Single-beam sonar underwater surveying and mapping method and system, storage medium and terminal

Abstract

The invention discloses a single-beam sonar underwater surveying and mapping method and system, a storage medium and a terminal, and the method comprises the following steps: carrying out the initialization collection of a target, building a noise model which gives priority to circuit noise and environment noise, and carrying out the correction of the initialization collection data; setting a carrier frequency, transmitting a linear frequency modulation signal, receiving an echo signal, and performing time gain compensation on the echo signal; carrying out Fourier detection processing on the compensated signal, converting the compensated signal into a frequency domain model, carrying out filtering processing, and carrying out frequency domain beam forming on the processed signal; surveying and mapping for determining the orientation are realized through frequency domain beam forming, and realizing pulse compression through matched filtering to remove a secondary phase of an intermediate frequency domain in an echo signal; and performing inverse Fourier transform on a pulse compression result to obtain time domain energy, and enabling a corresponding energy value to correspond to a contrast value of different depths under the same color system to obtain a current surveying and mapping information display graph. According to the invention, the accuracy and stability of the single-beam sonar are ensured.

Description

technical field [0001] The invention belongs to the technical field of sonar surveying and mapping, and more specifically relates to a single-beam sonar underwater surveying and mapping method, system, storage medium and terminal. Background technique [0002] The sonar field attaches great importance to the accuracy and stability of target detection, which is also a standard for measuring sonar performance. Sonar can be mainly divided into two types in terms of beams, single-beam sonar and multi-beam sonar, which realize terrain mapping with different requirements based on the number of sensors. Multi-beam sonar uses complex sensors to transmit and receive sound waves, and is usually used for underwater mapping in 2D and 3D scenarios. However, multi-beam sonar is not conducive to popularization due to the complex formation of multi-beam sonar arrays, large amount of real-time data, and high cost. [0003] Single-beam sonar uses a single sensor to transmit and receive sound...

AI Technical Summary

Problems solved by technology

[0004] However, the single-beam sonar disclosed in patents CN212134945U and CN111650592A can only perform surveying and mapping in a single direction due to the limited number of sensors of the single-beam sonar. Usually, sonar uses continuous pulse signals as transmission signals, and the frequency signal is single, so the surveying and mapping range is limited. Due to the frequency of the transmitted signal and cannot meet the high accuracy of surveying and mapping

At the same time, in the environment of undulating waves or underwater turbidity, single-beam sonar is more susceptible to various interference noises or clutter signals, which restricts the accuracy and stability of sonar detection, resulting in poor surveying and mapping results. cause problems in judgment

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