A method and system for stereoscopic imaging of underwater terrain and target objects

Abstract

The present invention discloses a method and system for stereoscopic imaging of underwater terrain and target objects, the method comprising: emitting sound waves or light waves to the underwater terrain and target objects; setting a first underwater wave function of the sound waves or light waves, for obtaining wave information in the underwater environment, including wave attenuation, scattering and nonlinear effects; setting a second underwater wave function of multi-band coupling of the sound waves or light waves, for capturing more underwater wave details and enhancing imaging accuracy through multi-band coupling; solving the first underwater wave function and the second underwater wave function, and setting a three-dimensional image generation model to obtain a final three-dimensional image result.

Description

Technical Field

[0001] The present invention belongs to the technical field of seabed target detection, and more specifically, relates to a method and system for stereoscopic imaging of underwater terrain and targets. Background Art

[0002] The following are some current status and trends of underwater detection technology:

[0003] 1. Acoustic detection

[0004] Multibeam Bathymetric System (MBES): Widely used in seafloor topography mapping, it is capable of producing high-resolution seafloor topographic maps. MBES uses multiple acoustic beams to simultaneously detect the seafloor at different angles, providing detailed topographic data.

[0005] Side Scan Sonar (SSS): Mainly used for large-area seabed coverage detection, it can identify obstacles and man-made structures on the seabed. It uses sound waves to reflect on the seabed to form images and is often used in shipwreck searches and underwater archaeology.

[0006] Underwater acoustic communication: used to transmit data and perform remote control. Due to the poor propagation of electromagnetic waves underwater, acoustic waves have become the main means of communication and are widely used in underwater robots and sensor networks.

[0007] 2. Optical detection

[0008] Underwater laser scanning: In clear waters, laser scanning technology can achieve high-precision imaging of seabed topography and objects. Laser scanners are able to capture detailed 3D structural data in underwater environments.

[0009] Underwater photography: used for high-resolution image capture, often used for biological monitoring and seabed engineering inspection. Underwater photography technology relies on high-performance cameras and lighting systems to overcome the problem of light attenuation.

[0010] However, there is no technical solution in the prior art that can accurately perform stereoscopic imaging of underwater terrain and targets. Summary of the invention

[0011] In order to solve the above technical problems, the present invention proposes a method for stereoscopic imaging of underwater terrain and target objects, comprising:

[0012] Step 101, transmitting sound waves or light waves to underwater terrain and target objects;

[0013] Step 102, setting a first underwater wave model of sound waves or light waves, for obtaining wave information in an underwater environment, including wave attenuation, scattering, and nonlinear effects;

[0014] Step 103, setting a second underwater wave model of multi-band coupling of sound waves or light waves, so as to capture the details of underwater waves and enhance the accuracy of imaging through multi-band coupling;

[0015] Step 104, solving the first underwater wave model and the second underwater wave model, generating a first wave function and a second wave function, and setting a three-dimensional image generation model to obtain a final three-dimensional image result.

[0016] Furthermore, the first underwater wave model of sound waves or light waves specifically includes:

[0017] ,

[0018] in, is the Laplace operator, To describe the time Underwater position The first wave function of the amplitude and phase of the sound or light wave at For in time Underwater position The speed of sound or light waves, is the first adjustment factor of the underwater wave function, is the second adjustment factor of the underwater wave function, is the third adjustment factor of the underwater wave function, A term used to describe the movement of sound or light waves from an underwater location. To underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The wave function of the amplitude and phase of a sound or light wave at a certain location.

[0019] Furthermore, the second underwater wave model of multi-band coupling of sound waves or light waves is used to capture the details of underwater waves and enhance the accuracy of imaging through multi-band coupling, which specifically includes:

[0020] ,

[0021] ,

[0022] in, is the number of frequency bands, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band, For the frequency band in time Underwater position The speed of sound or light waves, For the The first adjustment factor of the underwater wave function in the frequency band is For the frequency band and The coupling coefficient between the frequency bands is The first frequency band from underwater position To Frequency band underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band.

[0023] Furthermore, the first wave function and the second wave function are weighted averaged and Fourier transformed to generate a final underwater wave function.

[0024] Furthermore, the three-dimensional image generation model includes:

[0025] ,

[0026] in, For underwater location The final 3D image result at Frequency domain The final underwater wave function is For the The first adjustment factor of the final underwater wave function for each frequency band, For the The second adjustment factor of the final underwater wave function for each frequency band, The frequency domain after Fourier transformation The Green's function.

[0027] The present invention also provides a stereoscopic imaging system for underwater terrain and target objects, comprising:

[0028] A detection module, used to emit sound waves or light waves to underwater terrain and targets;

[0029] A first analysis module, used to set a first underwater wave model of sound waves or light waves, used to obtain wave information in an underwater environment, including wave attenuation, scattering and nonlinear effects;

[0030] A second analysis module is used to set a second underwater wave model of multi-band coupling of sound waves or light waves, and is used to capture the details of underwater waves through multi-band coupling to enhance the accuracy of imaging;

[0031] The image generation module is used to solve the first underwater wave model and the second underwater wave model, generate a first wave function and a second wave function, and set a three-dimensional image generation model to obtain a final three-dimensional image result.

[0032] Furthermore, the first underwater wave function of the sound wave or light wave specifically includes:

[0033] ,

[0034] in, is the Laplace operator, To describe the time Underwater position The wave function of the amplitude and phase of the sound or light wave at For in time Underwater position The speed of sound or light waves, is the first adjustment factor of the underwater wave function, is the second adjustment factor of the underwater wave function, is the third adjustment factor of the underwater wave function, A term used to describe the movement of sound or light waves from an underwater location. To underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The wave function of the amplitude and phase of a sound or light wave at a certain location.

[0035] Furthermore, the second underwater wave function of multi-band coupling of sound waves or light waves is used to capture the details of underwater waves and enhance the accuracy of imaging through multi-band coupling, specifically including:

[0036] ,

[0037] ,

[0038] in, is the number of frequency bands, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band, For the frequency band in time Underwater position The speed of sound or light waves, For the The first adjustment factor of the underwater wave function in the frequency band is For the frequency band and The coupling coefficient between the frequency bands is The first frequency band from underwater position To Frequency band underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band.

[0039] Furthermore, the first wave function and the second wave function are weighted averaged and Fourier transformed to generate a final underwater wave function.

[0040] Furthermore, the three-dimensional image generation model includes:

[0041] ,

[0042] in, For underwater location The final 3D image result at Frequency domain The final underwater wave function is For the The first adjustment factor of the final underwater wave function for each frequency band, For the The second adjustment factor of the final underwater wave function for each frequency band, The frequency domain after Fourier transformation The Green's function.

[0043] In general, the above technical solution conceived by the present invention has the following beneficial effects compared with the prior art:

[0044] The present invention sets a first underwater wave model of sound waves or light waves to obtain wave information in an underwater environment, including wave attenuation, scattering and nonlinear effects; sets a second underwater wave model of multi-band coupling of sound waves or light waves to capture the details of underwater waves and enhance imaging accuracy through multi-band coupling; and sets a three-dimensional image generation model to accurately perform stereoscopic imaging of underwater terrain and targets to obtain a final three-dimensional image result. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flow chart of the method of embodiment 1 of the present invention;

[0046] Figure 2 It is a structural diagram of the system of embodiment 2 of the present invention. DETAILED DESCRIPTION

[0047] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0048] The method provided by the present invention can be implemented in the following terminal environment, and the terminal may include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, and the instruction is loaded and executed by the processor to implement the method described in the following embodiment.

[0049] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts in the entire terminal, and executes various functions of the terminal and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and calling data stored in the storage medium.

[0050] The storage medium may include a random access memory (RAM) or a read-only memory (ROM). The storage medium may be used to store instructions, programs, codes, code sets or instructions.

[0051] The display screen is used to display the user interface of each application.

[0052] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal, and the terminal may include more or fewer components, or combine certain components, or arrange the components differently. For example, the terminal also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, and a power supply, which will not be described in detail here.

[0053] Example 1

[0054] like Figure 1 As shown, an embodiment of the present invention provides a method for stereoscopic imaging of underwater terrain and targets, comprising:

[0055] Step 101, transmitting sound waves or light waves to underwater terrain and target objects;

[0056] Step 102, setting a first underwater wave model of sound waves or light waves, for obtaining wave information in an underwater environment, including wave attenuation, scattering, and nonlinear effects;

[0057] Specifically, the first underwater wave model of sound waves or light waves specifically includes:

[0058] ,

[0059] in, is the Laplace operator, To describe the time Underwater position The first wave function of the amplitude and phase of the sound or light wave at For in time Underwater position The speed of sound or light waves, is the first adjustment factor of the underwater wave function, is the second adjustment factor of the underwater wave function, is the third adjustment factor of the underwater wave function, A term used to describe the movement of sound or light waves from an underwater location. To underwater location The Green's function of the propagation and scattering process is an important concept in mathematical physics, especially in partial differential equations and integral equations. It is usually defined as a specific solution, which has a known or easily computable response to the source term (or "input") under certain boundary conditions or initial conditions. To describe the time Underwater position The wave function of the amplitude and phase of a sound or light wave at a certain location.

[0060] Step 103, setting a second underwater wave model of multi-band coupling of sound waves or light waves, so as to capture the details of underwater waves and enhance the accuracy of imaging through multi-band coupling;

[0061] In the process of underwater wave imaging, "capturing the details of underwater waves" means that through multi-band coupling technology, the complex wave behavior in the underwater environment can be captured and described more comprehensively and accurately. Here are some specific examples:

[0062] 1. Sound wave propagation characteristics at different frequencies

[0063] When sound waves of different frequencies propagate underwater, their attenuation, scattering, refraction and reflection behaviors will be different. Through multi-band coupling, the different performances of low-frequency and high-frequency bands during propagation can be captured, for example:

[0064] Low-frequency sound waves: usually have strong penetration and are suitable for detecting targets at longer distances, but have lower resolution. The details of the coupling low-frequency wave can help capture the basic shape and position of distant targets.

[0065] High-frequency sound waves: have higher resolution and can capture details of small targets and complex surface structures, but have weaker penetration. The details of the fluctuations in the coupled high-frequency band can reveal the fine surface features of the target.

[0066] 2. Scattering effects and local inhomogeneity

[0067] The underwater environment is usually not a homogeneous medium, and there are many local inhomogeneities, such as bubbles, suspended matter, and seabed topography. These inhomogeneities will cause complex scattering phenomena, and fluctuations of different frequencies have different sensitivities to these inhomogeneities:

[0068] Low-frequency waves are sensitive to large-scale inhomogeneities and can capture large terrain changes or the effects of massive objects.

[0069] High-frequency waves are sensitive to small-scale inhomogeneities and can resolve smaller bubbles, tiny particles or surface details.

[0070] 3. Multipath Effect

[0071] When propagating underwater, sound waves may reach the receiver through multiple paths, resulting in a multipath effect. Sound waves in different frequency bands will be affected by different phases and amplitudes during multipath propagation:

[0072] Low frequency bands may capture mostly direct paths or a small number of reflected paths.

[0073] High-frequency bands may capture more reflection paths and diffraction effects, providing richer fluctuation information.

[0074] 4. Underwater temperature, salinity, and density gradients

[0075] Changes in temperature, salinity, and density underwater cause changes in the speed of sound, and these changes can be captured in different ways by sound waves in different frequency bands:

[0076] Low-frequency waves are sensitive to regions of large sound speed variations, such as thermoclines, and help capture these large-scale environmental features.

[0077] High-frequency waves are sensitive to small local changes in the speed of sound and can more accurately describe subtle environmental changes.

[0078] 5. Presence of microscopic organisms or plankton

[0079] There are a lot of tiny organisms or plankton underwater, and the fluctuations in different frequency bands can capture different aspects of these organisms:

[0080] High-frequency bands are able to detect the presence and distribution of these tiny organisms or plankton and capture their fine structure.

[0081] Low-frequency bands may not be sensitive to these small structures but can provide environmental context information.

[0082] Specifically, the second underwater wave model of multi-band coupling of sound waves or light waves is used to capture the details of underwater waves and enhance the accuracy of imaging through multi-band coupling, and specifically includes:

[0083] ,

[0084] ,

[0085] in, is the number of frequency bands, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band, For the frequency band in time Underwater position The speed of sound or light waves, For the The first adjustment factor of the underwater wave function in the frequency band is For the frequency band and The coupling coefficient between the frequency bands is The first frequency band from underwater position To Frequency band underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band.

[0086] Step 104, solving the first underwater wave model and the second underwater wave model, generating a first wave function and a second wave function, and setting a three-dimensional image generation model to obtain a final three-dimensional image result.

[0087] The wave function is a mathematical function used to describe the vibration state of a wave. Common forms include sine function and cosine function. The expression of the wave function usually contains time variables and space variables, indicating the vibration state of the wave at different times and different positions.

[0088] Specifically, the first wave function and the second wave function are weighted averaged and Fourier transformed to generate a final underwater wave function.

[0089] Specifically, the three-dimensional image generation model includes:

[0090] ,

[0091] in, For underwater location The final 3D image result at Frequency domain The final underwater wave function is For the The first adjustment factor of the final underwater wave function for each frequency band, For the The second adjustment factor of the final underwater wave function for each frequency band, The frequency domain after Fourier transformation The Green's function.

[0092] Example 2

[0093] like Figure 2 As shown, an embodiment of the present invention further provides a stereoscopic imaging system for underwater terrain and target objects, comprising:

[0094] A detection module, used to emit sound waves or light waves to underwater terrain and targets;

[0095] A first analysis module, used to set a first underwater wave model of sound waves or light waves, used to obtain wave information in an underwater environment, including wave attenuation, scattering and nonlinear effects;

[0096] Specifically, the first underwater wave model of sound waves or light waves specifically includes:

[0097] ,

[0098] in, is the Laplace operator, To describe the time Underwater position The first wave function of the amplitude and phase of the sound or light wave at For in time Underwater position The speed of sound or light waves, is the first adjustment factor of the underwater wave function, is the second adjustment factor of the underwater wave function, is the third adjustment factor of the underwater wave function, A term used to describe the movement of sound or light waves from an underwater location. To underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The wave function of the amplitude and phase of a sound or light wave at a certain location.

[0099] A second analysis module is used to set a second underwater wave model of multi-band coupling of sound waves or light waves, and is used to capture the details of underwater waves through multi-band coupling to enhance the accuracy of imaging;

[0100] Specifically, the second underwater wave model of multi-band coupling of sound waves or light waves is used to capture more details of underwater waves and enhance the accuracy of imaging through multi-band coupling, which specifically includes:

[0101] ,

[0102] ,

[0103] in, is the number of frequency bands, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band, For the frequency band in time Underwater position The speed of sound or light waves, For the The first adjustment factor of the underwater wave function in the frequency band is For the frequency band and The coupling coefficient between the frequency bands is The first frequency band from underwater position To Frequency band underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band.

[0104] The image generation module is used to solve the first underwater wave model and the second underwater wave model, generate a first wave function and a second wave function, and set a three-dimensional image generation model to obtain a final three-dimensional image result.

[0105] Specifically, the first wave function and the second wave function are weighted averaged and Fourier transformed to generate a final underwater wave function.

[0106] Specifically, the three-dimensional image generation model includes:

[0107] ,

[0108] in, For underwater location The final 3D image result at Frequency domain The final underwater wave function is For the The first adjustment factor of the final underwater wave function for each frequency band, For the The second adjustment factor of the final underwater wave function for each frequency band, The frequency domain after Fourier transformation The Green's function.

[0109] Example 3

[0110] The embodiment of the present invention further provides a storage medium storing a plurality of instructions, wherein the instructions are used to implement the method for stereoscopic imaging of underwater terrain and target objects.

[0111] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0112] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps: Step 101, transmitting sound waves or light waves to underwater terrain and target objects;

[0113] Step 102, setting a first underwater wave model of sound waves or light waves, for obtaining wave information in an underwater environment, including wave attenuation, scattering, and nonlinear effects;

[0114] Specifically, the first underwater wave model of sound waves or light waves specifically includes:

[0115] ,

[0116] in, is the Laplace operator, To describe the time Underwater position The first wave function of the amplitude and phase of the sound or light wave at For in time Underwater position The speed of sound or light waves, is the first adjustment factor of the underwater wave function, is the second adjustment factor of the underwater wave function, is the third adjustment factor of the underwater wave function, A term used to describe the movement of sound or light waves from an underwater location. To underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The wave function of the amplitude and phase of a sound or light wave at a certain location.

[0117] Step 103, setting a second underwater wave model of multi-band coupling of sound waves or light waves, so as to capture the details of underwater waves and enhance the accuracy of imaging through multi-band coupling;

[0118] Specifically, the second underwater wave model of multi-band coupling of sound waves or light waves is used to capture more details of underwater waves and enhance the accuracy of imaging through multi-band coupling, which specifically includes:

[0119] ,

[0120] ,

[0121] in, is the number of frequency bands, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band, For the frequency band in time Underwater position The speed of sound or light waves, For the The first adjustment factor of the underwater wave function in the frequency band is For the frequency band and The coupling coefficient between the frequency bands is The first frequency band from underwater position To Frequency band underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band.

[0122] Step 104, solving the first underwater wave model and the second underwater wave model, generating a first wave function and a second wave function, and setting a three-dimensional image generation model to obtain a final three-dimensional image result.

[0123] Specifically, the first wave function and the second wave function are weighted averaged and Fourier transformed to generate a final underwater wave function.

[0124] Specifically, the three-dimensional image generation model includes:

[0125] ,

[0126] in, For underwater location The final 3D image result at Frequency domain The final underwater wave function is For the The first adjustment factor of the final underwater wave function for each frequency band, For the The second adjustment factor of the final underwater wave function for each frequency band, The frequency domain after Fourier transformation The Green's function.

[0127] Example 4

[0128] An embodiment of the present invention also proposes an electronic device, including a processor and a storage medium connected to the processor, wherein the storage medium stores multiple instructions, and the instructions can be loaded and executed by the processor to enable the processor to execute the method for stereoscopic imaging of underwater terrain and targets.

[0129] Specifically, the electronic device of this embodiment may be a computer terminal, and the computer terminal may include: one or more processors, and a storage medium.

[0130] Among them, the storage medium can be used to store software programs and modules, such as a stereoscopic imaging method of underwater terrain and target objects in an embodiment of the present invention, and corresponding program instructions / modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, that is, realizing the above-mentioned stereoscopic imaging method of underwater terrain and target objects. The storage medium may include high-speed random storage media, and may also include non-volatile storage media, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include storage media remotely arranged relative to the processor, and these remote storage media may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, corporate intranet, local area network, mobile communication network and combinations thereof.

[0131] The processor may call the information and application program stored in the storage medium through the transmission system to execute the following steps: Step 101, transmitting sound waves or light waves to underwater terrain and target objects;

[0132] Step 102, setting a first underwater wave model of sound waves or light waves, for obtaining wave information in an underwater environment, including wave attenuation, scattering, and nonlinear effects;

[0133] Specifically, the first underwater wave model of sound waves or light waves specifically includes:

[0134] ,

[0135] in, is the Laplace operator, To describe the time Underwater position The first wave function of the amplitude and phase of the sound or light wave at For in time Underwater position The speed of sound or light waves, is the first adjustment factor of the underwater wave function, is the second adjustment factor of the underwater wave function, is the third adjustment factor of the underwater wave function, A term used to describe the movement of sound or light waves from an underwater location. To underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The wave function of the amplitude and phase of a sound or light wave at a certain location.

[0136] Step 103, setting a second underwater wave model of multi-band coupling of sound waves or light waves, so as to capture the details of underwater waves and enhance the accuracy of imaging through multi-band coupling;

[0137] Specifically, the second underwater wave model of multi-band coupling of sound waves or light waves is used to capture more details of underwater waves and enhance the accuracy of imaging through multi-band coupling, which specifically includes:

[0138] ,

[0139] ,

[0140] in, is the number of frequency bands, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band, For the frequency band in time Underwater position The speed of sound or light waves, For the The first adjustment factor of the underwater wave function in the frequency band is For the frequency band and The coupling coefficient between the frequency bands is The first frequency band from underwater position To Frequency band underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band.

[0141] Step 104, solving the first underwater wave model and the second underwater wave model, generating a first wave function and a second wave function, and setting a three-dimensional image generation model to obtain a final three-dimensional image result.

[0142] Specifically, the first wave function and the second wave function are weighted averaged and Fourier transformed to generate a final underwater wave function.

[0143] Specifically, the three-dimensional image generation model includes:

[0144] ,

[0145] in, For underwater location The final 3D image result at Frequency domain The final underwater wave function is For the The first adjustment factor of the final underwater wave function for each frequency band, For the The second adjustment factor of the final underwater wave function for each frequency band, The frequency domain after Fourier transformation The Green's function.

[0146] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0147] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0148] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0149] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0150] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0151] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0152] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A method for stereoscopic imaging of underwater terrain and target objects, characterized in that: include: Sending sound or light waves to underwater terrain and targets; Setting a first underwater wave model of sound waves or light waves for obtaining wave information in an underwater environment, including wave attenuation, scattering and nonlinear effects; The first underwater wave model of sound or light waves, specifically including: ， in, is the Laplace operator, To describe the time Underwater position The first wave function of the amplitude and phase of the sound or light wave at For in time Underwater position The speed of sound or light waves, is the first adjustment factor of the underwater wave function, is the second adjustment factor of the underwater wave function, is the third adjustment factor of the underwater wave function, A term used to describe the movement of sound or light waves from an underwater location. To underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The wave function of the amplitude and phase of a sound or light wave; A second underwater wave model of multi-band coupling of sound waves or light waves is set to capture the details of underwater waves and enhance the accuracy of imaging through multi-band coupling; The second underwater wave model of multi-band coupling of sound waves or light waves is used to capture the details of underwater waves and enhance the accuracy of imaging through multi-band coupling, including: ， ， in, is the number of frequency bands, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band, For the frequency band in time Underwater position The speed of sound or light waves, For the The first adjustment factor of the underwater wave function in the frequency band is For the frequency band and The coupling coefficient between the frequency bands is The first frequency band from underwater position To Frequency band underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band; Solve the first underwater wave model and the second underwater wave model to generate a first wave function and a second wave function, and set a three-dimensional image generation model to obtain a final three-dimensional image result Taking a weighted average of the first wave function and the second wave function, and performing Fourier transform to generate a final underwater wave function; The three-dimensional image generation model includes: ， in, For underwater location The final 3D image result at Frequency domain The final underwater wave function is For the The first adjustment factor of the final underwater wave function for each frequency band, For the The second adjustment factor of the final underwater wave function for each frequency band, The frequency domain after Fourier transformation The Green's function.

2. A stereoscopic imaging system for underwater terrain and targets, characterized in that: include: A detection module, used to emit sound waves or light waves to underwater terrain and targets; A first analysis module, used to set a first underwater wave model of sound waves or light waves, used to obtain wave information in an underwater environment, including wave attenuation, scattering and nonlinear effects; The first underwater wave function of the sound wave or light wave specifically includes: ， in, is the Laplace operator, To describe the time Underwater position The wave function of the amplitude and phase of the sound or light wave at For in time Underwater position The speed of sound or light waves, is the first adjustment factor of the underwater wave function, is the second adjustment factor of the underwater wave function, is the third adjustment factor of the underwater wave function, A term used to describe the movement of sound or light waves from an underwater location. To underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The wave function of the amplitude and phase of a sound or light wave; A second analysis module is used to set a second underwater wave model of multi-band coupling of sound waves or light waves, and is used to capture the details of underwater waves through multi-band coupling to enhance the accuracy of imaging; The second underwater wave function of multi-band coupling of sound waves or light waves is used to capture the details of underwater waves and enhance the accuracy of imaging through multi-band coupling, specifically including: ， ， in, is the number of frequency bands, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band, For the frequency band in time Underwater position The speed of sound or light waves, For the The first adjustment factor of the underwater wave function in the frequency band is For the frequency band and The coupling coefficient between the frequency bands is The first frequency band from underwater position To Frequency band underwater location Green's function of the propagation and scattering process, To describe the time Underwater position The amplitude and phase of the sound or light wave at The second wave function of the frequency band; An image generation module, used to solve the first underwater wave model and the second underwater wave model, generate a first wave function and a second wave function, and set a three-dimensional image generation model to obtain a final three-dimensional image result; Taking a weighted average of the first wave function and the second wave function, and performing Fourier transform to generate a final underwater wave function; The three-dimensional image generation model includes: ， in, For underwater location The final 3D image result at Frequency domain The final underwater wave function is For the The first adjustment factor of the final underwater wave function for each frequency band, For the The second adjustment factor of the final underwater wave function for each frequency band, The frequency domain after Fourier transformation The Green's function.

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