CN108469616A - One kind is lower to integrate underwater panorama three-dimensional imaging sonar with lower depending on three-dimensional depending on multi-beam - Google Patents
One kind is lower to integrate underwater panorama three-dimensional imaging sonar with lower depending on three-dimensional depending on multi-beam Download PDFInfo
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- CN108469616A CN108469616A CN201810708691.9A CN201810708691A CN108469616A CN 108469616 A CN108469616 A CN 108469616A CN 201810708691 A CN201810708691 A CN 201810708691A CN 108469616 A CN108469616 A CN 108469616A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 30
- 239000011159 matrix material Substances 0.000 claims abstract description 64
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- 238000013461 design Methods 0.000 claims description 13
- 238000005516 engineering process Methods 0.000 claims description 8
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- 230000003595 spectral effect Effects 0.000 claims description 5
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- 230000003044 adaptive effect Effects 0.000 claims description 4
- 230000001629 suppression Effects 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
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Classifications
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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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- 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
- G01S15/87—Combinations of sonar systems
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- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses integrating underwater panorama three-dimensional imaging sonar with the lower multi-beam that regards depending on three-dimensional under one kind, including lower regard multibeam sonar, down regarding three-dimensional sonar, subsea control modules, towed body frame；The towed body frame is whole pancake framework, and for the towed body base of frame equipped with lower regarding three-dimensional sonar reception basic matrix, top is front and back regarding multibeam sonar transmitter and lower regarding multibeam sonar receiver equipped with lower；Centre position receives basic matrix equipped with lower regarding multibeam sonar transmitting basic matrix and the lower multibeam sonar that regards in front of the towed body frame；The towed body frame rear portion is equipped with the lower three-dimensional sonar that regards and emits basic matrix, subsea control modules, regards three-dimensional sonar transmitter down and regard three-dimensional sonar receiver down；It is additionally provided with transmitting in the towed body frame and receives electronic compartment；The present invention is integrated with lower regarding three-dimensional sonar using lower regarding multibeam sonar, and panorama three-dimensional detection buries object and seabed three-dimensional imaging in real time and sea-floor relief are imaged, and improves equipment and detects ability and detection efficient.
Description
Technical field
The present invention relates to ocean engineering technology apparatus field is related to, more particularly to a kind of lower three-dimensional that regards regards multi-beam collection with lower
At underwater panorama three-dimensional imaging sonar.
Background technology
With ocean science, the deep development of marine economy, cognition and exploitation to ocean have spread all over each area of ocean
Domain, it is higher and higher to the ability need for detecting equipment, it is desirable that the detectivity for detecting equipment is extended to middle off-lying sea from coastal waters, from water
Middle suspension, bottom target expand to the following geological stratification in seabed or bury object.Therefore, to it is detectable suspend, sink to the bottom and bury mesh
The demand of target ocean panorama three-dimensional investigation system is more and more urgent.
In all kinds of Small objects are detected, buries physical prospecting and look into the technical barrier that always submarine target is detected.It is current main
It wants there are two types of solutions：Acoustic sounding and magnetic spy.Wherein, magnetic spy technical role distance is close, and resolution ratio is low, and detectivity is limited
(cannot such as detect nonmetallic target), false alarm rate is high, and has harsh requirement (such as demagnetization) to carrier, and application range is opposite
It is limited.The detection method of acoustics is the preferred of underwater burial object.
In the prior art, traditional acoustic sounding means are mainly sub-bottom profiler, lack hidden show as：1, shallow stratum
Section plotter detection efficient is low, resolution ratio is low, is generally only used for detecting thicker pipeline target or large range of geologic section,
Be not suitable for being used for detecting smaller burial target；2, shallow stratum is two-dimensional imaging, can only obtain the profile image below equipment；3、
Since the range that people set foot in ocean increased dramatically, the detection to all kinds of detections in seabed (such as small target detection, terrain detection)
Efficiency requirements also increase sharply, and the detection efficient of list portion sonar is on the one hand required to be promoted, and are on the other hand required to use multi-section
The mode that sonar works at the same time, to obtain the detection efficient of multiplication.
Invention content
In order to solve the above technical problems, the present invention provides integrating underwater panorama three depending on multi-beam with lower depending on three-dimensional under one kind
Imaging sonar is tieed up, for deficiency in the prior art, the present invention, which uses, regards three-dimensional sonar and lower regarding multibeam sonar under seabed
Integrated installation can work at the same time in real time, to realize seabed three-dimensional imaging and sea-floor relief imaging, improve equipment to ocean
Detect ability and detection efficient.
In order to achieve the above objectives, technical scheme is as follows：It is integrated under water with the lower multi-beam that regards regarding three-dimensional under one kind
Panorama three-dimensional imaging sonar, including it is lower depending on multibeam sonar transmitting basic matrix, down regard multibeam sonar reception basic matrix, covering, regard down
Three-dimensional sonar emits basic matrix, emits battle array cover board, regard three-dimensional sonar reception basic matrix down, regard multibeam sonar transmitter down, is lower regarding more
Wave beam sonar receiver, down depending on three-dimensional sonar transmitter, down depending on three-dimensional sonar receiver, subsea control modules, towed body frame, drag
Drag frame, it is characterised in that：
The towed body frame is the pancake framework of integrated symmetric, is vertically fixedly installed towing frame, rear portion two among it
Side fixing assembling has two pieces of rear-fin stabilizers, and two groups of tail vanes are provided between the rear-fin stabilizer；The towed body base of frame setting
There is the lower three-dimensional sonar that regards to receive basic matrix, is fixedly installed down side by side regarding more before and after the lower top for receiving basic matrix depending on three-dimensional sonar
Wave beam sonar transmitter and it is lower regard multibeam sonar receiver；Centre position, which is provided with down, in front of the towed body frame regards multi-beam
Sonar emits basic matrix, and the lower rear portion towed body frame mid portion position for emitting basic matrix depending on multibeam sonar, which is provided with down, regards multi-beam
Sonar receives basic matrix；Towed body frame rear portion centre position is provided with down emits basic matrix regarding three-dimensional sonar, described lower regarding three-dimensional
The side of sonar transmitting basic matrix is fixedly installed subsea control modules, the other side be arranged side by side have it is lower regarding three-dimensional sonar transmitter and
Three-dimensional sonar receiver is regarded down；It is described lower depending on being provided with transmitting battle array cover board above three-dimensional sonar transmitting basic matrix；The towed body frame
Bosom position is additionally provided with launching electronics cabin and receives electronic compartment, and towed body frame external mounting has covering, is dragged to constitute
Body, and connect with lash ship by interconnecting cable；
Three-dimensional sonar receiver is regarded regarding three-dimensional sonar transmitter, down, regard three-dimensional sonar transmitting basic matrix down, down regarding three under described
It ties up and regards three-dimensional sonar under sonar reception basic matrix co-ordination is constituted, the lower three-dimensional sonar reception basic matrix that regards is matched as three-dimensional planar array type
Set, and by vertical using matched filtering, path in elevation on direction for the processing of the Wave beam forming of multi-beam, on course made good
Synthetic aperture processing, detection obtains seabed and suspends, sinks to the bottom, burying the 3-D view of target；
It is described it is lower regarding multibeam sonar transmitter, down regard multibeam sonar receiver, regard down multibeam sonar transmitting basic matrix,
It is received regarding multibeam sonar down and regards multibeam sonar under basic matrix co-ordination is constituted, regarding multibeam sonar under described utilizes multichannel
Extensive beamforming algorithm, obtains bottom relief map in real time.
It is described lower regarding three-dimensional sonar and lower regarding two sonar extension sets joints of multibeam sonar so that the lower three-dimensional sonar that regards emits
Basic matrix, the frequency for regarding the transmitting-receiving sound wave that three-dimensional sonar receives basic matrix down reduce, and centre frequency 10kHz improves sound wave
Penetrability realizes the detection imaging that big depth buries target；Meanwhile using " the improvement pulse based on power spectral density distribution
Compression method ", " the underface bottom reverberation suppression method based on intensity profile ", " the adaptive resolution amendment based on bottom tracking
Method " carries out signal processing and high resolution processing technology, improves the signal-to-noise ratio for burying target, improves imaging resolution.
The lower multibeam sonar that regards receives and dispatches sound wave using high frequency sonar array, and by " being based on energy method and phase method
United bottom tracking ", " time domain and frequency-domain combined Beamforming Method " signal processing technology, realize sea-floor relief high score
Distinguish real-time detection.
Lower three-dimensional sonar and the lower multibeam sonar that regards of regarding is using two ways processing sound compatible design, to avoid sound wave
Mutual crosstalk seriously affects image quality；First way is the design in frequency, fully considers frequency band distribution, the three-dimensional
It is set within 30kHz depending on sonar working band down, and the lower working band depending on multibeam sonar is set to 200kHz or more；Two
The frequency band difference of person is larger, can be filtered out the frequency component of non-sonar extension set using bandpass filter；The second way be
Temporal design, that is, synchronize design, each electronic system of this sonar subordinate is carried out by unified external sync module
It is synchronous, it can further improve the sound compatibility feature of two kinds of sonars.
Through the above technical solutions, the advantageous effect of technical solution of the present invention is：Using under seabed regard three-dimensional sonar and under
It depending on the integrated installation of multibeam sonar, can work at the same time, to realize seabed three-dimensional imaging and sea-floor relief imaging, carry in real time
High equipment detects ability and detection efficient to ocean；Effectively detection obtains seabed and suspends, sinks to the bottom, burying the graphics of target
Picture；It effectively obtains all kinds of suspensions in seabed and sinks to the bottom the high-resolution imaging result of Small object and submarine geomorphy；More waves are regarded down
Beam sonar and it is lower used simultaneously depending on three-dimensional sonar, respective defect can be made up；Plate towed body structure has been used, has simplified and drags
Body structure, the weight for reducing towed body and size improve towing attitude stability and improve sonar and sweep survey effect to seabed
Rate.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in embodiment or description of the prior art
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the present invention
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is to regard three-dimensional under one kind disclosed in the embodiment of the present invention and lower integrate underwater panorama three-dimensional imaging depending on multi-beam
Sonar solid shaft side figure schematic diagram；
Fig. 2 is to regard three-dimensional under one kind disclosed in the embodiment of the present invention and lower integrate underwater panorama three-dimensional imaging depending on multi-beam
Sonar top view illustration；
Fig. 3 is to regard three-dimensional under one kind disclosed in the embodiment of the present invention and lower integrate underwater panorama three-dimensional imaging depending on multi-beam
Sonar front view schematic diagram.
Number and the corresponding component title represented by letter in figure：
1. lower regard multibeam sonar transmitting basic matrix 2. times regarding multibeam sonar reception basic matrix
3. covering 4. times, which regards three-dimensional sonar, emits basic matrix
5. emitting battle array cover board 6. times regarding three-dimensional sonar reception basic matrix
7. lower regard multibeam sonar transmitter 8. times regarding multibeam sonar receiver
9. lower regard three-dimensional sonar transmitter 10. times regarding three-dimensional sonar receiver
11. 12. towed body frame of subsea control modules
13. pulling frame
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
According to Fig. 1, Fig. 2 and Fig. 3, the present invention provides integrating underwater panorama three-dimensional depending on multi-beam with lower depending on three-dimensional under one kind
Imaging sonar, including the lower multibeam sonar that regards emit basic matrix 1, regard multibeam sonar reception basic matrix 2 down, covering 3, regard three dimensional sound down
Emit basic matrix 4, transmitting battle array cover board 5, regards three-dimensional sonar reception basic matrix 6 down, regard multibeam sonar transmitter 7 down, regard more waves down
Beam sonar receiver 8 regards down three-dimensional sonar transmitter 9, regards three-dimensional sonar receiver 10, subsea control modules 11, towed body frame down
Frame 12, towing frame 13, it is characterised in that：
The towed body frame 12 be integrated symmetric pancake framework, be vertically fixedly installed among it towing frame 13, after
Portion both sides fixing assembling has two pieces of rear-fin stabilizers, and two groups of tail vanes are provided between the rear-fin stabilizer；12 bottom of towed body frame
Portion is provided with down receives basic matrix 6 regarding three-dimensional sonar, is fixedly installed side by side before and after the lower top for receiving basic matrix 6 depending on three-dimensional sonar
Have lower regarding multibeam sonar transmitter 7 and lower regarding multibeam sonar receiver 8；12 front centre position of the towed body frame is arranged
There is the lower multibeam sonar that regards to emit basic matrix 1, lower 12 medium position of rear portion towed body frame regarding multibeam sonar transmitting basic matrix 1
It is provided with down and receives basic matrix 2 regarding multibeam sonar；12 rear portion centre position of the towed body frame is provided with down to be sent out regarding three-dimensional sonar
Basic matrix 4 is penetrated, the lower side for emitting basic matrix 4 depending on three-dimensional sonar is fixedly installed subsea control modules 11, the other side and sets side by side
Be equipped with down regarding three-dimensional sonar transmitter 9 and it is lower regard three-dimensional sonar receiver 10；It is described lower depending on being set above three-dimensional sonar transmitting basic matrix 1
It is equipped with transmitting battle array cover board 5；12 bosom position of the towed body frame is additionally provided with launching electronics cabin and receives electronic compartment, towed body
12 external mounting of frame has covering, to constitute towed body, and is connect with lash ship by interconnecting cable；
It is described it is lower regarding three-dimensional sonar transmitter 9, down regard three-dimensional sonar receiver 10, regard down three-dimensional sonar transmitting basic matrix 4, under
It is received depending on three-dimensional sonar and regards three-dimensional sonar under 6 co-ordination of basic matrix is constituted, the lower three-dimensional sonar that regards receives basic matrix 6 as three-dimensional surface
Configuration configures, and by using matched filtering, path in elevation on direction being the processing of the Wave beam forming of multi-beam on vertical, navigating
The upward synthetic aperture processing of mark, detection obtain seabed and suspend, sink to the bottom, burying the 3-D view of target；
It is described lower regarding multibeam sonar transmitter 7, down regarding multibeam sonar receiver 8, down regarding multibeam sonar transmitting base
Battle array 1, regard down multibeam sonar receive 2 co-ordination of basic matrix constitute it is lower regard multibeam sonar, the lower multibeam sonar that regards utilizes
The extensive beamforming algorithm of multichannel, obtains bottom relief map in real time.
It is described lower regarding three-dimensional sonar and lower regarding two sonar extension sets joints of multibeam sonar so that the lower three-dimensional sonar that regards emits
Basic matrix 4, the frequency for regarding the transmitting-receiving sound wave that three-dimensional sonar receives basic matrix 6 down reduce, and centre frequency 10kHz improves sound wave
Penetrability, realize the detection imaging that big depth buries target；Meanwhile using " the improvement arteries and veins based on power spectral density distribution
Rush compression method ", " the underface bottom reverberation suppression method based on intensity profile ", " based on bottom tracking adaptive resolution repair
Correction method " carries out signal processing and high resolution processing technology, improves the signal-to-noise ratio for burying target, improves imaging resolution.
The lower multibeam sonar that regards receives and dispatches sound wave using high frequency sonar array, and by " being based on energy method and phase method
United bottom tracking ", " time domain and frequency-domain combined Beamforming Method " signal processing technology, realize sea-floor relief high score
Distinguish real-time detection.
Lower three-dimensional sonar and the lower multibeam sonar that regards of regarding is using two ways processing sound compatible design, to avoid sound wave
Mutual crosstalk seriously affects image quality；First way is the design in frequency, fully considers frequency band distribution, the three-dimensional
It is set within 30kHz depending on sonar working band down, and the lower working band depending on multibeam sonar is set to 200kHz or more；Two
The frequency band difference of person is larger, can be filtered out the frequency component of non-sonar extension set using bandpass filter；The second way be
Temporal design, that is, synchronize design, each electronic system of this sonar subordinate is carried out by unified external sync module
It is synchronous, it can further improve the sound compatibility feature of two kinds of sonars.
The improvement impulse compression method based on power spectral density distribution：Traditional pulse compression method is adjusted based on linear
Spectrum density distribution of the frequency signal in frequency band be constant it is assumed that but in practice transmitter in design it is difficult to ensure that it is linear
Degree, this external signal is after water body is propagated, since water body is different to the absorption coefficient of different frequency, even if fairly linear
FM signal after transmission and acquisition, low frequency part absorb it is less, echo power spectrum density is larger, high band then on the contrary,
Echo power spectrum density is relatively low；After this method carries out power spectrumanalysis to echo data, it is fitted with interior power spectral distribution curve, and
It is compensated on pulse reference compression signal according to the curve of this fitting；
The underface bottom reverberation suppression method based on intensity profile：Sub-sea floor targets scattering strength is influenced by incident angle
Larger, underface incident angle is minimum, and reflection echo is significantly stronger；In wave beam numeric field data, chosen on path in elevation direction
The echo of same distance counts its intensity profile, and the intensity profile of multiple distances is averaged, and is fitted intensity profile curve, utilizes
The curve compensates beam data, inhibits bottom reverberation immediately below sonar；
The adaptive resolution modification method based on bottom tracking：Wave beam forming data operation quantity is larger, and a large amount of
The data of water body part have no practical significance, propose automatic range gate and the method for auto resolution thus；Utilize adjacent data
Previous frame survey bear building-up fruit is applied to this frame Wave beam forming and surveyed in bottom, the bottom of near by the characteristic that the survey bottom of frame will not be mutated
Data carry out High-resolution Processing, and the area data bottom of far from carries out low resolution processing, survey bottom precision to improve, protect simultaneously
Demonstrate,prove operation efficiency；Compared with the same resolution ratio Wave beam forming of full depth, it can ensure to detect burying depth bigger, valid data
Resolution ratio higher, to solve the contradiction visited between burying depth and resolution ratio；
The time domain and frequency-domain combined Beamforming Method：Time domain beamforming accuracy is high, and operation efficiency is low, frequency domain
Wave beam forming operation efficiency is high, but arithmetic eror is larger under Near Field, uses Time domain beamforming using near field thus,
The time-frequency combination multichannel large-scale parallel Wave beam forming of frequency-domain beamforming, when processing is used to make full use of existing under far field condition
The characteristics of for computer multinuclear, carries out parallel processing, improves operation efficiency.
By above-mentioned specific embodiment, the beneficial effects of the invention are as follows：Using under seabed regard three-dimensional sonar and it is lower regard more waves
The integrated installation of beam sonar can work at the same time in real time, to realize seabed three-dimensional imaging and sea-floor relief imaging, improve and set
It is standby that ability and detection efficient are detected to ocean；Effectively detection obtains seabed and suspends, sinks to the bottom, burying the 3-D view of target；Have
Effect ground obtains all kinds of suspensions in seabed and sinks to the bottom the high-resolution imaging result of Small object and submarine geomorphy；Multibeam sonar is regarded down
It is used simultaneously depending on three-dimensional sonar with lower, respective defect can be made up；Plate towed body structure has been used, towed body knot is simplified
Structure, the weight for reducing towed body and size improve towing attitude stability and improve sonar and sweep survey efficiency to seabed.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (4)
1. one kind is lower to integrate underwater panorama three-dimensional imaging sonar with lower depending on three-dimensional depending on multi-beam, which is characterized in that including lower regarding more
Wave beam sonar emit basic matrix, regard down multibeam sonar receive basic matrix, covering, regard down three-dimensional sonar transmitting basic matrix, transmitting battle array cover board,
Basic matrix is received regarding three-dimensional sonar, regard multibeam sonar transmitter down, down regarding multibeam sonar receiver, down regarding three-dimensional sonar hair down
It penetrates machine, regard three-dimensional sonar receiver, subsea control modules, towed body frame, towing frame down；The towed body frame is integrated symmetric
Pancake framework is vertically fixedly installed towing frame among it, rear portion both sides fixing assembling has two pieces of rear-fin stabilizers, the stabilization
Two groups of tail vanes are provided between empennage；The towed body base of frame is provided with down receives basic matrix regarding three-dimensional sonar, described lower regarding three
Dimension sonar, which receives, to be fixedly installed down side by side depending on multibeam sonar transmitter before and after the top of basic matrix and lower is connect depending on multibeam sonar
Receipts machine；Centre position is provided with down in front of the towed body frame emits basic matrix regarding multibeam sonar, described lower regarding multibeam sonar
The rear portion towed body frame mid portion position of transmitting basic matrix is provided with down receives basic matrix regarding multibeam sonar；In the towed body frame rear portion
Meta position installs to be equipped with down emits basic matrix regarding three-dimensional sonar, and the lower side for emitting basic matrix depending on three-dimensional sonar is fixedly installed under water
Control module, the other side, which are arranged side by side under having, regards three-dimensional sonar receiver regarding three-dimensional sonar transmitter and down；It is described lower regarding three-dimensional
It is provided with transmitting battle array cover board above sonar transmitting basic matrix；Towed body lower portion centre position be additionally provided with launching electronics cabin and
Electronic compartment is received, towed body frame external mounting has covering, to constitute towed body, and is connect with lash ship by interconnecting cable；
Three-dimensional sonar receiver is regarded regarding three-dimensional sonar transmitter, down, regard three-dimensional sonar transmitting basic matrix down, down regarding three dimensional sound under described
Reception basic matrix co-ordination regards three-dimensional sonar under constituting, the lower three-dimensional sonar reception basic matrix that regards configures as three-dimensional planar array type,
And by vertical using matched filtering, path in elevation on direction for the processing of the Wave beam forming of multi-beam, on course made good
Synthetic aperture processing, detection obtain seabed and suspend, sink to the bottom, burying the 3-D view of target；
Emit basic matrix depending on multibeam sonar transmitter, down depending on multibeam sonar receiver, down depending on multibeam sonar under described, regard down
Multibeam sonar receives and regards multibeam sonar under basic matrix co-ordination is constituted, and the lower multibeam sonar that regards utilizes the big rule of multichannel
Mould beamforming algorithm, obtains bottom relief map in real time.
2. one kind according to claim 1 is lower to integrate underwater panorama three-dimensional imaging sonar with lower depending on three-dimensional depending on multi-beam,
It is characterized in that, it is described lower regarding three-dimensional sonar and lower regarding two sonar extension sets joints of multibeam sonar so that the lower three-dimensional sonar that regards is sent out
It penetrates basic matrix, regard the frequency reduction that three-dimensional sonar receives the transmitting-receiving sound wave of basic matrix down, centre frequency 10kHz improves sound wave
Penetrability, realize the detection imaging that big depth buries target；Meanwhile using " the improvement arteries and veins based on power spectral density distribution
Rush compression method ", " the underface bottom reverberation suppression method based on intensity profile ", " based on bottom tracking adaptive resolution repair
Correction method " carries out signal processing and high resolution processing technology, improves the signal-to-noise ratio for burying target, improves imaging resolution.
3. one kind according to claim 1 is lower to integrate underwater panorama three-dimensional imaging sonar with lower depending on three-dimensional depending on multi-beam,
It is characterized in that, the lower multibeam sonar that regards receives and dispatches sound wave using high frequency sonar array, and by " being based on energy method and phase method
United bottom tracking ", " time domain and frequency-domain combined Beamforming Method " signal processing technology, realize sea-floor relief high score
Distinguish real-time detection.
4. one kind according to claim 1 is lower to integrate underwater panorama three-dimensional imaging sonar with lower depending on three-dimensional depending on multi-beam,
It is characterized in that, lower three-dimensional sonar and the lower multibeam sonar that regards of regarding is using two ways processing sound compatible design, to avoid sound
The mutual crosstalk of wave seriously affects image quality；First way is the design in frequency, fully considers frequency band distribution, described three
Dimension is lower to be set to depending on sonar working band within 30kHz, and the lower working band depending on multibeam sonar is set to 200kHz or more；
The frequency band difference of the two is larger, can be filtered out the frequency component of non-sonar extension set using bandpass filter；The second way is
Design in time, that is, synchronize design, each electronic system of this sonar subordinate by unified external sync module into
Row synchronizes, and can further improve the sound compatibility feature of two kinds of sonars.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810708691.9A CN108469616B (en) | 2018-07-02 | 2018-07-02 | Down-looking three-dimensional and down-looking multi-beam integrated underwater panoramic three-dimensional imaging sonar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810708691.9A CN108469616B (en) | 2018-07-02 | 2018-07-02 | Down-looking three-dimensional and down-looking multi-beam integrated underwater panoramic three-dimensional imaging sonar |
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| Publication Number | Publication Date |
|---|---|
| CN108469616A true CN108469616A (en) | 2018-08-31 |
| CN108469616B CN108469616B (en) | 2024-03-22 |
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