A sonar image single frame reconstruction method and system for seabed detection

Abstract

The present invention discloses a single-frame reconstruction method and system for sonar images used for seabed detection. The method comprises: acquiring a sonar signal returned after seabed detection, setting a geometric projection mapping model, projecting and mapping the sonar signal, and generating a distribution result in a certain space domain; setting a space transformation model, used for performing a multi-dimensional transformation on the distribution result in a certain space domain, and generating a multi-dimensional space transformation matrix; setting an image reconstruction model, and reconstructing the image according to the multi-dimensional space transformation matrix, and generating a final image in a certain space domain.

Description

Technical Field

[0001] The present invention belongs to the technical field of seabed target detection, and more specifically, relates to a sonar image single-frame reconstruction method and system for seabed detection. Background Art

[0002] Current underwater detection technology is developing rapidly, covering a variety of methods from acoustics, optics, electromagnetics to lasers, which can achieve accurate detection and efficient analysis of underwater environments. The following are some of the current status and trends of underwater detection technology:

[0003] 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] However, there is no technical solution in the prior art that can accurately complete image reconstruction based on sonar signals. Summary of the invention

[0008] In order to solve the above technical problems, the present invention proposes a sonar image single frame reconstruction method for seabed detection, comprising:

[0009] Acquire the sonar signal returned after seabed detection, set up a geometric projection mapping model, perform projection mapping on the sonar signal, and generate a distribution result in a certain spatial domain;

[0010] Set a spatial transformation model to perform multi-dimensional transformation on the distribution results in a certain spatial domain and generate a multi-dimensional spatial transformation matrix;

[0011] An image reconstruction model is set, and the image is reconstructed according to the multi-dimensional space transformation matrix to generate a final image in a certain space domain.

[0012] Furthermore, the geometric projection mapping model includes:

[0013] ,

[0014] in, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on For in time The frequency is The sonar signal, is the first adjustment factor for the geometric projection, is the second adjustment factor for the geometric projection, is the third adjustment factor for the geometric projection, is the scale used to control time, is used to control the scale of the frequency domain, Is the fourth adjustment factor for the geometric projection.

[0015] Furthermore, the spatial transformation model is used to transform the sonar signal after geometric projection into The vertical axis is The spatial domain The distribution results on , perform multi-dimensional transformation and generate a multi-dimensional space transformation matrix, including:

[0016] ,

[0017] in, is the multidimensional space transformation matrix, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on is the first adjustment factor of spatial variation, is the second adjustment factor for spatial variation, To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new horizontal coordinate after To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new vertical coordinate after is the third adjustment factor for spatial variation.

[0018] Furthermore, the image reconstruction model includes:

[0019] ,

[0020] in, In the space domain The final image on is the sigmoid function or the ReLU function, is the first adjustment factor for image reconstruction, is the second adjustment factor for image reconstruction, In the space domain The spatial adjustment function on is the fourth adjustment factor for image reconstruction, is the third adjustment factor for image reconstruction, is a constant used to avoid division by zero, The fifth adjustment factor for image reconstruction.

[0021] Furthermore, in the spatial domain Spatial conditioning function on include:

[0022] ,

[0023] in, is the first adjustment factor for spatial adjustment, is the second adjustment factor for spatial adjustment, is the third adjustment factor of spatial adjustment, is an adjustment factor used to control the attenuation range of the function.

[0024] The present invention also proposes a sonar image single-frame reconstruction system for seabed detection, comprising:

[0025] The projection module is used to obtain the sonar signal returned after the seabed detection, set the geometric projection mapping model, perform projection mapping on the sonar signal, and generate the distribution result in a certain spatial domain;

[0026] The spatial transformation module is used to set the spatial transformation model, and is used to perform multi-dimensional transformation on the distribution results in a certain spatial domain to generate a multi-dimensional spatial transformation matrix;

[0027] The image generation module is used to set an image reconstruction model and reconstruct the image according to the multi-dimensional space transformation matrix to generate a final image in a certain space domain.

[0028] Furthermore, the geometric projection mapping model includes:

[0029] ,

[0030] in, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on For in time The frequency is The sonar signal, is the first adjustment factor for the geometric projection, is the second adjustment factor for the geometric projection, is the third adjustment factor for the geometric projection, is the scale used to control time, is used to control the scale of the frequency domain, Is the fourth adjustment factor for the geometric projection.

[0031] Furthermore, the spatial transformation model is used to transform the sonar signal after geometric projection into The vertical axis is The spatial domain The distribution results on , perform multi-dimensional transformation and generate a multi-dimensional space transformation matrix, including:

[0032] ,

[0033] in, is the multidimensional space transformation matrix, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on is the first adjustment factor of spatial variation, is the second adjustment factor for spatial variation, To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new horizontal coordinate after To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new vertical coordinate after is the third adjustment factor for spatial variation.

[0034] Furthermore, the image reconstruction model includes:

[0035] ,

[0036] in, In the space domain The final image on is the sigmoid function or the ReLU function, is the first adjustment factor for image reconstruction, is the second adjustment factor for image reconstruction, In the space domain The spatial adjustment function on is the fourth adjustment factor for image reconstruction, is the third adjustment factor for image reconstruction, is a constant used to avoid division by zero, The fifth adjustment factor for image reconstruction.

[0037] Furthermore, in the spatial domain Spatial conditioning function on include:

[0038] ,

[0039] in, is the first adjustment factor for spatial adjustment, is the second adjustment factor for spatial adjustment, is the third adjustment factor of spatial adjustment, is an adjustment factor used to control the attenuation range of the function.

[0040] In general, the above technical solution conceived by the present invention has the following beneficial effects compared with the prior art:

[0041] The present invention sets a geometric projection mapping model, a space transformation model and an image reconstruction model to accurately reconstruct the image according to the acquired sonar signal and generate a final image in a certain spatial domain, thereby providing effective assistance for seabed exploration. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a flow chart of the method of embodiment 1 of the present invention;

[0043] Figure 2 It is a structural diagram of the system of embodiment 2 of the present invention. DETAILED DESCRIPTION

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] The display screen is used to display the user interface of each application.

[0049] 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.

[0050] Example 1

[0051] like Figure 1 As shown, an embodiment of the present invention provides a sonar image single frame reconstruction method for seabed detection, comprising:

[0052] Step 101, obtaining the sonar signal returned after the seabed detection, setting a geometric projection mapping model, performing projection mapping on the sonar signal, and generating a distribution result in a certain spatial domain;

[0053] Specifically, the geometric projection mapping model includes:

[0054] ,

[0055] in, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on For in time The frequency is The sonar signal, is the first adjustment factor for the geometric projection, is the second adjustment factor for the geometric projection, is the third adjustment factor for the geometric projection, is the scale used to control time, is used to control the scale of the frequency domain, Is the fourth adjustment factor for the geometric projection.

[0056] Step 102, setting a spatial transformation model for performing a multi-dimensional transformation on a distribution result in a certain spatial domain to generate a multi-dimensional spatial transformation matrix;

[0057] Specifically, the spatial transformation model is used to transform the sonar signal after geometric projection into The vertical axis is The spatial domain The distribution results on , perform multi-dimensional transformation and generate a multi-dimensional space transformation matrix, including:

[0058] ,

[0059] in, is the multidimensional space transformation matrix, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on is the first adjustment factor of spatial variation, is the second adjustment factor for spatial variation, To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new horizontal coordinate after To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new vertical coordinate after is the third adjustment factor for spatial variation.

[0060] Step 103, setting an image reconstruction model, and reconstructing the image according to the multi-dimensional space transformation matrix to generate a final image in a certain space domain.

[0061] Specifically, the image reconstruction model includes:

[0062] ,

[0063] in, In the space domain The final image on is the sigmoid function or the ReLU function, is the first adjustment factor for image reconstruction, is the second adjustment factor for image reconstruction, In the space domain The spatial adjustment function on is the fourth adjustment factor for image reconstruction, is the third adjustment factor for image reconstruction, is a constant used to avoid division by zero, The fifth adjustment factor for image reconstruction.

[0064] Specifically, in the spatial domain Spatial conditioning function on include:

[0065] ,

[0066] in, is the first adjustment factor for spatial adjustment, is the second adjustment factor for spatial adjustment, is the third adjustment factor of spatial adjustment, is an adjustment factor used to control the attenuation range of the function.

[0067] Example 2

[0068] like Figure 2 As shown, an embodiment of the present invention further provides a sonar image single frame reconstruction system for seabed detection, comprising:

[0069] The projection module is used to obtain the sonar signal returned after the seabed detection, set the geometric projection mapping model, perform projection mapping on the sonar signal, and generate the distribution result in a certain spatial domain;

[0070] Specifically, the geometric projection mapping model includes:

[0071] ,

[0072] in, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on For in time The frequency is The sonar signal, is the first adjustment factor for the geometric projection, is the second adjustment factor for the geometric projection, is the third adjustment factor for the geometric projection, is the scale used to control time, is used to control the scale of the frequency domain, Is the fourth adjustment factor for the geometric projection.

[0073] The spatial transformation module is used to set the spatial transformation model, and is used to perform multi-dimensional transformation on the distribution results in a certain spatial domain to generate a multi-dimensional spatial transformation matrix;

[0074] Specifically, the spatial transformation model is used to transform the sonar signal after geometric projection into The vertical axis is The spatial domain The distribution results on , perform multi-dimensional transformation and generate a multi-dimensional space transformation matrix, including:

[0075] ,

[0076] in, is the multidimensional space transformation matrix, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on is the first adjustment factor of spatial variation, is the second adjustment factor for spatial variation, To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new horizontal coordinate after To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new vertical coordinate after is the third adjustment factor for spatial variation.

[0077] The image generation module is used to set an image reconstruction model and reconstruct the image according to the multi-dimensional space transformation matrix to generate a final image in a certain space domain.

[0078] Specifically, the image reconstruction model includes:

[0079] ,

[0080] in, In the space domain The final image on is the sigmoid function or the ReLU function, is the first adjustment factor for image reconstruction, is the second adjustment factor for image reconstruction, In the space domain The spatial adjustment function on is the fourth adjustment factor for image reconstruction, is the third adjustment factor for image reconstruction, is a constant used to avoid division by zero, The fifth adjustment factor for image reconstruction.

[0081] Specifically, in the spatial domain Spatial conditioning function on include:

[0082] ,

[0083] in, is the first adjustment factor for spatial adjustment, is the second adjustment factor for spatial adjustment, is the third adjustment factor of spatial adjustment, is an adjustment factor used to control the attenuation range of the function.

[0084] Example 3

[0085] The embodiment of the present invention further provides a storage medium storing a plurality of instructions, wherein the instructions are used to implement the single-frame reconstruction method of sonar images for seabed detection.

[0086] 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.

[0087] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps: Step 101, obtaining a sonar signal returned after seabed detection, setting a geometric projection mapping model, performing projection mapping on the sonar signal, and generating a distribution result in a certain spatial domain;

[0088] Specifically, the geometric projection mapping model includes:

[0089] ,

[0090] in, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on For in time The frequency is The sonar signal, is the first adjustment factor for the geometric projection, is the second adjustment factor for the geometric projection, is the third adjustment factor for the geometric projection, is the scale used to control time, is used to control the scale of the frequency domain, Is the fourth adjustment factor for the geometric projection.

[0091] Step 102, setting a spatial transformation model for performing a multi-dimensional transformation on a distribution result in a certain spatial domain to generate a multi-dimensional spatial transformation matrix;

[0092] Specifically, the spatial transformation model is used to transform the sonar signal after geometric projection into The vertical axis is The spatial domain The distribution results on , perform multi-dimensional transformation and generate a multi-dimensional space transformation matrix, including:

[0093] ,

[0094] in, is the multidimensional space transformation matrix, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on is the first adjustment factor of spatial variation, is the second adjustment factor for spatial variation, To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new horizontal coordinate after To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new vertical coordinate after is the third adjustment factor for spatial variation.

[0095] Step 103, setting an image reconstruction model, and reconstructing the image according to the multi-dimensional space transformation matrix to generate a final image in a certain space domain.

[0096] Specifically, the image reconstruction model includes:

[0097] ,

[0098] in, In the space domain The final image on is the sigmoid function or the ReLU function, is the first adjustment factor for image reconstruction, is the second adjustment factor for image reconstruction, In the space domain The spatial adjustment function on is the fourth adjustment factor for image reconstruction, is the third adjustment factor for image reconstruction, is a constant used to avoid division by zero, The fifth adjustment factor for image reconstruction.

[0099] Specifically, in the spatial domain Spatial conditioning function on include:

[0100] ,

[0101] in, is the first adjustment factor for spatial adjustment, is the second adjustment factor for spatial adjustment, is the third adjustment factor of spatial adjustment, is an adjustment factor used to control the attenuation range of the function.

[0102] Example 4

[0103] 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 single-frame reconstruction method of sonar images for seabed detection.

[0104] 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.

[0105] Among them, the storage medium can be used to store software programs and modules, such as a single-frame reconstruction method of sonar images for seabed detection 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 single-frame reconstruction method of sonar images for seabed detection. 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 intranets, local area networks, mobile communication networks, and combinations thereof.

[0106] The processor can call the information and application stored in the storage medium through the transmission system to perform the following steps: Step 101, obtain the sonar signal returned after the seabed detection, set the geometric projection mapping model, perform projection mapping on the sonar signal, and generate a distribution result in a certain spatial domain;

[0107] Specifically, the geometric projection mapping model includes:

[0108] ,

[0109] in, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on For in time The frequency is The sonar signal, is the first adjustment factor for the geometric projection, is the second adjustment factor for the geometric projection, is the third adjustment factor for the geometric projection, is the scale used to control time, is used to control the scale of the frequency domain, Is the fourth adjustment factor for the geometric projection.

[0110] Step 102, setting a spatial transformation model for performing a multi-dimensional transformation on a distribution result in a certain spatial domain to generate a multi-dimensional spatial transformation matrix;

[0111] Specifically, the spatial transformation model is used to transform the sonar signal after geometric projection into The vertical axis is The spatial domain The distribution results on , perform multi-dimensional transformation and generate a multi-dimensional space transformation matrix, including:

[0112] ,

[0113] in, is the multidimensional space transformation matrix, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on is the first adjustment factor of spatial variation, is the second adjustment factor for spatial variation, To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new horizontal coordinate after To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new vertical coordinate after is the third adjustment factor for spatial variation.

[0114] Step 103, setting an image reconstruction model, and reconstructing the image according to the multi-dimensional space transformation matrix to generate a final image in a certain space domain.

[0115] Specifically, the image reconstruction model includes:

[0116] ,

[0117] in, In the space domain The final image on is the sigmoid function or the ReLU function, is the first adjustment factor for image reconstruction, is the second adjustment factor for image reconstruction, In the space domain The spatial adjustment function on is the fourth adjustment factor for image reconstruction, is the third adjustment factor for image reconstruction, is a constant used to avoid division by zero, The fifth adjustment factor for image reconstruction.

[0118] Specifically, in the spatial domain Spatial conditioning function on include:

[0119] ,

[0120] in, is the first adjustment factor for spatial adjustment, is the second adjustment factor for spatial adjustment, is the third adjustment factor of spatial adjustment, is an adjustment factor used to control the attenuation range of the function.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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 single-frame sonar image reconstruction method for seabed detection, characterized in that: include: Acquire the sonar signal returned after seabed detection, set up a geometric projection mapping model, perform projection mapping on the sonar signal, and generate a distribution result in a certain spatial domain; Set a spatial transformation model to perform multi-dimensional transformation on the distribution results in a certain spatial domain and generate a multi-dimensional spatial transformation matrix; Setting an image reconstruction model, and reconstructing the image according to the multi-dimensional space transformation matrix to generate a final image in a certain space domain; Specifically, the geometric projection mapping model includes: ， in, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on For in time The frequency is The sonar signal, is the first adjustment factor for the geometric projection, is the second adjustment factor for the geometric projection, is the third adjustment factor for the geometric projection, is the scale used to control time, is used to control the scale of the frequency domain, is the fourth adjustment factor for geometric projection; The spatial transformation model is used to transform the sonar signal after geometric projection into The vertical axis is The spatial domain The distribution results on , perform multi-dimensional transformation and generate a multi-dimensional space transformation matrix, including: ， in, is the multidimensional space transformation matrix, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on is the first adjustment factor of spatial variation, is the second adjustment factor for spatial variation, To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new horizontal coordinate after To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new vertical coordinate after is the third adjustment factor for spatial variation; The image reconstruction model includes: ， in, In the space domain The final image on is the sigmoid function or the ReLU function, is the first adjustment factor for image reconstruction, is the second adjustment factor for image reconstruction, For the space domain The spatial adjustment function on is the fourth adjustment factor for image reconstruction, is the third adjustment factor for image reconstruction, is a constant used to avoid division by zero, is the fifth adjustment factor for image reconstruction; In the space domain Spatial conditioning function on include: ， in, is the first adjustment factor for spatial adjustment, is the second adjustment factor for spatial adjustment, is the third adjustment factor of spatial adjustment, is an adjustment factor used to control the attenuation range of the function.

2. A sonar image single frame reconstruction system for seabed detection, characterized in that: include: The projection module is used to obtain the sonar signal returned after the seabed detection, set the geometric projection mapping model, perform projection mapping on the sonar signal, and generate the distribution result in a certain spatial domain; The spatial transformation module is used to set the spatial transformation model, and is used to perform multi-dimensional transformation on the distribution results in a certain spatial domain to generate a multi-dimensional spatial transformation matrix; An image generation module, used to set an image reconstruction model and reconstruct the image according to the multi-dimensional space transformation matrix to generate a final image in a certain space domain; Specifically, the geometric projection mapping model includes: ， in, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on For in time The frequency is The sonar signal, is the first adjustment factor for the geometric projection, is the second adjustment factor for the geometric projection, is the third adjustment factor for the geometric projection, is the scale used to control time, is used to control the scale of the frequency domain, is the fourth adjustment factor for geometric projection; The spatial transformation model is used to transform the sonar signal after geometric projection into The vertical axis is The spatial domain The distribution results on , perform multi-dimensional transformation and generate a multi-dimensional space transformation matrix, including: ， in, is the multidimensional space transformation matrix, The sonar signal after geometric projection is The vertical axis is The spatial domain The distribution results on is the first adjustment factor of spatial variation, is the second adjustment factor for spatial variation, To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new horizontal coordinate after To transform the spatial domain The horizontal coordinate is mapped to the spatial domain The new vertical coordinate after is the third adjustment factor for spatial variation; The image reconstruction model includes: ， in, For the space domain The final image on is the sigmoid function or the ReLU function, is the first adjustment factor for image reconstruction, is the second adjustment factor for image reconstruction, For the space domain The spatial adjustment function on is the fourth adjustment factor for image reconstruction, is the third adjustment factor for image reconstruction, is a constant used to avoid division by zero, is the fifth adjustment factor for image reconstruction; In the spatial domain Spatial conditioning function on include: ， in, is the first adjustment factor for spatial adjustment, is the second adjustment factor for spatial adjustment, is the third adjustment factor of spatial adjustment, is an adjustment factor used to control the attenuation range of the function.

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