Side-scan sonar instantaneous course correction method and system based on information fusion

Abstract

The invention provides a side-scan sonar instantaneous course correction method and system based on information fusion, and the method comprises the steps: decoding original side-scan sonar data, and reading the positioning data of the original side-scan sonar and a magnetic compass course signal built in a tow fish; calculating a carrier instantaneous course signal based on the positioning data; decomposing the two course signals by using a wavelet analysis method to respectively obtain two groups of multilayer low-frequency signals and high-frequency signals; carrying out Fourier transform on each layer of low-frequency signals, comparing two groups of transformed multi-layer low-frequency signals, and obtaining two layers of signals with the closest center frequency; performing peak-valley feature construction on the two layers of signals to construct a matching point pair set, and obtaining peak-valley feature point pairs to construct a correction model of the magnetic compass course; and finally, correcting the optimal decomposition layer corresponding to the magnetic compass course by using the correction model, and carrying out wavelet reconstruction by using a magnetic compass high-frequency signal obtained by decomposition and a corrected low-frequency signal so as to correct the magnetic compass course.

Description

technical field [0001] The invention relates to the technical field of underwater sonar mapping methods, in particular to a side-scan sonar instantaneous course correction method and system based on information fusion. Background technique [0002] The side-scan sonar system generally adopts the towing operation mode, and the towfish and the carrier are connected non-rigidly, so that the towfish will not be affected by the attitude change of the carrier platform, so it has better motion stability, thereby improving the acoustic emission of the side-scan sonar system. and the quality of echo reception. [0003] However, under the above operation mode, the tow fish has the problem of difficult positioning and orientation. Under standard operations, the position of the towed fish is generally estimated by the length of the towline based on the consistency of the course. There may be systematic deviations in the estimated position, but generally it will not cause large deformat...

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Problems solved by technology

[0005] One of the main problems solved by the present invention is that the towfish magnetic compass sensor is extremely susceptible to the influence of the complex water transport environment, and then produces changing systematic deviations, which is difficult to meet the needs of high-quality side-scan sonar mapping.

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