A graded automatic collision warning method based on forward-looking obstacle detection sonar

Abstract

The invention discloses a graded automatic collision warning method for forward-looking obstacle detection sonar, which belongs to the field of sonar detection. By establishing the collision risk function of parameters such as the scale, orientation and distance of the obstacle target, the invention divides the classification alarm area, sets the collision alarm threshold, realizes the classification management and control of the collision alarm information, and can reduce the false alarm rate of the collision alarm and the objectiveness. It reflects the criticality of possible collisions and better fits the application scenarios of underwater navigation and obstacle detection. The invention integrates the functions of "detection-perception-judgment-alarm", and obtains parameters such as the number, distance, azimuth, scale and other parameters of the obstacle target within the detection range by means of the two-dimensional forward-looking multi-beam image sonar, and alarms according to the established classification. The model judges the collision risk level, alerts the submersible by means of sound and light alarm or transmits the collision alarm information to the command and control aircraft of the submersible, so as to realize intelligently assisting the manned / unmanned submersible for safe underwater navigation.

Description

technical field [0001] The invention belongs to the field of sonar detection, in particular to a graded automatic collision alarm method for forward-looking obstacle detection sonar. Background technique [0002] In the process of underwater navigation, underwater manned / unmanned underwater vehicles usually complete forward-looking obstacle detection with the help of two-dimensional forward-looking multi-beam image sonar. In the actual application process, affected by factors such as microscopic organisms in the water and environmental noise, the false alarm rate of the two-dimensional forward-looking multi-beam image sonar prompting a collision alarm is relatively high, and the collision alarm information is too simple to objectively reflect the possibility of a collision. The degree of criticality will cause a greater burden on the submersible, and even cause the underwater submersible to often take unnecessary obstacle avoidance actions, which will have a significant adve...

AI Technical Summary

Problems solved by technology

In the actual application process, affected by factors such as micro organisms in the water and environmental noise, the false alarm rate of the two-dimensional forward-looking multi-beam image sonar prompting the collision alarm is high, and the collision alarm information is too simple, which does not objectively reflect the possibility of a collision The degree of criticality will cause a greater burden to the submersibles, and even cause the underwater vehicle to often take unnecessary obstacle avoidance actions, which will have a significant adverse effect on the normal navigation of the underwater vehicle.

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