Water body imaging quality improvement method and system based on laser radar

Abstract

The invention discloses a water body imaging quality improvement method and system based on a laser radar, and belongs to the technical field of physical property analysis, and the method comprises the following steps: collecting a laser echo signal and laser echo signal data in a water body, monitoring and counting environmental influence data in the water body, and processing the environmental influence data to obtain a laser echo signal correction factor; evaluating the quality evaluation value of the preliminary laser echo signal data, and carrying out filtering processing to obtain filtered laser echo signal data; and performing data fusion processing to obtain a secondary laser echo signal data quality evaluation value, comparing the secondary laser echo signal data quality evaluation value with the preliminary laser echo signal data quality evaluation value to obtain a filtering processing judgment result, and evaluating a radar monitoring image quality evaluation value. And comparing with a preset radar monitoring image quality evaluation threshold value to obtain a water body imaging quality improvement judgment result. The problems of low imaging definition and insufficient target identification accuracy caused by interference of external factors of a water body in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of physical property analysis, and in particular to a method and system for improving water body imaging quality based on laser radar. Background Art

[0002] With the increasing application of lidar technology in underwater detection, the quality of water body imaging has become a key technical problem. Water body imaging refers to the use of lidar technology to obtain images or pictures of water bodies. However, due to the presence of impurities, suspended particles and other substances in the water, the lidar echo signal is easily interfered.

[0003] The existing water imaging system utilizes the backscattering characteristics of pulsed lasers, combines the relationship model between the water attenuation coefficient and the laser echo backscattering intensity, and establishes an objective function including the water attenuation coefficient by accurately measuring and calculating the energy value of the water backscattered light at different distances. The accurate water attenuation coefficient is then solved and realized.

[0004] For example, the invention patent with announcement number CN115615958B discloses a method and application of measuring the back attenuation coefficient of a water body by using a flash imaging laser radar, which includes: combining the backscattering intensity values ​​of the leading and trailing edges of the laser echo at a certain position in the water body measured by the adjacent frame difference method with a relationship model between the water body attenuation coefficient and the laser echo backscattering intensity to obtain the water body attenuation coefficient at a certain position in the water body.

[0005] For example, the invention patent with announcement number: CN116930125B announces a method for measuring the attenuation coefficient of water body by backscattering full-gated imaging, including: utilizing the transmission attenuation law of pulsed laser in water body to establish a transmission attenuation model of water body backscattered light, and then obtaining the calculated value of the energy value of water body backscattered light received by the distance-gated imaging module, and then obtaining a fully-gated image sequence of water body backscattered light at different distances by changing the working parameter delay time or pulse width, and obtaining the image intensity measurement value of water body backscattered light by image processing, thereby establishing an objective function including the calculated value and measured value of the water body attenuation coefficient to be determined, and finally solving the water body attenuation coefficient.

[0006] However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the present application found that the above technology has at least the following technical problems:

[0007] In the existing technology, due to the interference of low-frequency noise and the complex backscattering phenomenon in the water body, the signal is easily interfered during the imaging process and the image clarity is reduced. At present, the use of lidar for water body detection and imaging is often directly carried out in a solid state, resulting in low imaging clarity and insufficient target recognition accuracy due to interference from external factors of the water body. Summary of the invention

[0008] The embodiments of the present application provide a method and system for improving the quality of water body imaging based on lidar, thereby solving the problems of low imaging clarity and insufficient target recognition accuracy caused by interference from external factors of the water body in the prior art, and achieving improved clarity of water body imaging and detection accuracy.

[0009] The embodiment of the present application provides a method for improving the imaging quality of a water body based on a laser radar, comprising the following steps: emitting a laser beam through a laser radar transmitting device, and using a gate to collect laser echo signals and laser echo signal data in the water body, and monitoring and statistically processing environmental impact data in the water body to obtain a laser echo signal correction factor; obtaining a preliminary laser echo signal data quality assessment value according to the laser echo signal data in the water body and the laser echo signal correction factor, and filtering the laser echo signal in the water body to obtain filtered laser echo signal data; performing data fusion processing on the filtered laser echo signal data to obtain a secondary laser echo signal data quality assessment value, and combining it with the preliminary laser echo signal data quality assessment value. The data quality assessment value is compared to obtain the filtering processing judgment result. If the filtering processing judgment result is that the filtering processing judgment is invalid, the laser radar output is adaptively adjusted. If the filtering processing judgment result is that the filtering processing judgment is valid, the radar monitoring image is output; the radar monitoring image quality parameters are obtained and evaluated to obtain the radar monitoring image quality assessment value, and compared with the radar monitoring image quality assessment threshold preset in the database to obtain the water body imaging quality improvement judgment result. If the water body imaging quality improvement judgment result is that the water body imaging quality improvement is invalid, the image is reprocessed. If the water body imaging quality improvement judgment result is that the water body imaging quality improvement is valid, the radar monitoring image quality parameters are transmitted to the central controller and displayed.

[0010] The embodiment of the present application provides a water body imaging quality improvement system based on laser radar, including: a data acquisition module, a filtering processing module, an image output module and a quality improvement judgment module; wherein the data acquisition module is used to transmit a laser beam through a laser radar transmitting device, and use a gate to collect laser echo signals and laser echo signal data in the water body, and monitor and count the environmental impact data in the water body to obtain a laser echo signal correction factor; the filtering processing module is used to obtain a preliminary laser echo signal data quality assessment value based on the laser echo signal data in the water body and the laser echo signal correction factor, and filter the laser echo signal in the water body to obtain the laser echo signal data after filtering; the image output module is used to perform data fusion processing on the laser echo signal data after filtering to obtain a secondary The laser echo signal data quality evaluation value is compared with the preliminary laser echo signal data quality evaluation value to obtain the filtering processing judgment result. If the filtering processing judgment result is that the filtering processing judgment is invalid, the laser radar output is adaptively adjusted. If the filtering processing judgment result is that the filtering processing judgment is valid, the radar monitoring image is output; the quality improvement judgment module is used to obtain the radar monitoring image quality parameters and evaluate them to obtain the radar monitoring image quality evaluation value, and compare them with the radar monitoring image quality evaluation threshold preset in the database to obtain the water body imaging quality improvement judgment result. If the water body imaging quality improvement judgment result is that the water body imaging quality improvement is invalid, the image is reprocessed. If the water body imaging quality improvement judgment result is that the water body imaging quality improvement is valid, the radar monitoring image quality parameters are transmitted to the central controller and displayed.

[0011] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0012] 1. The present invention provides a method for improving the quality of water body imaging based on laser radar. By filtering the laser echo signal in the water body, low-frequency noise and high-frequency noise interference are removed, thereby effectively improving the purity of the laser echo signal, thereby achieving improved clarity of water body imaging and improved detection accuracy, and effectively solving the problems of low imaging clarity and insufficient target recognition accuracy caused by interference from external factors of the water body in the prior art.

[0013] 2. The present invention obtains the water body imaging quality improvement judgment result by evaluating the radar monitoring image quality assessment value, and then reprocesses the image according to the water body imaging quality improvement judgment result, thereby ensuring the continuous optimization and high-quality output of the final imaging result, and effectively ensuring the quality of water body imaging.

[0014] 3. The present invention performs data fusion processing on the laser echo signal data after filtering and combines it with the laser echo signal correction factor, thereby realizing the comprehensive evaluation of multi-dimensional signals, and combines it with the laser echo signal correction factor for analysis, thereby improving the accuracy and consistency of water body imaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A flow chart of a method for improving water body imaging quality based on laser radar provided in an embodiment of the present application;

[0016] Figure 2 A structural diagram of a system device for improving water body imaging quality based on laser radar provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] The embodiments of the present application provide a method and system for improving the quality of water body imaging based on lidar, thereby solving the problems of low imaging clarity and insufficient target recognition accuracy caused by interference from external factors of the water body in the prior art, and achieving improved clarity of water body imaging and detection accuracy.

[0018] The technical solution in the embodiment of the present application is to solve the above-mentioned problems of low imaging clarity and insufficient target recognition accuracy caused by interference from external factors of the water body. The overall idea is as follows: a laser beam is emitted by a laser radar transmitting device, and a gate is used to collect laser echo signals and laser echo signal data in the water body, and the environmental impact data in the water body is monitored and statistically processed to obtain a laser echo signal correction factor; a preliminary laser echo signal data quality assessment value is obtained based on the laser echo signal data in the water body and the laser echo signal correction factor, and the laser echo signal in the water body is filtered to obtain the filtered laser echo signal data; the filtered laser echo signal data is subjected to data fusion processing to obtain a secondary laser echo signal data quality assessment value, and is combined with the preliminary laser echo signal. The data quality assessment value is compared to obtain the filtering processing judgment result. If the filtering processing judgment result is that the filtering processing judgment is invalid, the laser radar output is adaptively adjusted. If the filtering processing judgment result is that the filtering processing judgment is valid, the radar monitoring image is output; the radar monitoring image quality parameters are obtained and evaluated to obtain the radar monitoring image quality assessment value, and compared with the radar monitoring image quality assessment threshold preset in the database to obtain the water body imaging quality improvement judgment result. If the water body imaging quality improvement judgment result is that the water body imaging quality improvement is invalid, the image is reprocessed. If the water body imaging quality improvement judgment result is that the water body imaging quality improvement is valid, the radar monitoring image quality parameters are transmitted to the central controller and displayed, which promotes the improvement of the clarity of water body imaging and the detection accuracy.

[0019] 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.

[0020] like Figure 1 As shown, it is a flow chart of a method for improving water body imaging quality based on laser radar provided by an embodiment of the present application, and the method comprises the following steps: emitting a laser beam through a laser radar transmitting device, and collecting laser echo signals and laser echo signal data in the water body by using a gate, and monitoring and statistically processing environmental impact data in the water body to obtain a laser echo signal correction factor; obtaining a preliminary laser echo signal data quality assessment value according to the laser echo signal data in the water body and the laser echo signal correction factor, and filtering the laser echo signal in the water body to obtain filtered laser echo signal data; performing data fusion processing on the filtered laser echo signal data to obtain a secondary laser echo signal data quality assessment value, and combining it with the preliminary laser echo signal data quality assessment value. The light echo signal data quality assessment value is compared to obtain the filtering processing judgment result. If the filtering processing judgment result is that the filtering processing judgment is invalid, the laser radar output is adaptively adjusted. If the filtering processing judgment result is that the filtering processing judgment is valid, the radar monitoring image is output; the radar monitoring image quality parameters are obtained and evaluated to obtain the radar monitoring image quality assessment value, and compared with the radar monitoring image quality assessment threshold preset in the database to obtain the water body imaging quality improvement judgment result. If the water body imaging quality improvement judgment result is that the water body imaging quality improvement is invalid, the image is reprocessed. If the water body imaging quality improvement judgment result is that the water body imaging quality improvement is valid, the radar monitoring image quality parameters are transmitted to the central controller and displayed.

[0021] In this embodiment, the gate is a receiving device for receiving and collecting laser echo signals in water bodies and laser echo signal data in water bodies, wherein the laser echo signal data in water bodies include: laser echo backscattering intensity, laser echo rising edge time, laser echo falling edge time, laser echo signal intensity, laser echo delay time and laser echo signal frequency; the environmental impact data in water bodies include: water temperature, water pressure, water turbidity, water salinity and dissolved oxygen content in the target area.

[0022] Furthermore, a preliminary laser echo signal data quality assessment value is obtained, and the specific steps include: using a gate to collect laser echo signal data in the water body, the laser echo signal data in the water body includes: laser echo backscattering intensity, laser echo rising edge time, laser echo falling edge time, laser echo signal intensity, laser echo delay time and laser echo signal frequency; obtaining a laser echo signal data calibration set preset in a database, and comparing it with the laser echo signal data in the water body, and combining it with the environmental impact data in the water body to obtain a preliminary laser echo signal data quality assessment value; the laser echo signal data calibration set includes: laser echo signal intensity calibration value, laser echo delay time calibration value, laser echo backscattering intensity calibration value, laser echo signal frequency calibration value, laser echo rising edge time calibration value and laser echo falling edge time calibration value; the preliminary laser echo signal data quality assessment value is used to judge the overall quality of the current laser echo signal.

[0023] In this embodiment, environmental impact data in the water body are obtained, and the environmental impact data in the water body include: water temperature, water pressure, water turbidity, water salinity and dissolved oxygen content of the target area; the environmental impact calibration values ​​preset in the database are obtained, and the environmental impact calibration values ​​preset in the database include: water temperature calibration value, water pressure calibration value, water turbidity calibration value, water salinity calibration value and water dissolved oxygen content calibration value of the target area; the environmental impact data in the water body are compared with the environmental impact calibration values ​​preset in the database to obtain an environmental impact assessment value, which is used to characterize the degree of influence of environmental quality on the laser echo signal collected in the water body and the laser echo signal data.

[0024] The method to obtain the environmental impact assessment value is:

[0025]

[0026] In the formula, φ represents the environmental impact assessment value, e represents the natural constant, T 1 Indicates the water temperature of the target area, T 0 Indicates the water temperature calibration value, P 1 Represents the water pressure in the target area, P 0 Indicates the water pressure calibration value, S 0 Indicates the water salinity calibration value, S 1 represents the water salinity in the target area, ρ 1 Indicates the dissolved oxygen content in the water of the target area, ρ 0 Indicates the calibration value of dissolved oxygen in water, T u Indicates water turbidity, ΔT u Indicates the water turbidity calibration value of the target area, ω 1 represents the influence weight of water temperature, ω 2represents the water pressure influence weight, ω 3 represents the influence weight of water turbidity, ω 4 represents the influence weight of water salinity, ω 5 Indicates the influence weight of dissolved oxygen in water.

[0027] Obtain each environmental impact assessment interval preset in the database, and match the environmental impact assessment value with each environmental impact assessment interval preset in the database. If the environmental impact assessment value is in a preset environmental impact assessment value interval in the database, obtain the signal correction factor corresponding to the preset environmental impact assessment interval as the laser echo signal correction factor.

[0028] The preliminary laser echo signal data quality assessment value is obtained by:

[0029]

[0030] In the formula, Z s represents the preliminary laser echo signal data quality assessment value, Δφ represents the laser echo signal correction factor, and I 0 Indicates the calibration value of laser echo backscattering intensity, I 1 represents the laser echo backscattering intensity, T r Indicates the laser echo rise time, ΔT r Indicates the calibration value of the rising edge time of the laser echo, T f Indicates the falling edge time of the laser echo, ΔT f Indicates the calibration value of the falling edge time of the laser echo, Z c represents the preliminary signal processing evaluation value, μ 1 Indicates the influence weight of laser echo backscattering intensity, μ 2 Indicates the influence weight of the laser echo rising edge time, μ 3 Indicates the influence weight of the falling edge time of the laser echo, μ 4 represents the initial signal processing impact weight, A 1 Indicates the laser echo signal intensity, A 0 Indicates the laser echo signal strength calibration value, B 0 Indicates the calibration value of laser echo delay time, B 1 represents the laser echo delay time, C 1 Indicates the laser echo signal frequency, C 0 Indicates the frequency calibration value of the laser echo signal, α 1 Indicates the influence weight of laser echo signal intensity, α 2 represents the influence weight of laser echo delay time, α 3 Indicates the laser echo signal frequency influence weight.

[0031] It should be noted that the laser echo signal intensity can be obtained by receiving a photoelectric detector, the laser echo delay time can be obtained by measuring the difference between the emission time and the reception time of the laser pulse through a time-to-digital converter, the laser echo backscattering intensity can be obtained by detecting a scattered light detector, the laser echo signal frequency can be obtained by directly querying the parameters of the laser radar transmitter, the laser echo signal intensity, laser echo delay time, and laser echo signal frequency can be obtained by obtaining the laser echo signal in the water body and drawing a laser signal image, and analyzing them in the image.

[0032] The water temperature can be obtained by using remote sensing equipment such as infrared sensors carried by satellites or drones to measure the temperature of a large area of ​​water and take the average value. The water pressure can be obtained by detecting the pressure near the radar with a pressure sensor and taking the average value. The turbidity of the water can be obtained by using a water turbidity detector to detect the water quality around the radar device. The salinity of the water can be obtained by measuring the conductivity around the radar device with a conductivity meter. The dissolved oxygen content of the water can be obtained by testing the surrounding environment of the radar device with a dissolved oxygen meter.

[0033] It should be noted that the water body temperature impact weight represents the numerical value of the influence degree of the water body temperature on the environmental impact assessment value. When used, the impact weight corresponding to the water body temperature can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the water body temperature and the water body temperature impact weight form a mapping set, and the real-time water body temperature is input into the mapping set to obtain the impact weight corresponding to the water body temperature. The mapping relationship can be a one-to-one correspondence or a many-to-one relationship. The water body pressure impact weight represents the numerical value of the influence degree of the water body pressure on the environmental impact assessment value. When used, the impact weight corresponding to the water body pressure can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the water body pressure and the water body pressure impact weight form a mapping set, and the real-time water body pressure is input into the mapping set to obtain the impact weight corresponding to the water body pressure. The mapping relationship can be a one-to-one correspondence or a many-to-one relationship. The water turbidity impact weight represents the numerical value of the impact degree of water turbidity on the environmental impact assessment value. When used, the impact weight corresponding to the water turbidity can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the water turbidity and the water turbidity impact weight form a mapping set, and the real-time water turbidity is input into the mapping set to obtain the impact weight corresponding to the water turbidity. The mapping relationship can be a one-to-one correspondence or a many-to-one relationship. The water salinity impact weight represents the numerical value of the impact degree of water salinity on the environmental impact assessment value. When used, the impact weight corresponding to the water salinity can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the water salinity and the water salinity impact weight form a mapping set, and the real-time water salinity is input into the mapping set to obtain the impact weight corresponding to the water salinity. The mapping relationship can be a one-to-one correspondence or a many-to-one relationship. The impact weight of dissolved oxygen in water represents the numerical value of the influence degree of dissolved oxygen in water on the environmental impact assessment value. When used, the impact weight corresponding to the dissolved oxygen in water can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the dissolved oxygen in water and the impact weight of dissolved oxygen in water form a mapping set, and the real-time dissolved oxygen in water is input into the mapping set to obtain the impact weight corresponding to the dissolved oxygen in water, and the mapping relationship can be a one-to-one correspondence or a many-to-one relationship.

[0034] The laser echo signal strength influence weight represents the numerical value of the influence degree of the laser echo signal strength on the preliminary signal processing evaluation value. When used, the influence weight corresponding to the laser echo signal strength can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the laser echo signal strength and the laser echo signal strength influence weight form a mapping set, and the real-time laser echo signal strength is input into the mapping set to obtain the influence weight corresponding to the laser echo signal strength, wherein the mapping relationship can be a one-to-one correspondence or a many-to-one relationship. The laser echo delay time influence weight represents the numerical value of the influence degree of the laser echo delay time on the preliminary signal processing evaluation value. When used, the influence weight corresponding to the laser echo delay time can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the laser echo delay time and the laser echo delay time influence weight form a mapping set, and the real-time laser echo delay time is input into the mapping set to obtain the influence weight corresponding to the laser echo delay time, wherein the mapping relationship can be a one-to-one correspondence or a many-to-one relationship. The laser echo signal frequency influence weight represents the numerical value of the influence degree of the laser echo signal frequency on the preliminary signal processing evaluation value. When in use, the influence weight corresponding to the laser echo signal frequency can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the laser echo signal frequency and the laser echo signal frequency influence weight form a mapping set, and the real-time laser echo signal frequency is input into the mapping set to obtain the influence weight corresponding to the laser echo signal frequency. The mapping relationship can be a one-to-one correspondence or a many-to-one relationship.

[0035] It should also be noted that the environmental impact assessment value obtained by analyzing the water temperature, water pressure, water turbidity, water salinity and water dissolved oxygen content is based on the mutual influence between these parameters. For example, when the water temperature changes, the water temperature rises, the algae and organic matter increase, resulting in an increase in the dissolved oxygen content of the water, which has a greater impact on the environment. The increase in water temperature and the decrease in density will lead to a decrease in local pressure. At the same time, the increase in water temperature and the decrease in density may lead to a decrease in local pressure. When the water pressure changes, the pressure increases and the dissolved oxygen content of the water increases, because the greater the pressure, the higher the gas solubility. When the pressure increases, the sedimentation of particles accelerates and the turbidity decreases. Increased turbidity usually means that the decomposition of organic matter increases, consuming oxygen, and the dissolved oxygen content of the water decreases. When the turbidity increases, the increase in particles may cause an increase in local pressure. When the salinity increases, the dissolved oxygen content of the water decreases, because the higher the salinity, the lower the solubility of oxygen in the water. When the salinity increases, the sedimentation effect is enhanced and the turbidity usually decreases. When the dissolved oxygen content of the water decreases, it may mean that the water temperature rises, because the solubility of oxygen is low at high temperatures.

[0036] It should be noted that the laser echo backscattering intensity influence weight represents the numerical value of the influence degree of the laser echo backscattering intensity on the preliminary laser echo signal data quality assessment value. When used, the influence weight corresponding to the laser echo backscattering intensity can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the laser echo backscattering intensity and the laser echo backscattering intensity influence weight form a mapping set, and the real-time laser echo backscattering intensity is input into the mapping set to obtain the influence weight corresponding to the laser echo backscattering intensity. The mapping relationship can be a one-to-one correspondence or a many-to-one relationship. The laser echo rise edge time influence weight represents the numerical value of the influence degree of the laser echo rise edge time on the preliminary laser echo signal data quality assessment value. When used, the influence weight corresponding to the laser echo rise edge time can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the laser echo rise edge time and the laser echo rise edge time influence weight form a mapping set, and the real-time laser echo rise edge time is input into the mapping set to obtain the influence weight corresponding to the laser echo rise edge time. The mapping relationship can be a one-to-one correspondence or a many-to-one relationship. The influence weight of the laser echo falling edge time represents the numerical value of the influence degree of the laser echo falling edge time on the preliminary laser echo signal data quality assessment value. When used, the influence weight corresponding to the laser echo falling edge time can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the laser echo falling edge time and the influence weight of the laser echo falling edge time form a mapping set, and the real-time laser echo falling edge time is input into the mapping set to obtain the influence weight corresponding to the laser echo falling edge time, wherein the mapping relationship can be a one-to-one correspondence or a many-to-one relationship. The preliminary signal processing influence weight represents the numerical value of the influence degree of the preliminary signal processing on the preliminary laser echo signal data quality assessment value. When used, the influence weight corresponding to the preliminary signal processing can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the preliminary signal processing and the preliminary signal processing influence weight form a mapping set, and the real-time preliminary signal processing is input into the mapping set to obtain the influence weight corresponding to the preliminary signal processing, wherein the mapping relationship can be a one-to-one correspondence or a many-to-one relationship.

[0037] It should also be noted that the preliminary laser echo signal data quality assessment value obtained by analyzing the laser echo backscattering intensity, laser echo rising edge time, laser echo falling edge time and preliminary signal processing assessment value takes into account the mutual influence relationship between them. For example: the enhancement of the laser echo backscattering intensity will cause the laser pulse waveform to change, including the extension of the rising edge and the laser echo falling edge time. The laser echo rising edge time and the laser echo falling edge time jointly determine the signal waveform and transmission quality.

[0038] Furthermore, the laser echo signal in the water body is filtered to obtain a laser echo signal after filtering. The specific steps include: setting the frequency range of the bandpass filter, inputting the laser echo signal in the water body into the bandpass filter, removing low-frequency noise and high-frequency noise interference, and outputting the laser echo signal in the water body after frequency filtering; obtaining a target reference signal preset in a database; inputting the laser echo signal in the water body after frequency filtering into a matching filter, and matching it with a target reference signal preset in the database, and detecting the similarity between the laser echo signal in the water body after frequency filtering and the target reference signal preset in the database, marking it as the target similarity of the laser echo signal; and matching the target reference signal of the laser echo signal with the target reference signal preset in the database. The similarity is compared with the target similarity threshold preset in the database. If the target similarity of the laser echo signal is greater than the target similarity threshold preset in the database, the first feature data of the laser echo signal after filtering is directly identified and output. If the target similarity of the laser echo signal is below the target similarity threshold preset in the database, it is cyclically filtered again until the target similarity of the laser echo signal is greater than the target similarity threshold preset in the database, and the first feature data of the laser echo signal after filtering is identified and output; based on the first feature data of the laser echo signal after filtering, the laser echo backscattering intensity, the laser echo rising edge time and the laser echo falling edge time are jointly counted as the laser echo signal data after filtering.

[0039] In this embodiment, the laser echo signal in the water body refers to the signal when the laser radar transmits the laser beam, the laser propagates through the water body, encounters objects, particles or suspended matter in the water body, and returns to the receiver. These signals contain a variety of information about the water environment. The frequency range of the bandpass filter is set, and the laser echo signal in the water body is input into the bandpass filter to remove low-frequency noise and high-frequency noise interference, and the laser echo signal in the water body after frequency filtering is output, wherein the low-frequency noise and high-frequency noise are the noises caused by objects, particles or suspended matter in the water body. By setting the frequency range of the bandpass filter, this part of the noise can be removed to a large extent, and the laser echo signal in the water body after frequency filtering can be obtained.

[0040] It should be noted that the target reference signal preset in the database refers to a reference signal under ideal conditions. The laser echo signal in the water body after frequency filtering is input into the matching filter to match it with the target reference signal preset in the database. By detecting the similarity between the laser echo signal in the water body after frequency filtering and the target reference signal preset in the database, noise can be further removed, and the similarity after matching processing can be marked as the target similarity of the laser echo signal.

[0041] In the filtering process, by matching the frequency-filtered laser echo signal with the preset target reference signal in the database, the signal processing effect can be effectively optimized, and the signal accuracy and imaging quality can be improved. Similarity matching can quickly identify the signal characteristics of the target object, reduce false signal interference or misjudgment, and significantly improve the accuracy of target detection and imaging, especially in complex environments. Similarity matching enables higher flexibility and robustness in dealing with changes in different environments, ensuring stability and consistency in the signal processing process. The reprocessing mechanism after similarity detection can effectively reduce random errors and background interference in the system, improve the quality of the laser echo signal, and make the final generated water body imaging clearer and more accurate. Through automated similarity comparison and adaptive adjustment of the filter reprocessing laser radar output, the subjective judgment error caused by human operation is reduced, and the processing efficiency is improved. High-quality signal processing and image generation can be completed in a short time. The similarity matching mechanism can significantly improve the accuracy, robustness and automation level of signal processing, ensure that the processing effect and imaging quality of the laser echo signal meet the expected standards, and ultimately improve the performance and reliability of the entire system.

[0042] Furthermore, the laser echo signal data after filtering is subjected to data fusion processing to obtain a secondary laser echo signal data quality assessment value, and the specific steps include: the laser echo signal data after filtering includes: laser echo backscattering intensity, laser echo rising edge time, laser echo falling edge time and laser echo signal first characteristic data; the first characteristic data of the laser echo signal includes: laser echo signal intensity after filtering, laser echo delay time and laser echo signal frequency; according to the laser echo signal data after filtering and the laser echo signal correction factor, data fusion processing is performed to obtain a secondary laser echo signal data quality assessment value; the secondary laser echo signal data quality assessment value is used to characterize the accuracy of the water body imaging result.

[0043] In this embodiment, during the water imaging process of the laser radar, a single sensor or a single signal is often easily interfered by environmental factors, such as turbidity, suspended particles, light scattering, etc. in the water. This will cause the collected data to be unstable or inaccurate. By fusing data from multiple sources (such as echo intensity, scattering characteristics, delay time, etc.), some noise and random errors can be eliminated. The complementary effect between different data sources can improve the accuracy and robustness of the overall data, making the judgment of the water environment more reliable. In a complex water environment, a single laser echo signal may only reflect a certain characteristic of the environment (such as suspended particles or scattering intensity in the water body), and it is impossible to comprehensively describe the overall picture of the water body. The data processing method that integrates multiple parameters can more comprehensively reflect the comprehensive state of the water environment. For example, by fusing the laser echo signal intensity, delay time and laser echo backscattering intensity, the transparency, depth of the water body, the reflection characteristics of the target object, and the distribution of impurities in the water body can be understood at the same time. It helps to more comprehensively judge the propagation conditions of laser signals and optimize the imaging effect. The propagation of laser signals in water bodies is affected by many factors. A single signal often cannot fully reflect all the information of the imaging target, resulting in blurred images or data loss. Through the fusion processing of multiple signals, some irrelevant noise signals can be removed while enhancing the strength of effective signals. For example, by fusing the backscattering intensity and delay time of laser echoes, the scattering noise caused by impurities in the water body can be better filtered out, thereby improving the clarity of imaging, helping the system to accurately locate the target object in the water body, and generating high-quality imaging results. For example: water bodies with high turbidity will increase laser scattering, resulting in a weakening of the laser echo signal intensity. Fusion of echo intensity and signal delay time data can reduce the impact of turbidity on the signal, making the image quality more stable. Signal processing after fusing multiple parameters can improve the system's ability to suppress noise, thereby generating clearer and more stable imaging results.

[0044] Furthermore, the secondary laser echo signal data quality evaluation value is obtained, and the specific method is as follows:

[0045]

[0046] In the formula, S h represents the secondary laser echo signal data quality assessment value, Δφ represents the laser echo signal correction factor, I 0 Indicates the calibration value of laser echo backscattering intensity, I 1 represents the laser echo backscattering intensity, T r Indicates the laser echo rise time, ΔT r Indicates the calibration value of the rising edge time of the laser echo, T f Indicates the falling edge time of the laser echo, ΔT fIndicates the calibration value of the falling edge time of the laser echo, S z represents the quality evaluation value of the first feature data after filtering, μ 1 Indicates the influence weight of laser echo backscattering intensity, μ 2 Indicates the influence weight of the laser echo rising edge time, μ 3 Indicates the influence weight of the falling edge time of the laser echo, μ 4 A represents the weight of the first feature data quality after filtering. 2 Represents the intensity of the laser echo signal after filtering, A 0 Indicates the laser echo signal strength calibration value, B 0 Indicates the calibration value of laser echo delay time, B 2 represents the laser echo delay time after filtering, C 2 represents the frequency of the laser echo signal after filtering, C 0 Indicates the frequency calibration value of the laser echo signal, α 1 Indicates the influence weight of laser echo signal intensity, α 2 represents the influence weight of laser echo delay time, α 3 Indicates the laser echo signal frequency influence weight.

[0047] In this embodiment, it should be noted that the laser echo signal intensity, laser echo delay time and laser echo signal frequency after filtering can be obtained through filter processing.

[0048] Furthermore, a radar monitoring image is output, and the specific judgment process is as follows: based on a comparison between the secondary laser echo signal data quality assessment value and the preliminary laser echo signal data quality assessment value, if the secondary laser echo signal data quality assessment value is greater than the preliminary laser echo signal data quality assessment value, the filtering processing result is defined as valid filtering processing, and the radar monitoring image is output; if the secondary laser echo signal data quality assessment value is below the preliminary laser echo signal data quality assessment value, the filtering processing result is defined as invalid filtering processing, and the filtering processing is performed again until the secondary laser echo signal data quality assessment value is greater than the preliminary laser echo signal data quality assessment value.

[0049] In this embodiment, if the secondary laser echo signal data quality evaluation value is lower than the preliminary laser echo signal data quality evaluation value, the filtering processing result is defined as invalid filtering processing, and filtering processing is performed again. The steps of re-filtering processing include: re-adjusting the frequency range of the bandpass filter, and according to the preliminary laser echo signal data quality evaluation value, re-combining the characteristic changes of the laser echo backscattering intensity, the laser echo rising edge time and the laser echo falling edge time of the signal to appropriately adjust the upper and lower cutoff frequencies of the bandpass filter to better remove the residual interference in the signal, appropriately adjusting the upper and lower cutoff frequencies of the bandpass filter to better remove the residual interference in the signal, and recalculating the similarity between the laser echo signal after frequency adjustment and adaptive processing and the target reference signal. Ensure that the matching degree of the signal characteristics with the reference signal is improved, improve the similarity of the signal, make the target echo signal closer to the reference signal, and thus improve the quality evaluation value. After adjusting the filter parameters and reprocessing the signal characteristics, the quality of the filtered laser echo signal data is re-evaluated, and the characteristics of the filtered laser echo signal intensity, laser echo delay time, laser echo backscattering intensity, laser echo rising edge time, laser echo falling edge time, etc. are extracted again, and compared with the calibration values ​​in the database to obtain a new quality evaluation value. According to the reprocessed filtered signal data, the secondary laser echo signal data quality evaluation value is calculated and compared with the preliminary evaluation value until the secondary laser echo signal data quality evaluation value is greater than the preliminary laser echo signal data quality evaluation value. In the process of adaptive adjustment of the laser radar output after multiple filtering and reprocessing, the improvement of signal quality is tracked, and the parameter adjustment and signal matching strategy of the filter are dynamically optimized to ensure that the ideal standard can be effectively approached or reached at each reprocessing. Through multiple iterative adjustments, the processing effect of the laser echo signal is gradually optimized to ensure that the quality of the final imaging result meets the expected standard.

[0050] Furthermore, radar monitoring image quality parameters are obtained, specifically including: dividing the radar monitoring image into a number of blocks according to the radar monitoring image, obtaining image clarity, image signal-to-noise ratio and image contrast of each block, and combining them as radar monitoring image quality parameters.

[0051] In this embodiment, according to the radar monitoring image, the radar monitoring image is divided into several blocks to obtain the image clarity, image signal-to-noise ratio and image contrast of each block; the image clarity, image signal-to-noise ratio and image contrast of each block can be detected by image processing software on the radar monitoring image, and the detection results are averaged to obtain the image clarity.

[0052] Furthermore, radar monitoring image quality parameters are obtained and evaluated to obtain a radar monitoring image quality evaluation value. The specific method includes: obtaining a radar monitoring image quality parameter calibration set preset in a database, wherein the preset radar monitoring image quality parameter calibration set includes: an image clarity calibration value, an image signal-to-noise ratio calibration value, and an image contrast calibration value; comparing the radar monitoring image quality parameters with the preset radar monitoring image quality parameter calibration set to obtain a radar monitoring image quality evaluation value; the radar monitoring image quality evaluation value is used to characterize the radar monitoring image quality.

[0053] In this embodiment, the method for obtaining the radar monitoring image quality evaluation value is:

[0054]

[0055] Z Z represents the radar monitoring image quality assessment value, i represents the number of each block, i=1,2,3,..,M, M represents the total number of blocks, S i represents the image clarity of the i-th block, e represents the natural constant, ΔS represents the image clarity calibration value, H i represents the image signal-to-noise ratio of the i-th block, ΔH represents the image signal-to-noise ratio calibration value, and P i represents the image contrast of the i-th block, ΔP represents the image contrast calibration value, δ 1 Indicates the weight of image clarity, δ 2 represents the image signal-to-noise ratio influence weight, δ 4 Represents the image signal-to-noise ratio influence weight.

[0056] It should be noted that the image clarity influence weight represents the numerical value of the influence degree of image clarity on the radar monitoring image quality assessment value. When used, the influence weight corresponding to the image clarity can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the image clarity and the image clarity influence weight form a mapping set, and the real-time image clarity is input into the mapping set to obtain the influence weight corresponding to the image clarity. The mapping relationship can be a one-to-one correspondence or a many-to-one relationship. The image signal-to-noise ratio influence weight represents the numerical value of the influence degree of the image signal-to-noise ratio on the radar monitoring image quality assessment value. When used, the influence weight corresponding to the image signal-to-noise ratio can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the image signal-to-noise ratio and the image signal-to-noise ratio influence weight form a mapping set, and the real-time image signal-to-noise ratio is input into the mapping set to obtain the influence weight corresponding to the image signal-to-noise ratio. The mapping relationship can be a one-to-one correspondence or a many-to-one relationship. The image contrast influence weight represents the numerical value of the influence degree of the image contrast on the radar monitoring image quality assessment value. When used, the influence weight corresponding to the image contrast can be directly obtained from the database, and the corresponding relationship can be a pre-set mapping relationship. For example, the image contrast and the image contrast influence weight form a mapping set, and the real-time image contrast is input into the mapping set to obtain the influence weight corresponding to the image contrast. The mapping relationship can be a one-to-one correspondence or a many-to-one relationship.

[0057] The radar monitoring image quality assessment value is obtained by analyzing the image clarity, image signal-to-noise ratio and image contrast, taking into account the mutual influence between these parameters. For example, high image clarity and high average contrast indicate that the image has strong spatial resolution and target recognition capabilities, but if the image signal-to-noise ratio is very low, these advantages may be masked by noise. Taking these parameters into consideration, a comprehensive radar monitoring image quality assessment value can be obtained to determine whether the overall quality of the image meets the requirements. A high image signal-to-noise ratio can improve image clarity and make details sharper; conversely, increased noise leads to decreased clarity, and an increased image signal-to-noise ratio enhances image contrast and makes targets more prominent; increased noise reduces contrast and makes target recognition difficult, while a high image signal-to-noise ratio maintains the integrity of the image structure; high contrast helps to improve image clarity and make edges and details easier to distinguish; low contrast makes the image appear blurred.

[0058] Furthermore, a water body imaging quality improvement judgment result is obtained, and the specific steps include: obtaining a radar monitoring image quality assessment threshold preset in a database, and comparing it with the radar monitoring image quality assessment value; if the radar monitoring image quality assessment value is greater than the radar monitoring image quality assessment threshold, then the water body imaging quality improvement judgment result is that the water body imaging quality improvement is effective; if the radar monitoring image quality assessment value is below the radar monitoring image quality assessment threshold, then the water body imaging quality improvement judgment result is that the water body imaging quality improvement is invalid; and reprocessing the image within a preset specified number of times to obtain the radar monitoring image quality assessment value after image reprocessing; comparing the radar monitoring image quality assessment value after image reprocessing with the preset radar monitoring image quality assessment threshold to obtain the water body imaging quality improvement judgment result after image reprocessing; if the water body imaging quality improvement judgment result is that the water body imaging quality improvement is invalid, an early warning is issued.

[0059] In this embodiment, a clear image quality standard can be established by obtaining the radar monitoring image quality assessment threshold preset in the database, which is used to quickly determine whether the image quality is qualified. The setting of this standard makes the judgment of image quality consistent and comparable, and reduces subjective errors. By comparing the actual quality assessment value and the standard threshold, it is possible to quickly determine whether the image quality meets the standard, avoiding unnecessary processing steps, thereby improving efficiency. When the image quality is lower than the standard, the reprocessing mechanism is triggered in time to ensure the high-quality output of the final image. Image reprocessing can further optimize the image through enhanced processing when the image quality does not meet the standard. Reprocessing can effectively improve the details in the image, reduce noise, and improve contrast, thereby improving the overall imaging quality. In addition, the specified number of reprocessing restrictions prevents the waste of resources caused by unlimited processing and ensures the efficient operation of the system. By re-adjusting the filtering process, the accuracy of the input signal can be effectively improved, ensuring that the foundation of subsequent image reprocessing is more solid, increasing the flexibility of system processing, and being able to adaptively optimize the filtering parameters according to the characteristics of the laser echo signal in different environments, significantly improving the imaging effect. Through iterative operations of image reprocessing and filtering and reprocessing the adaptive adjustment of the lidar output, the system will eventually stop processing when the preset quality standard is reached and output the final radar monitoring image. When the image quality assessment value meets the standard, the system stops all further processing and can continuously improve the image quality until it meets the established standard. Through iterative processing and continuous adjustment, the system can ensure the consistency and reliability of imaging quality in complex water environments. The setting of the termination condition ensures that the system ends the processing in time when the image quality is qualified, improves the operating efficiency of the system, and avoids unnecessary waste of resources. Among them, if the water body imaging quality improvement judgment result is that the water body imaging quality improvement is invalid, an early warning is issued, which includes sounding an alarm bell and flashing an alarm light.

[0060] like Figure 2 As shown, it is a structural schematic diagram of a water body imaging quality improvement system based on laser radar provided in an embodiment of the present application. A water body imaging quality improvement system based on laser radar provided in an embodiment of the present application includes: a data acquisition module, a filtering processing module, an image output module and a quality improvement judgment module; wherein the data acquisition module is used to transmit a laser beam through a laser radar transmitting device, and use a gate to collect laser echo signals and laser echo signal data in the water body, and monitor and count the environmental impact data in the water body to obtain a laser echo signal correction factor; the filtering processing module is used to obtain a preliminary laser echo signal data quality evaluation value according to the laser echo signal data in the water body and the laser echo signal correction factor, and filter the laser echo signal in the water body to obtain the laser echo signal data after filtering; the image output module is used to output the laser echo signal data after filtering. The signal data is processed by data fusion to obtain a secondary laser echo signal data quality assessment value, and compared with the preliminary laser echo signal data quality assessment value to obtain a filtering processing judgment result. If the filtering processing judgment result is that the filtering processing judgment is invalid, the laser radar output is adaptively adjusted. If the filtering processing judgment result is that the filtering processing judgment is valid, the radar monitoring image is output; the quality improvement judgment module is used to obtain the radar monitoring image quality parameters and evaluate them to obtain the radar monitoring image quality assessment value, and compare them with the radar monitoring image quality assessment threshold preset in the database to obtain the water body imaging quality improvement judgment result. If the water body imaging quality improvement judgment result is that the water body imaging quality improvement is invalid, the image is reprocessed. If the water body imaging quality improvement judgment result is that the water body imaging quality improvement is valid, the radar monitoring image quality parameters are transmitted to the central controller and displayed.

[0061] To summarize, this embodiment filters the laser echo signal in the water body to remove low-frequency noise and high-frequency noise interference, thereby effectively improving the purity of the laser echo signal, and further improving the clarity of water body imaging and detection accuracy, effectively solving the problems of low imaging clarity and insufficient target recognition accuracy caused by interference from external factors of the water body in the prior art.

[0062] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0063] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0064] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0065] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0066] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0067] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for improving water body imaging quality based on laser radar, characterized in that: The following steps are involved: The laser radar transmitting device emits a laser beam, and uses a gate to collect laser echo signals and laser echo signal data in the water body, and monitors and counts the environmental impact data in the water body to obtain a laser echo signal correction factor; A preliminary laser echo signal data quality assessment value is obtained according to the laser echo signal data in the water body and the laser echo signal correction factor, and the laser echo signal in the water body is filtered to obtain the laser echo signal data after filtering; The laser echo signal data after filtering is subjected to data fusion processing to obtain a secondary laser echo signal data quality assessment value, and is compared with the preliminary laser echo signal data quality assessment value to obtain a filtering processing judgment result. If the filtering processing judgment result is that the filtering processing judgment is invalid, the laser radar output is adaptively adjusted. If the filtering processing judgment result is that the filtering processing judgment is valid, a radar monitoring image is output; The radar monitoring image quality parameters are obtained and evaluated to obtain the radar monitoring image quality evaluation value, and compared with the radar monitoring image quality evaluation threshold preset in the database to obtain the water body imaging quality improvement judgment result. If the water body imaging quality improvement judgment result is that the water body imaging quality improvement is invalid, the image is reprocessed; if the water body imaging quality improvement judgment result is that the water body imaging quality improvement is effective, the radar monitoring image quality parameters are transmitted to the central controller and displayed.

2. The method for improving water body imaging quality based on laser radar as claimed in claim 1, characterized in that: The step of obtaining the preliminary laser echo signal data quality assessment value specifically comprises: The laser echo signal data in the water body is collected by using a gate, wherein the laser echo signal data in the water body includes: laser echo backscattering intensity, laser echo rising edge time, laser echo falling edge time, laser echo signal intensity, laser echo delay time and laser echo signal frequency; Obtain a preset laser echo signal data calibration set in the database, compare it with the laser echo signal data in the water body, and combine it with the environmental impact data in the water body to obtain a preliminary laser echo signal data quality assessment value; The laser echo signal data calibration set includes: a laser echo signal intensity calibration value, a laser echo delay time calibration value, a laser echo backscattering intensity calibration value, a laser echo signal frequency calibration value, a laser echo rising edge time calibration value, and a laser echo falling edge time calibration value; The preliminary laser echo signal data quality evaluation value is used to judge the overall quality of the current laser echo signal.

3. The method for improving water body imaging quality based on laser radar as claimed in claim 1, characterized in that: The filtering process of the laser echo signal in the water body to obtain the filtered laser echo signal specifically comprises the following steps: The frequency range of the bandpass filter is set, and the laser echo signal in the water body is input into the bandpass filter to remove the interference of low-frequency noise and high-frequency noise, and the laser echo signal in the water body after frequency filtering is output; Acquire a target reference signal preset in a database; The laser echo signal in the water body after frequency filtering is input into the matched filter and matched with the target reference signal preset in the database, and the similarity between the laser echo signal in the water body after frequency filtering and the target reference signal preset in the database is detected and marked as the target similarity of the laser echo signal; Compare the target similarity of the laser echo signal with the target similarity threshold preset in the database; if the target similarity of the laser echo signal is greater than the target similarity threshold preset in the database, directly identify and output the first feature data of the laser echo signal after filtering; if the target similarity of the laser echo signal is below the target similarity threshold preset in the database, perform loop filtering again until the target similarity of the laser echo signal is greater than the target similarity threshold preset in the database, and identify and output the first feature data of the laser echo signal after filtering; Based on the first characteristic data of the laser echo signal after filtering, the laser echo backscattering intensity, the laser echo rising edge time and the laser echo falling edge time are jointly counted as the laser echo signal data after filtering.

4. The method for improving water body imaging quality based on laser radar as claimed in claim 3, characterized in that: The laser echo signal data after filtering is subjected to data fusion processing to obtain a secondary laser echo signal data quality assessment value, and the specific steps include: The laser echo signal data after filtering includes: laser echo backscattering intensity, laser echo rising edge time, laser echo falling edge time and laser echo signal first characteristic data; The first characteristic data of the laser echo signal includes: the intensity of the laser echo signal after filtering, the laser echo delay time and the laser echo signal frequency; According to the laser echo signal data after filtering and the laser echo signal correction factor, data fusion processing is performed to obtain the secondary laser echo signal data quality assessment value; The secondary laser echo signal data quality assessment value is used to characterize the accuracy of the water body imaging result.

5. The method for improving water body imaging quality based on laser radar as claimed in claim 4, characterized in that: The specific method for obtaining the secondary laser echo signal data quality evaluation value is as follows: In the formula, S h represents the secondary laser echo signal data quality assessment value, Δφ represents the laser echo signal correction factor, I0 represents the laser echo backscattering intensity calibration value, I1 represents the laser echo backscattering intensity, T r Indicates the laser echo rise time, ΔT r Indicates the calibration value of the laser echo rising edge time, T f Indicates the falling edge time of the laser echo, ΔT f Indicates the calibration value of the falling edge time of the laser echo, S z represents the first feature data quality evaluation value after filtering processing, μ1 represents the influence weight of laser echo backscattering intensity, μ2 represents the influence weight of laser echo rising edge time, μ3 represents the influence weight of laser echo falling edge time, μ4 represents the influence weight of the first feature data quality after filtering processing, A2 represents the laser echo signal intensity after filtering processing, A0 represents the laser echo signal intensity calibration value, B0 represents the laser echo delay time calibration value, B2 represents the laser echo delay time after filtering processing, C2 represents the laser echo signal frequency after filtering processing, C0 represents the laser echo signal frequency calibration value, α1 represents the influence weight of laser echo signal intensity, α2 represents the influence weight of laser echo delay time, and α3 represents the influence weight of laser echo signal frequency.

6. The method for improving water body imaging quality based on laser radar as claimed in claim 4, characterized in that: The output radar monitoring image, the specific judgment process is: Based on the comparison between the secondary laser echo signal data quality assessment value and the preliminary laser echo signal data quality assessment value, if the secondary laser echo signal data quality assessment value is greater than the preliminary laser echo signal data quality assessment value, the filtering processing result is defined as the filtering processing is valid, and the radar monitoring image is output; If the secondary laser echo signal data quality assessment value is lower than the preliminary laser echo signal data quality assessment value, the filtering processing result is defined as invalid filtering processing, and the filtering processing is performed again until the secondary laser echo signal data quality assessment value is greater than the preliminary laser echo signal data quality assessment value.

7. The method for improving water body imaging quality based on laser radar as claimed in claim 1, characterized in that: The obtaining of radar monitoring image quality parameters specifically includes: According to the radar monitoring image, the radar monitoring image is divided into several blocks, and the image clarity, image signal-to-noise ratio and image contrast of each block are obtained and combined as the radar monitoring image quality parameters.

8. The method for improving water body imaging quality based on laser radar as claimed in claim 7, characterized in that: The method of obtaining the radar monitoring image quality parameter and evaluating to obtain the radar monitoring image quality evaluation value includes: Acquire a preset radar monitoring image quality parameter calibration set in a database, wherein the preset radar monitoring image quality parameter calibration set includes: an image clarity calibration value, an image signal-to-noise ratio calibration value, and an image contrast calibration value; Comparing the radar monitoring image quality parameter with a preset radar monitoring image quality parameter calibration set to obtain a radar monitoring image quality assessment value; The radar monitoring image quality assessment value is used to characterize the radar monitoring image quality.

9. The method for improving water body imaging quality based on laser radar as claimed in claim 7, characterized in that: The specific steps of obtaining the water body imaging quality improvement judgment result include: Obtain a preset radar monitoring image quality assessment threshold in the database and compare it with the radar monitoring image quality assessment value; if the radar monitoring image quality assessment value is greater than the radar monitoring image quality assessment threshold, the water body imaging quality improvement judgment result is that the water body imaging quality improvement is effective; if the radar monitoring image quality assessment value is below the radar monitoring image quality assessment threshold, the water body imaging quality improvement judgment result is that the water body imaging quality improvement is invalid, and reprocess the image within a preset specified number of times to obtain the radar monitoring image quality assessment value after image reprocessing; The radar monitoring image quality assessment value after image reprocessing is compared with the preset radar monitoring image quality assessment threshold to obtain the water body imaging quality improvement judgment result after image reprocessing. If the water body imaging quality improvement judgment result is that the water body imaging quality improvement is invalid, an early warning is issued.

10. A laser radar-based water body imaging quality improvement system, characterized in that: include: Data acquisition module, filtering processing module, image output module and quality improvement judgment module; The data acquisition module is used to transmit a laser beam through a laser radar transmitting device, collect laser echo signals and laser echo signal data in the water body using a gate, and monitor and statistically process environmental impact data in the water body to obtain a laser echo signal correction factor; The filtering processing module is used to obtain a preliminary laser echo signal data quality assessment value according to the laser echo signal data in the water body and the laser echo signal correction factor, and to filter the laser echo signal in the water body to obtain the laser echo signal data after filtering; The image output module is used to perform data fusion processing on the laser echo signal data after filtering, obtain a secondary laser echo signal data quality assessment value, and compare it with the preliminary laser echo signal data quality assessment value to obtain a filtering processing judgment result. If the filtering processing judgment result is that the filtering processing judgment is invalid, the laser radar output is adaptively adjusted. If the filtering processing judgment result is that the filtering processing judgment is valid, the radar monitoring image is output; The quality improvement judgment module is used to obtain the radar monitoring image quality parameters and evaluate them to obtain the radar monitoring image quality evaluation value, and compare them with the radar monitoring image quality evaluation threshold preset in the database to obtain the water body imaging quality improvement judgment result. If the water body imaging quality improvement judgment result is that the water body imaging quality improvement is invalid, the image is reprocessed; if the water body imaging quality improvement judgment result is that the water body imaging quality improvement is effective, the radar monitoring image quality parameters are transmitted to the central controller and displayed.

Images