93 results about "Sonar imaging" patented technology

The invention provides a manifold constraint-based sonar imaging reverberation elimination method and system, and is applied to the field of imaging data processing. According to the method, the time domain waveform of the echo signal is collected in real time, whether the irregular reflection peak value is detected or not is judged, potential interference and reflection in the underwater environment can be rapidly recognized, and particularly, in the complex underwater environment, non-target objects (such as seabed obstacles or sundries) possibly cause irregular reflection signals, so that the interference and reflection in the underwater environment can be rapidly recognized. Meanwhile, the underwater propagation characteristics of sound waves can be accurately modeled by collecting the reflection path of the echo signal and predicting the propagation parameters of the reverberation signal. And accurate background data can be provided for the propagation modeling of the reverberation signal through the pre-recorded information of submarine topography, geological characteristics, sound wave propagation characteristics and the like.

The invention discloses a complex underwater side-scan sonar exploration detection method and device based on a multi-dimensional attention collaborative lightweight anti-noise detection framework, and the device comprises an underwater side-scan sonar imaging device which is used for obtaining a sonar image of a detected target; the computer is connected with the underwater side-scan sonar imaging equipment and comprises a backbone feature extraction network module which is used for processing an input sonar image through a multi-scale edge refining module and outputting a three-scale feature map; the check feature fusion network module is used for realizing cross-channel and cross-space information fusion through the focusing space adaptive local attention module, performing adaptive modulation and deep information aggregation on multi-scale features through a channel frequency aggregation and attention mechanism, and outputting three enhanced feature maps; and the YOLOhead detection head module is used for generating a target detection frame according to the enhanced feature map, and outputting a detection result after non-maximum suppression processing.

The invention provides an underwater target detection method and system based on a multi-beam foresight sonar image, and belongs to the technical field of underwater image processing. The method comprises the following steps: acquiring a target sonar image by adopting a multi-beam foresight sonar device, extracting a multi-scale feature map by adopting an improved detection model based on a convolutional neural network, predicting and classifying bounding boxes, and outputting position coordinates and category probability result information containing each detection target. According to the invention, a dynamic perception patch attention mechanism is introduced into the improved convolutional neural network, and a multi-branch feature extraction strategy and a special small target detection head are combined, so that the detection capability of the small target is enhanced, and the purpose of improving the detection precision is achieved. In addition, sonar imaging and processing, data communication, display control and the like are integrated in an embedded platform, and portable real-time detection, data exchange and user control are achieved. According to the method, the detection precision of the small target in the underwater forward-looking multi-beam sonar image can be effectively improved.

The invention relates to the field of submarine structure detection, in particular to a submarine water intake structure hidden danger detection method based on acousto-optic joint detection. According to the method, through a multi-source data acquisition and intelligent fusion technology, including centimeter-level high-resolution sonar sounding, water body layer structure acoustic imaging, ROV optical camera shooting observation and laser calibration, scouring, crack and blockage information of the seabed grating is comprehensively obtained, and the seabed grating is comprehensively identified by adopting adaptive enhancement, threshold segmentation and spatial interpolation algorithms. The problems that a traditional sonar imaging blind area exists, the target boundary is fuzzy and the biological adhesion thickness is difficult to quantify are solved, and high-precision and multi-dimensional detection of seabed structure damage, blockage and scour forms is achieved. According to the overall scheme, the detection integrity and accuracy are improved, the submarine environment safety monitoring capacity is enhanced, and reliable technical support is provided for operation and maintenance of submarine facilities.

A sonar target locking system to position a sonar assembly to maintain the sonar array of the sonar assembly pointing at a position of a user-set (desired) target even when the watercraft is rotating or moving in various motions. The sonar target locking system includes electro-mechanical assembly that can be steered electrically to maintain the sonar array pointing at the position of the desired target. The system may be activated using at least one of a foot pedal, handheld remote control, or a display of a fish finder head unit. The system may use GPS and IMU inputs to generate control signals to steer the electro-mechanical assembly to maintain the sonar array pointing at the position of the desired target.

The invention discloses a deconvolution super beam forming method and system for a multi-beam sonar image, and belongs to the field of sonar image processing. Collecting multi-beam sonar data, and creating a target characteristic database; generating a point spread function for deconvolution by using a super beam forming method; the azimuth spectrum is optimized through a Richardson-Lucy iterative algorithm; adjusting algorithm parameters, and verifying the performance of the optimized Dcv-HBF algorithm through simulation and experiments; and outputting a clear target sonar image for target detection and background noise suppression analysis. According to the method, the principle of hyper-beam forming HBF and the principle of deconvolution conventional beam forming Dcv-CBF are combined, an HBF beam pattern serves as a point spread function PSF, deconvolution is conducted on the orientation spectrum of the HBF through the R-L iterative algorithm, the spatial spectrum of Dcv-HBF is generated, and the spatial resolution and background noise suppression capacity of sonar imaging are improved.

The application provides an underwater three-dimensional reconstruction method for a single sonar image, which can be applied to the technical field of image sonar perception. The method reconstructs the point cloud structure of a target object by using a pseudo front-view depth map of a single sonar image, trains a sonar image segmentation network by using a sonar image obtained in a simulation environment and a corresponding depth map true value, fully utilizes the true value of the inverse depth and the characteristics of a sonar imaging principle to improve the estimation accuracy of the pseudo front-view depth map, simultaneously uses a weight loss function constructed according to the sonar imaging principle, and simultaneously uses a scale-invariant logarithmic loss function to train the sonar image segmentation network. The application further provides an underwater three-dimensional reconstruction device for a single sonar image, equipment and a storage medium.

Fishing lures and lines to improve the capability of visually following an angler's lure while in the water are set forth. The lures and lines include the incorporation of materials that are sensitive to sonar imaging, and will highly define the underwater location of the fishing line on a sonar device's screen.

The invention discloses a one-dimensional error analysis method, system and device for a synthetic aperture sonar imaging method, and relates to the technical field of image processing, and the one-dimensional error analysis method comprises the steps: calculating a joint directivity function of a transmitting array element and a receiving array element according to the directivity functions of the transmitting array element and the receiving array element, and determining the beam width of a sonar system; according to the farthest imaging distance and the beam width of the sonar system, calculating the coordinates of the target to be set in the azimuth direction in the imaging area; according to the geometrical relationship, calculating the distance error between the accurate instantaneous two-way slant distance between different positions in the sonar azimuth direction and the target and the approximate slant distance of the to-be-evaluated imaging method; determining the minimum number of targets to be set and coordinates in the distance direction in the imaging area, and determining a receiving array element of a distance error to be inspected; and calculating the distance error between the accurate instantaneous two-way slant distance and the approximate slant distance of the to-be-evaluated imaging method, so that the method can quickly evaluate the advantages and disadvantages of the sonar imaging method.

The invention relates to the technical field of robot path planning, and discloses a severe environment desilting robot path planning method and system based on a sonar image, and the method comprises the steps: obtaining a low-visibility environment sonar image in a severe environment, and carrying out the preprocessing of the low-visibility environment sonar image; segmenting the preprocessed image, and extracting key path points; planning a robot motion path based on the key path points to obtain a to-be-selected path; calculating a comprehensive path complexity index, an environment fitness index and a time energy consumption index of the to-be-selected path, and evaluating the path; if the evaluation result is a to-be-optimized path, performing local path fragment adjustment and re-evaluation; through the sonar imaging technology and in combination with the path planning algorithm, autonomous navigation of the dredging robot in a low-visibility environment in a complex and severe environment is realized, and the efficiency and safety of dredging operation are improved.

The invention discloses a squint synthetic aperture sonar imaging method based on a dynamic slant-range space-variant model, and relates to the technical field of synthetic aperture sonar imaging, and the method comprises the steps: constructing a dynamic slant-range model; inputting the converted data into the dynamic oblique variation model to obtain a residual space-variant distance bending amount, and compensating the space-variant distance bending amount by using a first filter; according to the dynamic slope distance model, expanding the azimuth time offset into an azimuth frequency modulation factor; based on the azimuth frequency modulation factor and the azimuth time offset, designing a second filter by using an improved extended nonlinear frequency modulation scaling algorithm, and filtering the corrected data by using the second filter; and carrying out Fourier transform on the filtered data, compressing the transformed data by using a third filter, and then carrying out inverse Fourier transform to obtain a focused synthetic aperture sonar image. According to the invention, the imaging performance and stability of the imaging algorithm in a low signal-to-noise ratio and strong multipath interference environment can be improved.

The invention discloses a side-scan sonar mosaic mapping method and system based on polynomial fitting, and relates to the technical field of sonar imaging, and the method comprises the specific steps: obtaining original data, and carrying out the decoding and feature extraction of the original data; constructing a waterfall plot according to the time data and the echo intensity data; judging whether original track points in the original data are shared or not according to the positioning data, and if yes, performing interpolation processing on the original track points by adopting an interpolation method to obtain updated track point data; performing polynomial fitting on the attitude data to obtain an updated course value; calculating coordinates of each sampling point based on the updated track point data and the updated course value; and arranging the waterfall plot according to the coordinates of the sampling points to form the side-scan sonar mosaic plot. According to the method, a course fitting algorithm is added in side-scan sonar data processing, and the phenomena of gaps and cross overlapping caused by course jitter in the mosaic diagram manufacturing process are solved.

The invention belongs to the field of acoustic target automatic identification in ocean engineering, and particularly relates to a side-scan sonar target sample image generation method, which comprises the following steps of: 1) segmenting a target sample image to generate a target mask image; 2) carrying out local distortion deformation on the segmented target sample image, and simulating disturbance during side-scan sonar imaging; 3) normalizing the brightness; 4) performing superposition fusion on the distorted target sample image and the real sonar background image through a Poisson fusion method; 5) according to a side-scan sonar imaging mechanism, generating a shadow effect conforming to a physical law at the edge of the target sample image; 6) filtering and noise adding processing; and generating a target sample image similar to the real side-scan sonar data for training and verification of a deep learning model. The sample data generated by the method is highly vivid, covers multiple disturbance scenes, can be directly used for training a deep learning model, and remarkably improves the detection accuracy and recall rate of underwater targets (such as sunken ships and preset objects).

The invention relates to the technical field of sonar imaging, and discloses a marine organism distribution detection system and method based on sonar imaging, and the method comprises the steps: setting a plurality of depth layers, and collecting an acoustic echo signal of each depth layer; marine organism block sparse observation is carried out based on the three-dimensional acoustic echo signals, an observation matrix is obtained, and an effective biological signal block set is calculated; calculating space coordinates and reflection intensity of each biological target according to the effective biological signal block set, obtaining biological positioning data of each depth layer, and obtaining a three-dimensional acoustic image of each depth layer through three-dimensional imaging; the biological density index, the Shannon-Vaniner diversity index and the vertical migration speed of the scattering coefficient in each ecological layer are calculated, the biological detection result of each depth layer is output, data collection is carried out on the multiple depth layers, the detection reliability in the low-signal-to-noise-ratio marine environment is improved, and the detection efficiency is improved. And marine organism populations and distribution characteristics of different depth layers can be accurately identified.

The invention discloses a shipborne solar tracking and hull stability augmentation device and an unmanned surface vehicle, relates to the field of unmanned surface vehicle design, and aims to solve the problem of how to prolong the operation time of the unmanned surface vehicle and improve the imaging stability of a side-scan sonar when the side-scan sonar is carried on the unmanned surface vehicle. The device comprises a pitching adjustment supporting mechanism used for adjusting the pitching angle of a photovoltaic panel and a longitudinal sliding driving mechanism used for adjusting the position of the pitching adjustment supporting mechanism, the pitching adjustment supporting mechanism supports and can adjust the pitching angle of the photovoltaic panel, and when the height angle of sunlight changes, the incident angle of the sunlight relative to the photovoltaic panel can be adjusted; the longitudinal sliding driving mechanism is installed on the water surface unmanned ship, and the longitudinal sliding driving mechanism supports and can drive the pitching adjusting supporting mechanism and the photovoltaic panel to move in a reciprocating mode in the bow and stern direction of the water surface unmanned ship. The yawing characteristic of the unmanned surface vehicle is changed through longitudinal displacement of the pitching adjustment supporting mechanism and the photovoltaic panel so as to resist wind wave disturbance.

The invention discloses a sonar image geometric correction method based on image optimization, and relates to the technical field of underwater sonar imaging, and the method comprises the steps: collecting a multi-source underwater observation data packet including sonar image original data, platform motion state data and underwater environment data, and carrying out the preprocessing; extracting sonar image original data from the multi-source underwater observation data packet, performing geometric coarse correction to obtain a pre-corrected sonar image, and performing motion compensation on the obtained pre-corrected sonar image to generate a motion corrected sonar image; constructing a joint optimization objective function, carrying out geometric fine tuning on the motion correction sonar image by adopting a sliding time window strategy, and outputting a geometric fine correction sonar image; geometric distortion caused by non-uniform motion of a platform, attitude disturbance and acoustic propagation distortion is effectively eliminated, inter-frame consistency and submarine topography continuity of sonar images are remarkably improved, and the method is suitable for high-precision operation scenes such as underwater surveying and mapping, target recognition and three-dimensional reconstruction.

An example system for a watercraft includes an outer shaft, an inner shaft, and a motor. The outer shaft is attached to a first sonar device. The inner shaft is disposed within the outer shaft and is rotatable with respect to the outer shaft. The inner shaft is attached to a second sonar device so as to enable directional control of a facing direction of the second sonar device relative to the outer shaft. The motor is coupled to the inner shaft and configured to operate to cause rotation of the inner shaft to cause rotation of the facing direction of the second sonar device. The first sonar device may be a 360-degree sonar imaging device, and the second sonar device may be a live sonar imaging device. The system may be mounted to a trolling motor or to the watercraft without mounting to the trolling motor.

The present invention relates to the field of underwater acoustic information processing technology, and provides a method for normalizing active sonar imaging data, comprising: S1, constructing an azimuth-distance matrix: obtaining azimuth-distance data through a sonar system and storing it in a polar coordinate system; S2, smoothing the data: after constructing the azimuth-distance matrix, smoothing each row of data to reduce the impact of noise; S3, calculating expected echo intensity: after completing the smoothing process, calculating the expected echo intensity of each detection point using a data-driven method; normalizing each row of data according to the corresponding expected echo intensity; S4, coordinate system conversion: after the normalization process, converting the processed azimuth-distance matrix data from a polar coordinate system to a rectangular coordinate system. The present invention can reduce the interference of background reverberation and noise on the detection of small targets at long distances.

The AUV shallow stratum sonar imaging analyzer comprises a protection head machine body, one end of the protection head machine body is provided with an adapter, the interior of the adapter is rotatably connected with an air-blowing rotating core, the outer side wall of the protection head machine body is provided with an exhaust port, and the opening of the exhaust port is provided with a bionic gill grating. Front fan blades are arranged on the outer wall of the rotating position of the air-blowing rotating core, and side fan blades are arranged at an inlet of the air-blowing rotating core. The air inlet connector is connected with an air supply device on a ship body through an air pipe, air enters the protection head machine body and is guided out along the exhaust port, the bionic gill grating arranged at the opening of the exhaust port guides and sends the air to the rear side, the ejected air can rapidly generate a layer of buffer space, and therefore the safety of the ship is improved. And a machine body is effectively prevented from impacting a hard body in a rapid movement process.

A sonar target enhancement system and method are provided for consumer fish finder live sonar image processing. The system and method identify and enhance the visualization of specific targets, such as fish and lures, detected by such live sonar imaging systems. A sonar image enhancement pipeline utilizes a target enhancement kernel sized in accordance with the subject targets to provide enhancement thereof without also enhancing other sonar return data. The output of the enhancement pipeline is combined with the sonar data from the normal image filtering pipeline to produce a sonar image for display on the consumer fish finder that greatly increases the visibility of the targets without affecting the non-target sonar returns for, e.g., the bottom and structure in the water column.

The invention discloses a three-dimensional sonar phase self-correction method, and relates to the technical field of underwater acoustic engineering and array signal process.The method comprises the steps that a three-dimensional sonar image is generated through sonar original multi-channel signals, a plurality of strong display point targets which can be separated from the three-dimensional sonar image are extracted, and the signal-to-noise ratio of the strong display point targets is higher than a threshold value; sound path distance difference phase compensation is carried out on echo signals of each strong display point target, a channel common phase deviation is estimated by using a compensated residual complex signal, then an image entropy and a target peak value are set as convergence criteria, the criteria are deeply combined with an iterative reweighting mechanism, step-by-step optimization is carried out to obtain the phase deviation estimation precision, and the estimation precision of the channel common phase deviation is improved. And finally, obtaining an optimal inherent phase deviation, and carrying out global phase correction on the multi-channel echo signal by using the optimal inherent phase deviation. According to the invention, real-time online self-correction can be realized, the problem of imaging blur caused by phase inconsistency between channels is effectively compensated, and the contrast ratio of three-dimensional sonar imaging and the target visualization quality are remarkably improved.

The present application relates to the technical field of sonar imaging, and particularly relates to a multi-beam sonar compressed imaging method and system based on depth unfolding, which comprises the following steps: a multi-beam sonar system is used to emit sound waves to the seabed, and a receiving device is used to receive reflected echo signals to obtain multi-channel digital time sequence echo signals; an observation matrix is constructed to compress and sample the multi-channel digital time sequence echo signals to obtain a low-dimensional measurement matrix; the low-dimensional measurement matrix is input into a trained depth unfolding beamforming network to output a reconstructed beamforming spectrum, and a sonar sounding image is generated according to the beamforming spectrum. The present application can greatly improve the imaging speed and support real-time applications such as underwater obstacle avoidance and online monitoring.

A marine data instrument mounting apparatus supports various components of a marine data instrument, for example a fishfinder or a chartplotter, on a portable frame for use in different environments. The apparatus has a frame that adjustably supports a display screen of the marine data instrument thereon so that height and / or angle of the screen is adjustable and that also supports a battery for powering the instrument. When the instrument is capable of sonar imaging, a sonar module for communicating sonar signals from a transducer head can also be supported on the frame together with the display unit and battery. A separate transducer mounting assembly suspends the transducer head from a pole in several different modes in cooperation with an indicator at an opposing end of the pole to indicate the selected mode of the transducer head.

The application provides a sonar image three-dimensional reconstruction method based on target shadow and gray scale, which comprises the following steps: Step 1, converting the original sonar image into a gray scale image; Step 2, carrying out denoising treatment on the image; Step 3, carrying out shadow edge calibration; Step 4, segmenting a target region; Step 5, eliminating small target regions; Step 6, solving the pitch angle of the target region; and Step 7, reconstructing the target region. The application uses the multi-beam forward-looking sonar imaging principle as a research object, analyzes the transmission, reflection and reception process of sound waves, realizes a reverse reasoning using sound propagation, and obtains the three-dimensional reconstruction of the target object in the sonar image.

The invention relates to the technical field of sonar imaging, and discloses a high-resolution imaging method, device and equipment and a medium, and is applied to a neural network model, and the neural network model comprises a coding module, an imaging module and a super-resolution module. The method comprises the following steps: a coding module performs feature extraction and data dimension reduction on sonar echo signals acquired by each channel to obtain a complex envelope data matrix; wherein the sonar echo signal represents a signal which is received by the sonar and is reflected back from a target position; the coding module is obtained by training by taking a noise-added sonar echo signal as input and taking complex envelopes corresponding to noise-free simulated sonar echo signals at different distances as labels; the imaging module generates an echo intensity imaging result corresponding to the complex envelope data matrix; and the super-resolution module enhances the echo intensity imaging result to generate a high-resolution imaging result. According to the technical scheme provided by the invention, the precision and efficiency of three-dimensional sonar imaging can be improved.

This invention provides a three-dimensional sonar imaging method based on acoustic orbital angular momentum and Bessel compensation. The method performs initial elevation and azimuth beamforming on multimodal OAM echoes to obtain preliminary three-dimensional sonar imaging results. The elevation angle is extracted and a Bessel compensation factor is obtained to correct signal distortion and suppress sidelobes in the time domain. Secondary beamforming is then performed using modal-dimensional azimuth matching vectors to improve azimuth resolution. Finally, a high-resolution, high-contrast three-dimensional image is output. This invention accurately compensates for amplitude and phase distortion of multimodal OAM echo signals by using a compensation factor obtained based on the target elevation angle and the characteristics of the Bessel function. This significantly reduces signal errors caused by wavefront bending, modal coupling, and non-ideal scattering, restores the orthogonality between different OAM modes, and improves imaging fidelity. This invention effectively compensates for OAM mode propagation and scattering distortion and suppresses modal coupling, making it suitable for various high-precision three-dimensional sonar imaging scenarios.

The invention relates to the technical field of topographic surveying and mapping, in particular to an irregular water area underwater topographic surveying and mapping method, which comprises the following steps of: 1, performing field investigation and data collection, namely collecting water area meteorological, hydrological and historical topographic data and evaluating measurement difficulties; 2, covering a wide water area through a multi-beam depth finder carried by an unmanned ship, and generating a high-resolution three-dimensional terrain model; and step 3, the side-scan sonar carried by the unmanned ship performs imaging to generate an underwater topographic image. The unmanned ship carries the multi-beam depth sounder to cover a wide water area and generate a high-resolution three-dimensional terrain model, the side-scan sonar carried by the unmanned ship carries out scanning imaging and generates an underwater topographic image, the unmanned aerial vehicle is adopted for aerial survey, and the unmanned ship is matched to realize water surface and underwater integrated surveying and mapping, so that the unmanned ship can carry out underwater surveying and mapping. The collected data is preprocessed through special software, and a digital model is constructed, so that the method has the advantages of high surveying and mapping efficiency, good safety, time saving and labor saving, and a large amount of manpower is avoided.

The invention belongs to the technical field of underwater sonar imaging and intelligent identification, and relates to a virtual sonar image generation method and system. The method comprises the following steps: mapping a real optical target image into a virtual sonar target image by adopting a vision-text fusion network; embedding the virtual sonar target image into the real sonar background image to generate a combined image; and background compensation and texture consistency adjustment are carried out on the combined image by using a virtual sonar image background reconstruction network to obtain a virtual sonar image with a background. According to the invention, the bottleneck that real sonar data acquisition is limited by environment, cost and equipment conditions is broken through; meanwhile, the target type and number can be flexibly expanded, and the problems that sonar samples are insufficient in category and unbalanced in distribution are effectively solved.

This invention discloses a shipwreck detection method, system, electronic device, and storage medium, relating to the field of target detection. The method includes: constructing a style transfer dataset; the style transfer dataset includes a content image dataset and a style image dataset, wherein the content images in the content image dataset are side-scan sonar images of the shipwreck in well-labeled waters, and the style images in the style image dataset are side-scan sonar images of the shipwreck in turbid waters without labeling; using a style transfer network model to generate simulated side-scan sonar images of the shipwreck labeled in turbid waters from the content images in the content image dataset; training a target detection network based on the style transfer dataset and the simulated side-scan sonar images to obtain a target detection model; and inputting the side-scan sonar images of the waters to be detected into the target detection model to obtain the shipwreck detection result. This invention achieves shipwreck detection using side-scan sonar imaging in turbid waters.

The invention discloses a one-dimensional error analysis method, system and device for a synthetic aperture sonar imaging method, and relates to the technical field of image processing. The one-dimensional error analysis method comprises the following steps: according to the directivity functions of the transmitting and receiving array elements respectively, the joint directivity function of the transmitting and receiving array elements is calculated to determine the beam width of the sonar system; according to the farthest imaging distance and the beam width of the sonar system, the coordinates of the target to be set in the azimuth direction are calculated in the imaging area; according to the geometric relationship, the distance error between the precise instantaneous two-way slant range between different positions of the sonar azimuth direction and the target and the approximate slant range of the imaging method to be evaluated is calculated; in the imaging area, the minimum number of the target to be set and the coordinates in the range direction are determined, and the receiving array elements for the distance error to be investigated are determined; and the distance error between the precise instantaneous two-way slant range and the approximate slant range of the imaging method to be evaluated is calculated. In this way, the method can quickly evaluate the advantages and disadvantages of the sonar imaging method.