65 results about "Sonar system" patented technology

The invention belongs to the technical field of underwater acoustic engineering and digital signal processing, and particularly relates to a fractional delay FIR (Finite Impulse Response) phase calibration method and system of a multichannel sonar system. Comprising the steps of signal acquisition and reference channel selection; high-precision relative delay estimation; calculating a cross-correlation function of other channel signals and the reference channel signal, performing coarse estimation by searching a peak point of the amplitude of the cross-correlation function, and performing fine estimation on the peak position by using a parabola interpolation method to obtain the delay time of each channel relative to the reference channel; designing an FIR fractional delay filter; digital filtering and phase calibration; verifying a calibration effect; and calculating the phase of each channel signal at the target frequency point after calibration, and counting the standard deviation of each channel signal so as to evaluate the improvement degree of phase consistency. The method aims at overcoming the defect that traditional integral multiple sampling delay correction precision is insufficient, high-precision phase compensation of a sub-sampling point level is achieved, and therefore the performance of algorithms such as beam forming of a multi-channel sonar system is remarkably improved.

The application discloses an underwater crack sonar image simulation method, a storage medium and equipment, crack regions of a binary graph in optical crack data are migrated to a target model of a sonar system for observation, crack sonar images under different simulation parameters are obtained based on a sonar ray tracing principle, and a typical acoustic atlas is provided for detection of underwater cracks by using a sonar device, so that the problem that various forms of underwater cracks lack typical expressions in sonar images in the field of detection of underwater structure cracks by using a sonar technology at present is solved, and a basis is provided for subsequent related work of accurate identification of underwater structure cracks through sonar images.

The present application relates to a kind of sonar system compensation circuit and method based on multi-channel switching;Wherein the circuit uses cascade architecture, the core is to use domestic CBMG708 multiplexer to build at least one program-controlled gain stage, by the gain resistance of different resistance in series after each selection end is connected to operational amplifier, multiple signal channels with 6dB gradient basic gain are formed.Combined with FPGA+ARM dual-core control module, according to target action distance, corresponding channel is gated in real time, the fast and accurate gain compensation of sonar signal of different distances such as near, middle and far is realized.The method ensures that the output signal amplitude in the whole distance range is higher than the detection threshold, while having the advantages of small gain error, low power consumption and supply chain controllable, effectively solves the problem of insufficient flexibility and slow response of traditional single-channel compensation circuit.

The invention relates to the technical field of underwater acoustic imaging and three-dimensional reconstruction, in particular to an underwater three-dimensional imaging method based on an orthogonal sonar system. Performing feature extraction based on the horizontal sonar image and the vertical sonar image to obtain a horizontal feature point set and a vertical feature point set; performing feature clustering processing to form a plurality of target candidate regions; feature points from different sonars are located in a unified spatial reference coordinate system; performing feature matching between the horizontal feature point set and the vertical feature point set based on the spatial position information and the echo intensity information of the feature points to obtain matched feature point pairs; and fusing the distance and azimuth information in the horizontal sonar image and the distance and elevation angle information in the vertical sonar image, calculating the position coordinates of the target feature points in the three-dimensional space, and generating three-dimensional point cloud data of the target. The problem that elevation angle information of the two-dimensional sonar is lost is effectively solved, and the system cost and the structural complexity are reduced.

The invention relates to the technical field of low-frequency sonar systems, in particular to an active azimuth history graph suspected target prompting method based on image segmentation, which comprises the following steps: firstly, carrying out binarization processing on an active azimuth history graph through a maximum between-class variance method, then, carrying out morphological processing and connected region analysis on a binary image to realize 8 connected region marking, and finally, carrying out image segmentation on the image; secondly, calculating the area and the mass center of each connected region, filtering the region with the large area to obtain a discrete target region mask image, multiplying the discrete target region mask image with an original binary image to obtain a discrete target region image, and finally, carrying out BFS search on the mass center of each discrete target region to obtain a discrete target region image; and calculating the sum of the Euclidean distances between the active azimuth history graph and five nearest connected regions, marking the mass centers of five discrete target regions with the maximum Euclidean distance sum on the active azimuth history graph, and realizing isolated bright spot positioning, thereby realizing automatic prompting of suspected targets in the active azimuth history graph of the sonar system so as to reduce the difficulty of target identification of a worker.

This invention relates to the field of intelligent cruise technology for unmanned surface vessels (USVs), and discloses an intelligent cruise method and system for USVs based on multimodal perception. The method includes: determining the current navigation direction based on the current USV coordinates and the target mission coordinates; performing edge recognition on remote sensing satellite images to obtain obstacle contour images; smoothing the contour boundaries of the obstacle contour images to obtain obstacle boundary images; performing path feasibility planning based on the obstacle boundary images, radar systems, and sonar systems to obtain a coordinate navigation dataset; and selecting the optimal path based on the coordinate navigation dataset to obtain the optimal navigation path. This invention can improve the globality and efficiency of USV path planning and reduce fuel consumption and travel time during USV cruise.

The embodiment of the application relates to an algorithm and a device of a Bayesian classifier of a non-uniform background, which are applied to an underwater active sonar system, the algorithm comprising: obtaining underwater data to be measured and auxiliary data through the active sonar system; the number K of the auxiliary data is greater than 0; modeling classification of the unknown covariance matrix structure into a binary hypothesis testing problem; hypotheses of the binary hypothesis testing problem comprise H i Wherein i=0, 1, H0 is a case that the unknown covariance matrix is a complex conjugate symmetric matrix; H1 is a case that the unknown covariance matrix is a real symmetric matrix; a Bayesian model is set, the Bayesian model comprising a complex inverse Wishart random matrix and a real inverse Wishart random matrix; a classifier for distinguishing the two hypotheses is obtained by using a minimum error probability criterion.

A system is provided for imaging an underwater environment. The system includes two or more arrays of transducer elements. Each array is operated at a fixed phase shift and varies in frequency so as to beamform multiple sonar return beams of a first range of angles and a second range of angles. The arrays can be oriented to create arcs of sonar coverage extending forward from a watercraft, from each side of the watercraft, and downward of the watercraft. Accordingly, multiple 2D live sonar images can be formed. One or more of the multiple sonar return beams can be selected and used to form sonar images that anglers are used to, without requiring separate transducer elements.

A minehunting system (20) comprising a first and a second unmanned underwater vehicle (UAV) is disclosed. The first UAV (22) is trained to proceed on a predetermined course (32) to an object (34) in the water, generating a situational awareness picture (50) using a sonar system while proceeding and identifying the object (34). The second UAV (24) is trained to proceed on the predetermined course (32) to an object identified as the identified mine, with the second UAV and / or a base station being trained to monitor and, if necessary, adjust the current course (32) of the second UAV based on the situational awareness picture (50) of the first UAV. The second UAV (24) is further trained to disarm the mine.

A system and method for generating three-dimensional (3D) images using sonar technology comprises a circular phased array to create 3D point clouds from the echoes of a single sonar ping and may be configured to measure Doppler shift. The circular phased array is a circular receiver array that is combined with a single, wide opening angle projector that transmits at least one pulse of acoustic energy. The echoes from this pulse are received by the circular array. The signals from the receiver elements are combined using Delay and Sum beamforming processes to perform spatial filtering with resolution as discussed above. The system and method combine advantages of Mills Cross systems and square arrays, providing high-resolution, instantaneous 3D imaging employing a 1D array, leading to a more efficient and scalable design.

The invention provides a passive sonar system-oriented full-complex-value underwater acoustic signal enhancement method and a target neural network, which can be applied to the field of underwater acoustic signal processing. The full-complex-value underwater acoustic signal enhancement method comprises the following steps: converting an underwater radiation signal into an initial complex-value time-frequency spectrogram; performing down-sampling on the initial complex value time-frequency spectrogram, and outputting N complex value down-sampling features of N scales; respectively processing the N complex value down-sampling features based on a complex value convolution block attention mechanism, and outputting N first complex value attention features; processing the Nth complex value down-sampling feature based on a multi-dimensional complex value attention mechanism, and outputting a second complex value attention feature; and sequentially splicing the N first complex-valued attention features with the second complex-valued attention features, and performing up-sampling on the complex-valued attention features obtained by splicing after each time of splicing, thereby obtaining a de-noised target time-frequency spectrogram based on the complex-valued up-sampling features output by the complex-valued decoder group.

1. Name of the product in this design: Image Sonar (Ultra-wide-angle multi-beam acoustic sensor). 2. Purpose of this design: A sonar system used to detect, locate, and sense underwater targets using sound waves in water. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

1. The name of the design product: intelligent pipeline detection robot (multi-sonar system). 2. The use of the design product: for detecting pipeline conditions. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The application provides a sonar system and a signal collection method based on the sonar system, which comprises a sound wave signal collection array with multiple collection channels, a gating module, an analog-digital conversion module and a processing module. The sound wave signal collection array is used to collect sound wave signals of a target object through the multiple collection channels. The multiple collection channels are connected with the input end of the gating module. The processing module is connected with the control end of the gating module, so that the processing module sends a time-sharing control signal to the gating module, the gating module performs time-sharing gating on the multiple collection channels according to the time-sharing control signal, the output end of the gating module is connected with the input end of the analog-digital conversion module, the output end of the analog-digital conversion module is connected with the processing module, so that the processing module performs positioning on the target object according to the analog-digital converted sound wave signals. Through time-sharing gating on the collection channels, the number of analog-digital conversion modules is reduced, and the miniaturization and low cost of the circuit are realized.

The invention discloses a fishing sonar system, a control method, equipment and a medium, and the system comprises a control module which is used for responding to a scanning instruction, transmitting a motor control instruction to a motor, and transmitting a triggering signal to a signal processing end; the signal processing end is used for transmitting, receiving or processing an ultrasonic signal under the action of the trigger signal; wherein the signal processing end comprises a receiving unit, the receiving unit comprises a received signal processing subunit, and the received signal processing subunit is used for performing pulse compression processing on an obtained linear frequency modulation signal and a local signal to obtain a signal after pulse compression, and performing orthogonal decomposition to obtain an in-phase signal and an orthogonal signal; performing low-pass filtering on the in-phase signal and the orthogonal signal to obtain a low-frequency in-phase signal and a low-frequency orthogonal signal, and obtaining a complex signal; and performing envelope calculation on the complex signal to obtain a final output signal. According to the invention, the occupied resource quantity is reduced, expensive chips are not needed, the cost is saved, and the requirements of fishery breeding net cages are met.

The present application relates to underwater acoustic signal processing technical field, especially a kind of maximum detection distance evaluation method under strong interference environment based on target feature difference, for the problem that strong interference leads to the failure of traditional sonar detection distance evaluation, by analyzing the time-frequency or spatial difference characteristics of interference and target, calculating interference suppression gain, correcting background noise level, and combining active sonar equation to deduce maximum detection distance, simulation and lake test results show that the present application can effectively eliminate the spatial influence of strong interference on background level, improve the detection distance evaluation precision, applicable to active sonar system in complex interference environment.

The invention discloses a single-board multimode sonar device for underwater human body detection. The single-board multimode sonar device comprises a PCB; the PCB is provided with a foresight transducer interface, a side scanning transducer interface and a DVL interface. A pulse driving and transmitting / receiving switching protection circuit, a multi-channel analog front end (AFE), an analog-to-digital converter (ADC), a field programmable gate array (FPGA) processing unit, a peripheral memory of the FPGA processing unit and a high-speed data transmission interface are also integrated on the PCB; the FPGA is configured to perform channel-by-channel matched filtering, envelope detection, whole sampling alignment, fractional sampling delay filtering, delay-and-sum beam forming, motion compensation implemented based on speed or displacement information provided by the multi-beam Doppler velocity measurement interface, and confidence-weighted foresight and side-scan image fusion on echo signals from the ADC. And the fused human body / seabed echo image is output through the high-speed data transmission interface. According to the invention, the pulse driving, the receiving front end and the coherent clock distribution are realized on the same circuit board, and the digital alignment and fusion algorithm is implemented in the FPGA, so that the wiring and phase errors are obviously reduced, and the echo coherence and the motion correction capability are improved.

Techniques are disclosed for systems and methods to provide reliable and relatively quick bottom reacquisition in sonar systems for mobile structures, including three dimensional (3D) capable and / or multichannel sonar systems. A sonar system includes a sonar transducer and associated processing and control electronics and optionally orientation and / or position sensors disposed substantially within the housing of a sonar transducer assembly. A logic device of the sonar system is configured to detect bottom lock loss based, at least in part, on sonar data provided by the sonar transducer, determine an expected bottom depth associated with the detected bottom lock loss, and generate updated sonar data based, at least in part, on the expected bottom depth. Resulting sonar data and / or imagery may be displayed to a user and / or used to adjust a steering actuator, a propulsion system thrust, and / or other operational systems of the mobile structure.

1. Name of the product in this design: Multibeam Sonar Control Box. 2. Application of this design: It is a control box in a multibeam sonar system, which can be used for back-end signal processing. Specifically, it can receive and process sonar signals acquired by the front-end probe, convert them into visual images in real time, and output them to achieve clear imaging display of the target. 3. The key design feature of this product is its shape. 4. The picture or photo that best illustrates the key design points: Design 1 3D diagram 1. 5. Design 1 is designated as the basic design.

A system and method for generating three-dimensional (3D) images using sonar technology comprises a circular phased array to create 3D point clouds from the echoes of a single sonar ping and may be configured to measure Doppler shift. The circular phased array is a circular receiver array that is combined with a single, wide opening angle projector that transmits at least one pulse of acoustic energy. The echoes from this pulse are received by the circular array. The signals from the receiver elements are combined using Delay and Sum beamforming processes to perform spatial filtering with resolution as discussed above. The system and method combine advantages of Mills Cross systems and square arrays, providing high-resolution, instantaneous 3D imaging employing a 1D array, leading to a more efficient and scalable design.

A handheld underwater sonar system comprising a housing and a sonar transducer housed within the housing. The sonar transducer is configured to generate a sonar signal emittable in a forward direction with respect to the housing. The sonar system additionally comprises a light source housed within the housing. The light source is configured to generate light emittable in the forward direction. The sonar system further comprises a trigger assembly associated with the housing. The trigger assembly is configured to selectively activate the sonar transducer or the light source.

This invention discloses a simulation and evaluation system for array signal processing in underwater sonar systems, belonging to the field of underwater sonar technology. The system includes: an underwater acoustic channel simulation module, used to generate an underwater channel model including ray bending and multipath effects and the channel response of each array element based on input marine environmental parameters using a ray tracing algorithm; a signal synthesis module, used to synthesize simulated multi-channel received signals of the array based on array parameters, target parameters, and channel responses; an algorithm processing module, integrating multiple underwater acoustic signal processing algorithms to process the received signals and output beamforming or spatial spectrum estimation results; and a performance evaluation module, which visualizes the processing results and calculates multi-dimensional performance indicators. This invention significantly improves the realism of the simulation, the completeness of the test scenario, and the guiding nature of the evaluation conclusions through high-fidelity physical modeling and closed-loop evaluation, effectively supporting sonar system design, algorithm verification, and performance prediction.

The present application relates to a kind of underwater target attitude angle identification method based on multi-base sonar, belong to target parameter estimation field.Multi-base sonar system transmits signal by transmitting array, then the echo signal of target is received by multiple receiving arrays, the target distance-angle dictionary is constructed by echo signal, the distance-angle dictionary of different receiving arrays is combined to form distance-angle joint dictionary, three attitude angle estimation values are obtained by solving distance-angle joint dictionary, and the optimal weighted linear data fusion method is used to process it to obtain optimal solution.The present application increases the information amount of target, and combines sparse feature extraction method, so that the target distance attitude angle obtained is more accurate, makes up the shortcoming that single-base sonar detection range is small and concealment is poor.The angle information obtained by each receiving array is fused by the method of data fusion to obtain optimal solution, and the identification precision of target attitude angle is improved.

The application provides an underwater unmanned intelligent exploration method and system based on cooperation of a USV and an ROV, and comprises the following steps: S1, a target indication information of a shore-based anti-frogman sonar system is received by a comprehensive control center; S2, the target motion elements are calculated by the comprehensive control center based on the target indication information; S3, an exploration task instruction is sent to an unmanned intelligent exploration system by the comprehensive control center; S4, the unmanned intelligent exploration system goes to a specified water area, releases an ROV task load, and adjusts the posture in advance according to the target attack direction to ensure that the sonar and optical load always face the target attack direction; real-time detection images are acquired through the sonar and optical load, and the detected images are transmitted to the comprehensive control center.

The invention discloses an axis stringing bending disc transducer for a linear array, and belongs to the technical field of underwater acoustic transducers. The transducer comprises a piezoelectric ceramic annular piece, a sound radiation annular plate, a positioning core body and an O-shaped ring, the whole transducer is vertically symmetrical, and a through hole is formed in the center of the transducer and used for allowing a force bearing rope to penetrate through; the positioning core body is fixed with the bearing rope through the positioning bolt, so that the transducer is positioned in the online array; a sealing groove is formed in the center of the sound radiation annular plate, and an O-shaped ring is arranged in the sealing groove to form radial dynamic sealing. According to the linear array sonar system, the number of the bearing ropes at the section positions of the transducers in the linear array is reduced from original two to one through the axial center rope penetrating design, the section space utilization rate is remarkably improved, the radial size and weight of the linear array are reduced, close arrangement of multiple transducers is supported at the same time to optimize the resonant frequency, and the linear array sonar system is suitable for towed linear array sonar systems.

The application discloses a method for reducing electronic noise of a transmitting-receiving integrated sonar system by using a nonlinear device, and belongs to the technical field of reducing electronic noise, and comprises the following steps: S1, a transmitter outputs a high-power alternating voltage signal according to a set period and pulse width; S2, a transducer Z1 converts a received alternating voltage signal into an acoustic signal and emits the acoustic signal into water through sound-transmitting rubber of an acoustic array; and S3, during a non-emission period, the acoustic array receives an acoustic reflection signal from a target, the transducer Z1 converts a received acoustic signal into a voltage signal, and the signal is sent to a receiver port IN1 for processing by the receiver, so as to detect and identify a target signal. Two noise signal blocking links mainly composed of two anti-parallel semiconductor diodes are arranged, and the interference of transmitter output noise on the input end of the receiver connected to the transducer at the same time during the non-emission period is more effectively reduced.

This invention relates to the field of synthetic aperture sonar technology, and discloses a synthetic aperture sonar system and method with adjustable downward viewing angle. The invention establishes the relative spatial relationship between the bottom and the surface of the water, and based on an iterative optimization algorithm for ray tracing, it senses and predicts the propagation path and angle of the echo signal in advance, providing accurate target incident angle correction, evaluating the optimal downward viewing angle of the sonar system, and simultaneously using an angle-adjustable device to adjust the downward viewing angle of the sonar system's transducer array, thereby achieving suppression of surface reverberation by the synthetic aperture sonar system. This system significantly improves the responsiveness to environmental changes, ensures the imaging quality of the synthetic aperture sonar system, and enhances stable operation in complex underwater environments, avoiding false alarms caused by environmental changes, thus achieving high-precision target detection and localization.

The invention discloses a receiving and transmitting reconstruction multi-beam sonar control method and a receiving and transmitting reconstruction multi-beam sonar system, the sonar system comprises a first transducer and a second transducer, the first transducer is used for executing fan-shaped sound wave emission to a target area; the second transducer is a linear array comprising a plurality of array elements, and each array element is selectively connected to the receiving channel or the transmitting channel through the change-over switch; the control method comprises the following steps: controlling the first transducer to emit fan-shaped sound waves, and controlling the linear array to be in a receiving state so as to receive a first echo signal; when a target object is found, the linear array is switched to be in an emission state, and all or part of array elements in the linear array are controlled to act so as to emit focused sound waves towards the target object. According to the control method of the sonar system, through the time division multiplexing linear array, on the premise that the physical aperture is not increased, working mode conversion from fan-shaped wide beam searching to focused narrow beam detailed searching is achieved, and the detection efficiency of the sonar system is effectively improved.

The invention belongs to the technical field of underwater target detection, and particularly relates to an underwater target detection method capable of filtering false targets. Comprising the following steps: acquiring an original sonar image based on a multi-beam sonar system; annotating the image; classifying and marking the underwater target; establishing a sonar image identification and classification model based on a YOLO network model; on the basis of underwater false target filtering of a multi-hypothesis data association technology, the underwater target detection method capable of filtering the false targets, which is provided by the invention, can realize dynamic optimization of an obstacle bounding box, rejection of the false targets and improvement of obstacle avoidance efficiency while ensuring the accuracy and the adaptive capacity of the detection method. Unnecessary and unreasonable obstacle avoidance actions are reduced, obstacle avoidance navigation parameters are optimized, the target false detection rate is reduced, and false targets are effectively filtered out.

A system for creating a situational awareness picture for an unmanned underwater vehicle (20) is disclosed, wherein the system has the following features: - a sonar system (22) comprising an array of underwater sound transducers with at least one first and one second underwater sound transducer (28a, 28b), wherein the underwater sound transducers of the array of underwater sound transducers are each configured to convert underwater sound (30) into a corresponding electrical signal (32); - an orientation and position sensor system (24) designed to continuously determine poses (34) of the unmanned underwater vehicle (20); - a signal processing unit (26), wherein the signal processing unit (26) is configured to perform direction formation based on the electrical signals (32) of the underwater sound transducers of the array of underwater sound transducers, in order to continuously determine the position of reflections (62) in the underwater sound (30) and to plot them in a situational image using a current viewing direction of the sonar system (22) as well as the direction formation and the position data (34) of the unmanned underwater vehicle (20), so that a contour of the environment of the unmanned underwater vehicle is represented in the situational image based on the sum of reflections (62).