Moving target detection method and device based on combination of radial speed and regional energy

Abstract

The invention provides a moving target detection method and device based on combination of radial speed and regional energy. According to the method, M sequence modulation signals serve as sending signals of forward-looking sonar, beam forming is carried out on echo signals, two-dimensional constant false alarm rate detection is carried out on a beam forming result, and then division and statistics of targets in an image are achieved through a clustering analysis method on the basis of two-dimensional constant false alarm rate detection. A pulse pair method is used for rapidly extracting the radial speed of the target relative to the forward-looking sonar, and finally the motion state of the detected target is judged through the radial speed information. According to the method, the movingtarget and the static target in the forward-looking sonar imaging detection result can be well separated, and the problem that multiple frames of image data are needed in an image sequence-based detection method is solved.

Description

technical field [0001] The invention relates to the technical field of two-dimensional imaging sonar, in particular to a method and device for detecting a moving target based on the combination of radial velocity and area energy. Background technique [0002] Imaging sonar has a wide range of applications in real-time detection of ports, automatic alarms, and underwater frogman detection. Due to the time-varying characteristics of underwater acoustic channels, underwater acoustic imaging is not stable, sonar image data has low resolution and no color information. For low-resolution imaging sonar, it is difficult to extract the shape information of small targets. Currently commonly used moving target detection methods include background subtraction method and frame difference method. When using the background subtraction method, the new image frame data is subtracted from the fixed background template. If the absolute value of the difference exceeds a given threshold, it is ...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the conventional moving target detection method, which is easily affected by environmental changes, target speed and threshold setting problems, the present invention provides a moving target detection method based on the combination of radial velocity and area energy, which can The energy intensity automatically adjusts the threshold value in constant false alarm detection. If the surrounding energy intensity is high, the threshold value will also become higher. On the contrary, if the energy intensity around the unit to be detected is low, the threshold value will also be lowered accordingly. Moreover, only a single frame of data can be used to quickly and real-time , Accurately separate moving and static targets

Images