matching algorithms based on grayscale are sensitive to changes in the external environment because they only use the grayscale information of image pixels, so they are often unable to deal with matching problems in complex external environments; Although the feature-based template matching algorithm can cope well with the interference caused by changes in the external environment, it cannot achieve real-time fast matching due to its large amount of calculation and low efficiency.

Images