Automatic range switching method and system

Abstract

The present application discloses an automatic range switching method and system. The automatic range switching method includes: receiving echo data through a communication module, transmitting the echo data to a host computer, and then the host computer caching the echo data to obtain cached data; processing the cached data through an asynchronous thread to obtain an initial echo data matrix, determining the number of rows of the initial echo data matrix, and deleting the corresponding second frame data according to the determination result to obtain a final echo data matrix; processing the final echo data matrix according to a pseudo-color change rule to obtain a color sonar image, and then performing corresponding operations on the color sonar image to obtain the latest single-frame sonar image; determining whether a first historical sonar image occupies an image display area, performing corresponding processing on the first historical sonar image according to the determination result, and splicing the processed first historical sonar image with the latest single-frame sonar image to obtain a final display image.

Description

Technical Field

[0001] The present application relates to the technical field of software systems for fish detection equipment, and in particular to a method and system for automatic range switching. Background Art

[0002] With the development of electronic information technology, the performance of integrated circuit-related hardware and computers has been continuously improved, providing strong support for the performance improvement needs of fish finder equipment and the development of new products. As a software system for the interaction between the fish finder equipment and the user, the fish finder display and control system can accept user input and display the detection results to the user in a timely, efficient and accurate manner. When the user has operations such as range switching and adjusting system gain that can directly affect the display results, it is particularly important to be able to display the detection data set by the user to the user in a timely and accurate manner. The current processing method is to uniformly process all historical data that need to be displayed, and obtain the final image to be displayed after operations such as color image conversion, image filtering, enhancement, and transformation. The method provided by the present invention does not need to process all historical data that need to be displayed. From various image interpolation, filtering, and enhancement algorithms, it can be seen that this method can ensure the quality of image processing, while reducing the memory usage of the application and improving the processing efficiency of the software. It can simply and efficiently realize the automatic switching of the range of the single-beam fish finder display and control system according to the range set by the user.

[0003] Therefore, how to effectively improve the software data processing efficiency and reduce the program memory usage when the range of the single-beam fish finder display and control system is automatically switched has become an urgent problem to be solved. Summary of the Invention

[0004] The embodiments of the present application provide a method and system for automatic range switching, which at least solve the problems of the inability to process only the relevant frame data of the current data during the range switching process and the low efficiency of the automatic range switching of the fish finder display and control system through the present invention.

[0005] The present invention provides a range automatic switching method, comprising:

[0006] Data receiving step: receiving echo data through a communication module, transmitting the echo data to a host computer, and the host computer buffering the echo data to obtain buffered data;

[0007] Data preprocessing step: after processing the cached data through an asynchronous thread to obtain an initial echo data matrix, determining the number of matrix rows of the initial echo data matrix, deleting the corresponding second frame data according to the determination result, and obtaining a final echo data matrix;

[0008] Image processing step: after processing the final echo data matrix according to the pseudo-color change rule to obtain a color sonar image, performing corresponding operations on the color sonar image to obtain the latest single-frame sonar image;

[0009] Image display step: after determining whether the first historical sonar image occupies the entire image display area, performing corresponding processing on the first historical sonar image according to the determination result, splicing the processed first historical sonar image with the latest single-frame sonar image to obtain a final display image.

[0010] In the above-mentioned automatic range switching method, the data receiving step includes:

[0011] Receiving the echo data received by the acoustic signal receiving device through the communication module of the display and control system;

[0012] The echo data is transmitted from the lower computer to the upper computer through a corresponding communication protocol, and the upper computer caches the echo data to obtain the cached data.

[0013] In the above-mentioned automatic range switching method, the data preprocessing step includes:

[0014] Reading the cached data through the asynchronous thread and performing data format conversion on the cached data to obtain decimal cached data;

[0015] The decimal buffer data is integrated by the asynchronous thread to obtain the initial echo data matrix.

[0016] In the above-mentioned automatic range switching method, the data preprocessing step further includes:

[0017] When the total number of the first frame data in the initial echo data matrix is greater than a preset total number, the corresponding second frame data is deleted according to a first time sequence of the first frame data to obtain the final echo data matrix, and then the final echo data matrix is updated.

[0018] In the above-mentioned automatic range switching method, the image processing step includes:

[0019] Setting the pseudo color change rule according to the echo signal intensity and the preset color resolution;

[0020] After converting the third frame data in the final echo data matrix into a pseudo color space, the third frame data is subjected to pseudo color transformation according to the pseudo color change rule to obtain the color sonar image.

[0021] In the above-mentioned automatic range switching method, the image processing step further includes:

[0022] After filtering the color sonar image to obtain a smoothed image, scaling the smoothed image to obtain a first single-frame sonar image.

[0023] In the above-mentioned automatic range switching method, the image processing step further includes:

[0024] The first single-frame sonar image is rotated to a preset angle to obtain a second single-frame sonar image, and then the second single-frame sonar image is updated into a global variable to obtain the latest single-frame sonar image.

[0025] In the above-mentioned automatic range switching method, the image display step includes:

[0026] When the first historical sonar image does not fill the image display area, after saving the first historical sonar image, the first historical sonar image and the latest single-frame sonar image are spliced to obtain the final display image.

[0027] In the above-mentioned automatic range switching method, the image display step further includes:

[0028] When the first historical sonar image fills the image display area, the sonar image corresponding to the fifth frame of data is cut out from the first historical sonar image according to the second time sequence of the fourth frame of data corresponding to the first historical sonar image to obtain a second historical sonar image. The second historical sonar image is then spliced with the latest single-frame sonar image to obtain the final display image.

[0029] The present invention also provides an automatic range switching system, which is applicable to the automatic range switching method described above, and the automatic range switching system includes:

[0030] Data receiving unit: receiving echo data through the communication module, and transmitting the echo data to the host computer, which then caches the echo data to obtain cached data;

[0031] A data preprocessing unit: after processing the cached data through an asynchronous thread to obtain an initial echo data matrix, the unit determines the number of matrix rows of the initial echo data matrix, deletes the corresponding second frame data according to the determination result, and obtains a final echo data matrix;

[0032] Image processing unit: after processing the final echo data matrix according to the pseudo color change rule to obtain a color sonar image, performing corresponding operations on the color sonar image to obtain the latest single-frame sonar image;

[0033] The image display unit determines whether the first historical sonar image occupies the entire image display area, processes the first historical sonar image accordingly according to the determination result, and splices the processed first historical sonar image with the latest single-frame sonar image to obtain a final display image.

[0034] Compared to related technologies, the automatic range switching method and system proposed in this invention uses image processing technology to process only the raw data of the current frame and several frames preceding it, generating a single frame of image. This frame serves as the latest image to be displayed, which is then spliced with the previous data to obtain the complete image to be displayed. This eliminates the need to process all historical data to be displayed, ensuring image processing quality while reducing application memory usage and improving software processing efficiency.

[0035] The details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0037] Figure 1 is a flow chart of a method for automatic range switching according to an embodiment of the present application;

[0038] Figure 2 This is a flow chart of automatic range switching according to an embodiment of the present application;

[0039] Figure 3 This is the display effect diagram of the single-beam fish finder display and control system;

[0040] Figure 4 It is a structural diagram of the automatic range switching system of the present invention.

[0041] Wherein, the accompanying drawings are marked as follows:

[0042] Data receiving unit: 51;

[0043] Data preprocessing unit: 52;

[0044] Image processing unit: 53;

[0045] Image display unit: 54. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is described and illustrated below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely used to explain this application and are not intended to limit this application. Based on the embodiments provided in this application, all other embodiments obtained by those of ordinary skill in the art without making any creative efforts are within the scope of protection of this application.

[0047] Obviously, the drawings described below are merely examples or embodiments of the present application. Those skilled in the art can apply the present application to other similar scenarios based on these drawings without inventive effort. Furthermore, it is also understood that, although the effort involved in such a development process may be complex and lengthy, for those skilled in the art related to the disclosure of the present application, changes in design, manufacturing, or production based on the technical content disclosed in the present application are merely conventional technical means and should not be construed as an insufficiency of the disclosure of the present application.

[0048] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it refer to independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments unless there is a conflict.

[0049] Unless otherwise defined, the technical or scientific terms used in this application should have the ordinary meaning understood by a person of ordinary skill in the technical field to which this application belongs. The words "one", "a", "the" and the like used in this application do not indicate a limit on quantity and may indicate the singular or plural. The terms "include", "comprise", "have" and any variations thereof used in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units that are inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The word "multiple" used in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0050] The present invention avoids processing complete historical data that needs to be displayed, and only processes relevant frame data of current data, thereby efficiently realizing the automatic range switching function of the fish finder display and control system.

[0051] The present invention will be described below with reference to specific embodiments.

[0052] Example 1

[0053] This embodiment provides a range automatic switching method. Figures 1 to 3 , Figure 1 is a flow chart of a method for automatic range switching according to an embodiment of the present application; Figure 2 This is a flow chart of automatic range switching according to an embodiment of the present application; Figure 3 This is the display effect diagram of the single-beam fish finder display and control system, such as Figures 1 to 3 As shown in FIG, the automatic range switching method includes the following steps:

[0054] Data receiving step S1: receiving echo data through the communication module, transmitting the echo data to the host computer, and then the host computer caches the echo data to obtain cached data;

[0055] Data preprocessing step S2: After the cached data is processed by an asynchronous thread to obtain an initial echo data matrix, the number of matrix rows of the initial echo data matrix is determined, and the corresponding second frame data is deleted according to the determination result to obtain a final echo data matrix;

[0056] Image processing step S3: After the final echo data matrix is processed according to the pseudo-color change rule to obtain a color sonar image, corresponding operations are performed on the color sonar image to obtain the latest single-frame sonar image;

[0057] Image display step S4: After determining whether the first historical sonar image occupies the entire image display area, the first historical sonar image is processed accordingly according to the determination result, and the processed first historical sonar image is spliced with the latest single-frame sonar image to obtain a final display image.

[0058] In an embodiment, the data receiving step S1 includes:

[0059] Receive the echo data received by the acoustic signal receiving device through the communication module of the display and control system;

[0060] The echo data is transmitted from the lower computer to the upper computer through the corresponding communication protocol, and the upper computer caches the echo data to obtain cached data.

[0061] In a specific implementation, the communication module of the display and control system receives echo data from the acoustic signal receiving device and transmits the echo data from the slave computer to the host computer via a corresponding communication protocol (such as a network communication protocol UDP, TCP, or a serial port protocol). The host computer caches the received echo data; when switching the range, the cached data needs to be cleared. The slave computer used in the present invention is an FPGA and a soft core (hard core), but is not limited to FPGA and soft core (hard core). The slave computer can also be a DSP, ARM, etc.

[0062] In an embodiment, the data preprocessing step S2 includes:

[0063] Read the cached data through an asynchronous thread and convert the data format of the cached data to obtain decimal cached data;

[0064] The decimal buffer data is integrated through asynchronous threads to obtain the initial echo data matrix.

[0065] When the total number of first frame data in the initial echo data matrix is greater than the preset total number, the corresponding second frame data is deleted according to the first time sequence of the first frame data to obtain a final echo data matrix, and then the final echo data matrix is updated.

[0066] In a specific implementation, the sub-thread of the display and control system continuously reads the cached data obtained in step S1. The sub-thread first converts the cached data format. For example, if the data transmitted via the network communication protocol is in HEX format, the sub-thread converts this formatted data to decimal to facilitate subsequent processing. The sub-thread then reorganizes and integrates the reformatted data, processing the cached data into a matrix of initial echo data and storing the reformatted cached data in the matrix. Each row of the initial echo data matrix represents echo data obtained from a single probe beam, i.e., a frame of data. Data from different frames are stored in different rows of the matrix, with the data row sequence in the matrix determined by the chronological order of the frames. Because the number of data points in each frame is far greater than the number of pixels that can be displayed by the display device of the display and control system, to reduce memory consumption in the display and control system, the data list of the initial echo data matrix stores a maximum of nine frames of data. Upon receiving each new echo data frame, the first-stored data is deleted and the temporary data is updated based on the first-time order of the first frame of data. Because under the premise that the receiving and transmitting parameters of the transducer do not change, the number of data points of a single frame of data after the range switching is different from that before the range switching, resulting in asymmetric data volume, the initial echo data matrix is cleared first after the range switching.

[0067] In an embodiment, the image processing step S3 comprises:

[0068] Set pseudo color change rules based on echo signal strength and preset color resolution;

[0069] After converting the third frame data in the final echo data matrix into a pseudo-color space, the third frame data is pseudo-colored according to the pseudo-color change rule to obtain a color sonar image;

[0070] After filtering the color sonar image to obtain a smoothed image, scaling the smoothed image to obtain a first single-frame sonar image;

[0071] The first single-frame sonar image is rotated to a preset angle to obtain a second single-frame sonar image, and then the second single-frame sonar image is updated to a global variable to obtain the latest single-frame sonar image.

[0072] In a specific implementation, after converting the third frame of data in the final echo data matrix into a pseudo-color space, the third frame of data is pseudo-colored according to a pseudo-color change rule to obtain a color sonar image; a filtering operation is performed on the color sonar image to remove noise points, wherein, in view of the noise characteristics of underwater sonar signals, a median filter algorithm can usually be used for denoising; a scaling operation is performed on the smoothed image after smoothing, that is, an interpolation operation is performed on the initial 9 frames of data images to obtain a first single-frame sonar image with a size of 1*Height (where Height is the number of pixels of the height of the sonar image display area), wherein a bicubic interpolation algorithm can usually be used to achieve image reduction with better effect; the obtained first single-frame sonar image is rotated 90° clockwise (that is, all data points are arranged vertically) to obtain a second single-frame sonar image with a size of Height*1 that meets the display requirements of a single-beam fish finder; finally, the single-frame image is updated to a global variable to provide the latest single-frame sonar image for the image display in the image display step S4.

[0073] In an embodiment, the image display step S4 includes:

[0074] When the first historical sonar image does not fill the image display area, after saving the first historical sonar image, the first historical sonar image and the latest single-frame sonar image are spliced to obtain a final display image;

[0075] When the first historical sonar image fills the image display area, the sonar image corresponding to the corresponding fifth frame of data is cut out from the first historical sonar image according to the second time sequence of the fourth frame of data corresponding to the first historical sonar image. After obtaining the second historical sonar image, the second historical sonar image is spliced with the latest single-frame sonar image to obtain the final display image.

[0076] In a specific implementation, in the initial stage of operation of the display and control system, when the first historical sonar image does not fill the image display area and needs to be updated, the first historical sonar image is first saved, and the first historical sonar image is spliced with the latest single-frame sonar image obtained in the image processing step S3 to obtain a final display image to be displayed; when the first historical sonar image can completely cover the image display area and needs to be updated, the sonar image corresponding to the corresponding fifth frame of data is cut out from the first historical sonar image according to the second time sequence of the fourth frame of data corresponding to the first historical sonar image, and then the remaining second historical sonar image is spliced with the latest single-frame sonar image obtained in the image processing step S3, wherein the fifth frame of data refers to the frame data (echo data) that enters the matrix earliest in the historical echo data matrix corresponding to the historical sonar image.

[0077] Example 2

[0078] Please refer to Figure 2 , Figure 2 This is a flow chart of automatic range switching according to an embodiment of the present application. When the display and control system software displays the sonar image normally and a range switching operation is required, the specific implementation process is as follows:

[0079] Step 1: After receiving the echo data received by the acoustic signal receiving device through the communication module of the display and control system, the echo data is transmitted from the lower computer to the upper computer through the corresponding communication protocol. After clearing the historical cache data in the display and control system, the upper computer caches the echo data to obtain the latest cache data.

[0080] Step 2: Read the latest cache data through an asynchronous thread and convert the data format of the latest cache data. After obtaining the decimal cache data, perform data integration on the decimal cache data through an asynchronous thread. After obtaining the echo data matrix, clear the historical frame data in the display and control system; when the number of matrix rows corresponding to the remaining frame data in the echo data matrix is greater than the preset number of matrix rows, delete the frame data stored in the echo data matrix from the earliest time sequence according to the frame data, and delete until the number of matrix rows corresponding to the remaining frame data in the echo matrix is less than or equal to the preset number of matrix rows; the echo data matrix after the deletion is completed is the final echo data matrix.

[0081] Step 3: Set the pseudo-color change rule according to the echo signal intensity and the preset color resolution. After converting the frame data in the final echo data matrix into the pseudo-color space, perform pseudo-color transformation on the frame data according to the pseudo-color change rule. After obtaining the sonar image, perform filtering operation on the sonar image to obtain a smooth image.

[0082] Step 4: When the range switching requirement is to increase the range, for example, the range is switched from 1 km to 2 km, the currently displayed sonar image only occupies the range from 0 to 1 km. First, the current sonar image needs to be highly compressed to half of its original width, and the width remains unchanged. Then, the range from 1 km to 2 km can be replaced by the display area background color, and then the sonar image is displayed according to the method in the image display step S4;

[0083] When the range switching requirement is to reduce the range, for example, switching from 2 km to 1 km, it is necessary to intercept the current actual sonar image, that is, intercept the sonar image in the range of 0 to 1 km, and enlarge the height of the screenshot image to twice the original, keeping the width unchanged, and then display the sonar image according to the method in the image display step S4.

[0084] Example 3

[0085] Please refer to Figure 4 , Figure 4 FIG. 1 is a schematic diagram of the structure of the automatic range switching system of the present invention. Figure 4As shown, the automatic range switching system of the invention is applicable to the above-mentioned automatic range switching method, and the automatic range switching system includes:

[0086] The data receiving unit 51 receives echo data through the communication module, transmits the echo data to the host computer, and the host computer caches the echo data to obtain cached data;

[0087] The data preprocessing unit 52 processes the cached data through an asynchronous thread to obtain an initial echo data matrix, determines the number of matrix rows of the initial echo data matrix, deletes the corresponding second frame data according to the determination result, and obtains a final echo data matrix;

[0088] Image processing unit 53: After processing the final echo data matrix according to the pseudo-color change rule to obtain a color sonar image, perform corresponding operations on the color sonar image to obtain the latest single-frame sonar image;

[0089] The image display unit 54 determines whether the first historical sonar image occupies the entire image display area, processes the first historical sonar image accordingly according to the determination result, and splices the processed first historical sonar image with the latest single-frame sonar image to obtain a final display image.

[0090] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0091] To sum up, the present invention does not need to process all historical data that need to be displayed. By using image interpolation, filtering, enhancement algorithms and other technologies, only the original data of the current frame and the previous frames are processed to obtain the complete image that needs to be displayed, thereby ensuring the quality of image processing, while reducing the memory usage of the application and improving the processing efficiency of the software. It can simply and efficiently realize the automatic switching of the range of the single-beam fish finder display and control system according to the range set by the user.

[0092] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be subject to the scope of protection of the appended claims.

Claims

1. A range automatic switching method, characterized in that: Applicable to the range switching scenario of the single-beam fish finder display and control system, the automatic range switching method includes: Data receiving step: receiving echo data through a communication module, transmitting the echo data to a host computer, and the host computer buffering the echo data to obtain buffered data; Data preprocessing step: after processing the cached data through an asynchronous thread to obtain an initial echo data matrix, determining the number of matrix rows of the initial echo data matrix, deleting the corresponding second frame data according to the determination result, and obtaining a final echo data matrix; Image processing step: after processing the final echo data matrix according to the pseudo-color change rule to obtain a color sonar image, performing corresponding operations on the color sonar image to obtain the latest single-frame sonar image; Image display step: after determining whether the first historical sonar image occupies the entire image display area, performing corresponding processing on the first historical sonar image according to the determination result, splicing the processed first historical sonar image with the latest single-frame sonar image to obtain a final display image; Wherein, the image display step includes: When the first historical sonar image does not fill the image display area, after saving the first historical sonar image, splicing the first historical sonar image with the latest single-frame sonar image to obtain the final display image; When the first historical sonar image fills the image display area, the sonar image corresponding to the fifth frame of data is cut out from the first historical sonar image according to the second time sequence of the fourth frame of data corresponding to the first historical sonar image to obtain a second historical sonar image. The second historical sonar image is then spliced with the latest single-frame sonar image to obtain the final display image.

2. The automatic range switching method according to claim 1, characterized in that: The data receiving step comprises: Receiving the echo data received by the acoustic signal receiving device through the communication module of the display and control system; The echo data is transmitted from the lower computer to the upper computer through a corresponding communication protocol, and the upper computer caches the echo data to obtain the cached data.

3. The automatic range switching method according to claim 1, characterized in that: The data preprocessing step includes: Reading the cached data through the asynchronous thread and performing data format conversion on the cached data to obtain decimal cached data; The decimal buffer data is integrated by the asynchronous thread to obtain the initial echo data matrix.

4. The automatic range switching method according to claim 3, characterized in that: The data preprocessing step further includes: When the number of matrix rows of the initial echo data matrix is greater than a preset number of matrix rows, the second frame data in the corresponding matrix rows of the initial echo data matrix are deleted according to a first time sequence, and after the final echo data matrix is obtained, the final echo data matrix is updated.

5. The automatic range switching method according to claim 1, characterized in that: The image processing step comprises: Setting the pseudo color change rule according to the echo signal intensity and the preset color resolution; After converting the third frame data in the final echo data matrix into a pseudo color space, the third frame data is subjected to pseudo color transformation according to the pseudo color change rule to obtain the color sonar image.

6. The automatic range switching method according to claim 5, characterized in that: The image processing step further comprises: After filtering the color sonar image to obtain a smoothed image, scaling the smoothed image to obtain a first single-frame sonar image.

7. The automatic range switching method according to claim 6, characterized in that: The image processing step further comprises: The first single-frame sonar image is rotated to a preset angle to obtain a second single-frame sonar image, and then the second single-frame sonar image is updated into a global variable to obtain the latest single-frame sonar image.

8. A range automatic switching system, characterized in that: include: Data receiving unit: receiving echo data through the communication module, and transmitting the echo data to the host computer, which then caches the echo data to obtain cached data; A data preprocessing unit: after processing the cached data through an asynchronous thread to obtain an initial echo data matrix, the unit determines the number of matrix rows of the initial echo data matrix, deletes the corresponding second frame data according to the determination result, and obtains a final echo data matrix; Image processing unit: after processing the final echo data matrix according to the pseudo color change rule to obtain a color sonar image, performing corresponding operations on the color sonar image to obtain the latest single-frame sonar image; An image display unit is configured to determine whether the first historical sonar image occupies the entire image display area, process the first historical sonar image accordingly based on the determination result, and splice the processed first historical sonar image with the latest single-frame sonar image to obtain a final display image. The image display unit further includes: When the first historical sonar image does not fill the image display area, after saving the first historical sonar image, splicing the first historical sonar image with the latest single-frame sonar image to obtain the final display image; When the first historical sonar image fills the image display area, the sonar image corresponding to the fifth frame of data is cut out from the first historical sonar image according to the second time sequence of the fourth frame of data corresponding to the first historical sonar image to obtain a second historical sonar image. The second historical sonar image is then spliced with the latest single-frame sonar image to obtain the final display image.

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