CN110703263A - Modular combined type underwater imaging system and method - Google Patents
Modular combined type underwater imaging system and method Download PDFInfo
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- CN110703263A CN110703263A CN201910809811.9A CN201910809811A CN110703263A CN 110703263 A CN110703263 A CN 110703263A CN 201910809811 A CN201910809811 A CN 201910809811A CN 110703263 A CN110703263 A CN 110703263A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a modular combined underwater imaging system and a method thereof. The method comprehensively adopts signal processing and image processing to improve the imaging resolution and the underwater image definition, and can output two-dimensional acoustic images and three-dimensional topographic images of suspended and submerged targets in an underwater scene in real time. The invention can simultaneously execute various tasks such as underwater fish finding, underwater target searching, underwater topography mapping and the like, improve the detection efficiency and reduce the detection cost.
Description
Technical Field
The invention relates to the field of underwater acoustic imaging application, in particular to a modular combined type underwater imaging system and method.
Background
Due to the influence of absorption loss and the influence of micro-particle scattering in water, the propagation loss of light waves in water is large, and the propagation loss of sound waves in water is much smaller, so that the acoustic equipment based on the sound waves has a wide application range in searching and exploring various underwater objects. However, the underwater acoustic imaging devices currently on the market are relatively expensive. Some devices are even millions of yuan. The price severely limits the applications of such devices. Moreover, the same equipment is difficult to simultaneously acquire underwater high-definition acoustic images and underwater three-dimensional terrain information.
Disclosure of Invention
In order to solve the problems in the background art, the invention aims to provide a modular combined underwater imaging system and a modular combined underwater imaging method, so as to achieve the effect of simultaneously acquiring an underwater two-dimensional image and an underwater three-dimensional terrain, and simultaneously, the cost of equipment is greatly reduced, the scanning efficiency is improved, and the cost performance is improved.
In order to achieve the above object, the technical solution of the present invention is as follows. A modular combined underwater imaging system, the system comprising: the transmitting array (101) is composed of a plurality of transmitting sub-arrays, and the phase and the amplitude of the transmitting array meet certain consistency requirements.
The left subarray in the normal direction of the array surface is a left subarray, the right subarray in the normal direction of the array surface is a right subarray, and the subarray in the normal direction of the array surface vertically downward is a downward view subarray.
A receiving array (102) composed of a plurality of receiving sub-arrays, wherein the phase and the amplitude of the receiving array both meet certain consistency requirements; the left subarray in the normal direction of the array surface is a left subarray, the right subarray in the normal direction of the array surface is a right subarray, and the subarray in the normal direction of the array surface vertically downward is a downward view subarray.
The transmitting subarray and the receiving subarray may adopt a transceiving split configuration, or a transceiving combined configuration. The so-called transmit-receive combining means that the transmitting sub-array and the receiving sub-array are completely overlapped, i.e. one sub-array undertakes both transmitting and receiving functions. The so-called transceiving split is that the transmitting sub-array and the receiving sub-array are split, that is, the transmitting sub-array and the receiving sub-array are not completely overlapped and respectively undertake the transmitting and receiving functions.
The transmitting subarray and the receiving subarray may be paired or may be present separately. Namely: in the system configuration, the transmitting subarrays and the receiving subarrays can be in one-to-one correspondence, and one transmitting subarray can also correspond to a plurality of receiving subarrays.
A transmitter (103) for driving the transmitting subarrays to transmit underwater acoustic signals; the transmitter can simultaneously drive all the transmitting sub-arrays to simultaneously transmit the acoustic signals, and can also drive the transmitting sub-arrays to respectively transmit the acoustic signals in a time-sharing manner.
And the receiver (104) is used for conditioning (amplifying, filtering and other processing) the acoustic signals received by each receiving subarray, and simultaneously digitizing and converting the analog acoustic signals into digital signals.
And a control and information processing (105) module which completes information processing (imaging processing, image processing and the like) functions and control functions of the transmitter and the receiver.
The information processing is used for processing the digital acoustic signals received by the receiver to complete two-dimensional high-definition imaging and three-dimensional sounding imaging of the underwater scene.
The control function is used for controlling the starting, stopping, sound signal form, pulse width, power, measuring range and other control parameters of the transmitter and the receiver.
The midpoint positions of the receiving sub-arrays and the single transmitting array or the multiple transmitting arrays are equivalent phase centers to form a receiving and transmitting combined sonar array.
The control and information processing module adopts a digital signal processing chip, a general processor or an FPGA and other control and signal processing chips.
And the information display (106) module is used for displaying various types of state information of sonar, a two-dimensional high-definition imaging result and a three-dimensional sounding imaging result.
A modular combined acoustic imaging method comprising the following steps.
(301) And setting system parameters. The user sets corresponding system parameters for the transmitter and the receiver through the control and information processing module, the system parameters comprise the center frequency of a transmitting signal, the signal bandwidth, the signal form, the pulse width, the pulse repetition period, the minimum sampling distance, the sampling rate, the number of sampling points, the width of a transmitting array, the number of receiving sub-arrays, the position of the receiving sub-arrays and the width of the receiving sub-arrays, the transmitting signal adopts the signal form of CW pulse and LFM pulse, wherein:
by using
An expression representing a transmitted signal;
position vector for position of transmitting array
And (4) showing.
(302) Raw data is acquired. And starting the system after the control and parameter configuration is finished. Meanwhile, a platform (such as a ship, an unmanned ship and the like) carried by the imaging system starts to move, and in the moving process, according to the system configuration, the receiver continuously acquires the single-screen original echo data of each receiving subarray, and the mth original echo of the ith receiving subarray of the nth screenData points are expressed as
Position vector for the position of the ith sub-array
To indicate the position of the jth target point by a position vector
To indicate.
Wherein
(ii) a Where c is the speed of sound.
(303) And (4) preprocessing. For the nth screen echo data
The preprocessing is carried out, different preprocessing is carried out according to different signal forms, and the processing steps are as follows.
Fourier transform of signals
Wherein,
is the wave number.
Match enhancement processing of signals
Inverse Fourier transform of a signal
Where IFFT denotes an inverse fourier transform operation.
And adjusting the signal preprocessing mode according to the change of the signal form, wherein the preprocessing mode comprises demodulation, envelope processing, pulse compression and matched filtering, and the subsequent processing is not influenced by the change of the preprocessing mode.
(304) Left two-dimensional imaging.
Assuming that the left echo after processing the installation direction is
Assuming that the sound velocity is C, the left echo can be converted into distance coordinates according to the relationship between the sound velocity and the distance:
wherein r is the acoustic propagation distance, the origin of coordinates of r is the position of the transmitting and receiving subarrays, for the transmitting and receiving split system, the far point of coordinates of r is the midpoint position of the connecting line of the centers of the transmitting subarray and the receiving subarray, and:
r = (C/2) * t
in the sailing direction, assuming that the coordinate of the sailing direction is y, the sailing speed is v, and the pulse repetition period of the acoustic system is prt, then:
y = v * prt * (n-1)
the high definition image formed on the left side is:
(305) and two-dimensional imaging of the right side.
The calculation method of the right acoustic image is the same as that of the left acoustic image. The right side is symmetrical to the left side.
Assuming that the right side echo after processing the installation direction is
Assuming speed of soundC, then the right echo can be converted into range coordinates according to the relationship between the speed of sound and the distance:wherein:
r = (C/2) * t
in the sailing direction, assuming that the coordinate of the sailing direction is y, the sailing speed is v, and the pulse repetition period of the acoustic system is prt, then:
y = v * prt * (n-1)
the high-definition image formed on the right side is:
(306) and (5) imaging the lower part in three dimensions.
The lower view echo after processing of the installation direction is assumed to beAssuming that the sound velocity is C, the downward-looking echo can be converted into distance coordinates according to the relationship between the sound velocity and the distance:
. Wherein
r = (C/2) * t。
In the sailing direction, assuming that the coordinate of the sailing direction is y, the sailing speed is v, and the pulse repetition period of the acoustic system is prt, then:
y = v * prt * (n-1)。
the underwater three-dimensional topographic map formed by the downward view is as follows:
wherein,
namely, it is
The value of r at which the maximum is located.
Wherein, x is the geographical coordinate of the sonar subarray.
(307) And (5) optimizing the image.
Including image equalization, brightness contrast adjustment, etc.
Through the technical scheme, the modular combined underwater imaging system and method provided by the invention are based on the transmitting and receiving subarrays in different directions, and the technologies of signal processing, acoustic imaging, three-dimensional height measurement and the like are comprehensively adopted, so that a two-dimensional high-definition image of an underwater target and a three-dimensional image of underwater terrain depth can be simultaneously obtained, the underwater target detection efficiency can be greatly improved, and the system cost is greatly reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a block diagram of an underwater multi-dimensional acoustic imaging system according to an embodiment of the present invention.
Fig. 2 is an array distribution diagram of an underwater multi-dimensional acoustic imaging method according to an embodiment of the present invention.
Fig. 3 is a flowchart of an underwater multi-dimensional acoustic imaging method according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
(301) And setting system parameters. The user sets corresponding system parameters for the transmitter and the receiver through the control and information processing module, the system parameters comprise the center frequency of a transmitting signal, the signal bandwidth, the signal form, the pulse width, the pulse repetition period, the minimum sampling distance, the sampling rate, the number of sampling points, the width of a transmitting array, the number of receiving sub-arrays, the position of the receiving sub-arrays and the width of the receiving sub-arrays, and the transmitting signal adopts the signal form of CW pulse and LFM pulse.
By using
An expression representing a transmitted signal;
position vector for position of transmitting array
And (4) showing.
(302) Raw data is acquired. And starting the system after the control and parameter configuration is finished. Meanwhile, a platform (such as a ship, an unmanned ship and the like) carried by the imaging system starts to move, in the moving process, according to the system configuration, a receiver continuously acquires the original echo data of a single screen of each receiving subarray, and the mth original echo data point of the ith receiving subarray of the nth screen is represented as
Position vector for the position of the ith sub-array
To indicate the position of the jth target point by a position vector
To indicate.
Wherein
(ii) a Where c is the speed of sound.
(303) And (4) preprocessing. For the nth screen echo dataThe preprocessing is carried out, different preprocessing is carried out according to different signal forms, and the processing steps are as follows.
Fourier transform of signals
Wherein,
is the wave number.
Match enhancement processing of signals
Inverse Fourier transform of a signal
Where IFFT denotes an inverse fourier transform operation.
And adjusting the signal preprocessing mode according to the change of the signal form, wherein the preprocessing mode comprises demodulation, envelope processing, pulse compression and matched filtering, and the subsequent processing is not influenced by the change of the preprocessing mode.
(304) Left two-dimensional imaging.
Assuming that the left echo after processing the installation direction is
Assuming that the sound velocity is C, the left echo can be converted into distance coordinates according to the relationship between the sound velocity and the distance:
wherein r is the acoustic propagation distance, the origin of coordinates of r is the position of the transmitting and receiving subarrays, for the transmitting and receiving split system, the far point of coordinates of r is the midpoint position of the connecting line of the centers of the transmitting subarray and the receiving subarray, and:
r = (C/2) * t。
in the sailing direction, assuming that the coordinate of the sailing direction is y, the sailing speed is v, and the pulse repetition period of the acoustic system is prt, then:
y = v * prt * (n-1)。
the high definition image formed on the left side is:
(305) and two-dimensional imaging of the right side.
The calculation method of the right acoustic image is the same as that of the left acoustic image. The right side is symmetrical to the left side.
Assuming that the right side echo after processing the installation direction is
Assuming that the sound velocity is C, the right echo can be converted into distance coordinates according to the relationship between the sound velocity and the distance:
wherein:
r = (C/2) * t。
in the sailing direction, assuming that the coordinate of the sailing direction is y, the sailing speed is v, and the pulse repetition period of the acoustic system is prt, then:
y = v * prt * (n-1)。
the high-definition image formed on the right side is:
(306) and (5) imaging the lower part in three dimensions.
The lower view echo after processing of the installation direction is assumed to be
Assuming that the sound velocity is C, the downward-looking echo can be converted into distance coordinates according to the relationship between the sound velocity and the distance:
wherein:
r = (C/2) * t。
in the sailing direction, assuming that the coordinate of the sailing direction is y, the sailing speed is v, and the pulse repetition period of the acoustic system is prt, then:
y = v * prt * (n-1)。
the underwater three-dimensional topographic map formed by the downward view is as follows:
wherein,
namely, it isThe value of r at which the maximum is located.
Wherein, x is the geographical coordinate of the sonar subarray.
(307) And (5) optimizing the image.
Including image equalization, brightness contrast adjustment, etc.
Claims (5)
1. A modular combined underwater imaging system and method includes a transmit array (101), a receive array (102), a transmitter (103), a receiver (104), control and information processing (105), information display (106), and the like.
2. A modular combined underwater imaging system and method as in claim 1, characterized in that the system integrates three sets of left two-dimensional imaging extension (201), right two-dimensional imaging extension (202), and lower three-dimensional imaging extension (203) simultaneously by a combined design.
3. The modular combined underwater imaging system and method of claim 1 in which the combined design allows the system to simultaneously obtain multiple results, such as two-dimensional water bottom topography, three-dimensional water bottom topography.
4. The modular combined underwater imaging system and method of claim 1, wherein the signal processing, acoustic imaging and three-dimensional altimetry techniques are combined to obtain two-dimensional high-definition images of underwater targets and three-dimensional images of underwater terrain depth simultaneously.
5. The modular combined underwater imaging system and method as claimed in claim 1, wherein the system can greatly improve underwater target detection efficiency and greatly reduce system cost.
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