CN102445692B - Two-dimensional image sonar-based underwater moving target position determination method - Google Patents

Abstract

The invention provides a two-dimensional image sonar-based underwater moving target position determination method. The method comprises the following steps of: establishing relation between a two-dimensional receiving array consisting of a receiving array I and a receiving array II and a target platform coordinate system; selecting scattering points with matched target positions on images of sonar I and sonar II; establishing a search set of solutions on coordinate systems of the sonar I and the sonar II respectively; and converting the search sets of the solutions on the coordinate systems of the sonar I and the sonar II to a target platform coordinate system, looking for two nearest points in two search zone under the target platform coordinate system and taking a middle point of the two points as the position of the target under the target platform coordinate system. In the method, a three-dimensional position coordinate of an underwater moving target is obtained by two pictures of target two-dimensional image information at different observation positions and observation angles; and although the method is more complex in realization, the positioning accuracy of a resolved target is higher.

Description

Underwater movement objective position measurement method based on the two dimensional image sonar

Technical field

What the present invention relates to is a kind of target location method, specifically relates generally to the position measurement method of the underwater movement objective of image sonar.

Background technology

Traditional underwater movement objective three-dimensional position calculation method is directly to adopt the three-dimensional imaging sonar, so just can obtain the position of target by the image of imaging sonar.On this theoretical method directly and can obtain high-precision target location, but the technology maturity that the three-dimensional imaging sonar is realized from present state of the art not high, have a big risk and the cost height.

Summary of the invention

The object of the present invention is to provide a kind of underwater movement objective position measurement method based on the two dimensional image sonar that can obtain than higher target location calculation accuracy.

The object of the present invention is achieved like this: comprise the steps:

(1) sets up by receiving basic matrix I and receiving two dimension that basic matrix II constitutes and receive relation between basic matrix and the target platform coordinate system;

(2) scattering point that the select target position is complementary on the image of sonar I and sonar II;

(3) according to selected scattering point, on sonar I and sonar II coordinate system, set up the search set of separating respectively;

(4) with under the search set converting into target platform coordinate system of separating on sonar I and the sonar II coordinate system, at a distance of 2 nearest points, getting this mid point of 2 was the position of target under the target platform coordinate system during two search were with under the searching target platform coordinate system.

The present invention can also comprise:

1, described two dimension reception basic matrix and the relation between the target platform coordinate system that is made of reception basic matrix I and reception basic matrix II is the geometric center that receives basic matrix I and reception basic matrix II transducer array surface to be regarded as the initial point O of reception basic matrix I and reception basic matrix II coordinate system ₁, O ₂, emission basic matrix coordinate origin is O ₀, the initial point of target platform coordinate system is O, coordinate system O ₁_ x ₁y ₁z ₁, O ₂_ x ₂y ₂z ₂, O ₀_ x ₀y ₀z ₀With O_xyz on same plane, coordinate system O ₁_ x ₁y ₁z ₁, O ₂_ x ₂y ₂z ₂, O ₀_ x ₀y ₀z ₀Be distributed on the circle centered by coordinate origin O_xyz, and coordinate system O ₀_ x ₀y ₀z ₀At coordinate system O ₁_ x ₁y ₁z ₁, O ₂_ x ₂y ₂z ₂The centre; The z axle of target platform coordinate system straight up, the y axle points to coordinate system O ₁_ x ₁y ₁z ₁, O ₂_ x ₂y ₂z ₂Line O ₁O ₂, and perpendicular to O ₁O ₂, the x axle is followed the right-hand rule; Receive basic matrix I and receive basic matrix II energy converter planar will with surface level angle at 45; The y of sonar I coordinate system ₁Axially go up perpendicular to energy converter planar x ₁Axle is downward along the surface of transducer, z ₁Axle is followed the right-hand rule; The direction sonar I coordinate system of each coordinate axis of sonar II coordinate system is identical; The direction and goal platform coordinate system unanimity of each coordinate axis of launching coordinate system.

2, the image of described sonar I and sonar II refers to transmit the sonar I primitive data of returning and receive basic matrix II and transmit the sonar II primitive data of returning and carry out two-dimensional imaging and handle the image of the position at the reception basic matrix I place that obtains and the observed object on the angle and receive the position at basic matrix II place and the image of the observed object on the angle receiving basic matrix I; Described match point refers to that point and the point on the sonar II image of the sonar I image selected are the points that the scattering of underwater moving body target same position is returned.

3, described search set of setting up the solution on sonar I and the sonar II coordinate system refer to set up polar coordinate system R, θ, On search set, wherein R represents oblique distance, θ represents the position angle,

Expression vertical height angle; Refer to that specifically the match point of selecting at sonar I image is the point (x under the two-dimentional rectangular coordinate system ₁, y ₁), make z ₁=0 obtains the (x under the three-dimensional system of coordinate ₁, y ₁, z ₁), it is transformed into (R under the polar coordinate system ₁, θ ₁,

Add respectively R, θ,

On confusion region Δ R, Δ θ,

Δ R determines by the range resolution that receives basic matrix, and Δ θ determines by the angular resolution that receives basic matrix, Be to receive covering of the fan 20 ° of angle of releases longitudinally; The setting search step-length

Then the search set on the sonar I coordinate system is combined into (R ₁-Δ R/2):

(R ₁+ Δ R/2), (θ ₁-Δ θ/2):

(θ ₁+ Δ θ/2),

Search set on the sonar II coordinate system is combined into (R ₂-Δ R/2): (R ₂+ Δ R/2), (θ ₂-Δ θ/2):

(θ ₂+ Δ θ/2),

4, described with referring under the search set converting into target platform coordinate system of separating on sonar I and the sonar II coordinate system, will gather (R ₁-Δ R/2):

(R ₁+ Δ R/2), (θ ₁-Δ θ/2):

(θ ₁+ Δ θ/2),

In corresponding point (R ', θ ',

Be transformed into earlier under the rectangular coordinate system for (x ', y ', z '), by the euler rotation matrix between sonar I coordinate system and the target platform coordinate system with its converting into target platform coordinate system, with the every bit of sonar I and sonar II search set the inside converting into target platform coordinate system all, form the search band of two three-dimensionals, these two search bands intersect, at a distance of nearest 2 be 2 nearest points of distance objective actual position, get their the approximate actual position of thinking target of mid point.

For realizing purpose of the present invention, needing to set up two dimension receives basic matrix I, receives basic matrix II and target platform coordinate system (step 1), receive basic matrix I and reception basic matrix II coordinate system and emission basic matrix coordinate system on the circle centered by the initial point of target platform coordinate system, and the emission basic matrix is in the middle of two reception basic matrixs, emission basic matrix coordinate system is consistent with the target platform coordinate system, be both the Z axle straight up, Y-axis is vertically pointed to the line of two reception basic matrix coordinate origins, and X follows the right-hand rule; Two Y-axis that receive the basic matrix coordinate system are upwards perpendicular to energy converter planar, and it is downward that X is parallel to energy converter planar, and the Z axle is permitted the right-hand rule.

For realizing purpose of the present invention, need to select the match point (step 2) on sonar I and the sonar II image, described match point refers to that point and the point on the sonar II image of the sonar I image selected are the points that the scattering of underwater moving body target same position is returned.

For realizing purpose of the present invention, the search set that need set up the solution on sonar I and the sonar II coordinate system refer to set up polar coordinate system R, θ,

On search set (step 3).The match point of selecting at sonar I image is the point (x under the two-dimentional rectangular coordinate system ₁, y ₁), make z ₁=0 obtains the (x under the three-dimensional system of coordinate ₁, y ₁, z ₁), it is transformed into (R under the polar coordinate system ₁, θ ₁,

Add respectively R, θ,

On confusion region Δ R, Δ θ,

Setting search step-length again Then but the search set on the sonar I coordinate system is combined into; In like manner can set up the search set on the sonar II coordinate system.

For realizing purpose of the present invention, need be with (step 4) under the search set converting into target platform coordinate system of separating on sonar I and the sonar II coordinate system.The every bit of sonar I and sonar II search set the inside is rotated all converting into target platform coordinate systems through Euler, will form the search band of two three-dimensionals, these two search bands intersect, at a distance of nearest 2 be 2 nearest points of distance objective actual position, get their the approximate actual position of thinking target of mid point.

Characteristics of the present invention are the three-dimensional location coordinates that obtained underwater movement objective by the target two-dimensional image information under the different observation positions of two width of cloth and the angle.Determine the two-dimensional position of target under corresponding coordinate system by the two-dimensional image information of target, make that another dimension is 0, with the coordinate conversion under the three-dimensional cartesian coordinate system to polar coordinate system R, θ, Down, add respectively R, θ,

On confusion region Δ R, Δ θ,

The setting search step-length Set up the search set that corresponding coordinate is fastened, rotate under the converting into target platform coordinate system by Euler at the every bit that will gather the inside, under the target platform coordinate system, just formed the search band of a three-dimensional, in like manner two width of cloth target two dimensional images just obtain two search bands under the target platform coordinate system, these two search bands intersect, at a distance of nearest 2 be 2 nearest points of distance objective actual position, get their the approximate actual position of thinking target of mid point.Though this method implements more complicated, the bearing accuracy of the target of resolving is than higher.

Description of drawings

Fig. 1 is sonar coordinate system and platform coordinate system relation (vertical view);

Fig. 2 is target platform coordinate system, sonar coordinate system and target-based coordinate system position relation;

Fig. 3 receives between basic matrix I coordinate system and platform coordinate system to concern;

Fig. 4 receives between basic matrix II coordinate system and platform coordinate system to concern;

Fig. 5 is two three-dimensional search bands under the target-based coordinate system.

Embodiment

For example the present invention is done description in more detail below in conjunction with accompanying drawing:

Fig. 1 has provided and has received basic matrix I coordinate system, received the position relation between basic matrix II coordinate system and the target platform coordinate system, and the coordinate system when system is resolved has four, and coordinate system is all followed the right hand then:

O ₁_ x ₁y ₁z ₁: observation sonar I (receiving basic matrix I) coordinate system, coordinate axis is (x ₁, y ₁, z ₁);

O ₂_ x ₂y ₂z ₂: observation sonar II (receiving basic matrix II) coordinate system, coordinate axis is (x ₂, y ₂, z ₂)

O ₃_ x ₃y ₃z ₃: target-based coordinate system, coordinate axis are (x ₃, y ₃, z ₃)

O_xyz: launching coordinate system (target platform coordinate system), coordinate axis be (x, y, z).

Relation between Fig. 2,3,4 coordinate systems is described as follows:

(1) O of observation sonar I ₁_ x ₁y ₁z ₁Relation between the coordinate system of coordinate system and platform O_xyz

The coordinate of reference point (being true origin) under platform coordinate system O_xyz of observation sonar I is (x ₁₀, y ₁₀, z ₁₀), obtain the translation relation of two coordinate systems after the translation.

From the O_xyz coordinate system around the left-handed rotation of z axle γ _I, again around the left-handed rotation alpha of x axle _IThe back (attention: suppose the installation of acoustics basic matrix and platform level, thus need not to carry out to rotate around the y axle as figure, that is rotate β around the y axle _I=0 °), obtain the rotation relationship of two coordinate systems.

(x, y z) rotate to O by each coordinate axis of platform O_xyz coordinate system in definition ₁_ x ₁y ₁z ₁Each coordinate axis (x of coordinate system ₁, y ₁, z ₁) axis rotation matrix be:

$R_x^1=\left[\begin{array}{ccc}1& 0& 0\\ 0& {\cos \mathrm{\α}}_I& {\sin \mathrm{\α}}_I\\ 0& {-\sin \mathrm{\α}}_I& {\cos \mathrm{\α}}_I\end{array}\right]$

$R_y^1=\left[\begin{array}{ccc}{\cos \mathrm{\β}}_I& 0& -\sin {\mathrm{\β}}_I\\ 0& 1& 0\\ {\sin \mathrm{\β}}_I& 0& \cos {\mathrm{\β}}_I\end{array}\right]$

$R_z^1=\left[\begin{array}{ccc}{\cos \mathrm{\γ}}_I& {\sin \mathrm{\γ}}_I& 0\\ -\sin {\mathrm{\γ}}_I& {\cos \mathrm{\γ}}_I& 0\\ 0& 0& 1\end{array}\right]$

Wherein, Subscript represent that this rotation matrix is (the rest may be inferred for other) that rotates to sonar system I.The associating rotation matrix is

$R_{\mathrm{OT}}^1=R_z^1\·R_y^1\·R_x^1$

Namely

$R_{\mathrm{OT}}^1=\left[\begin{array}{ccc}\cos \mathrm{\βcor}& \sin \mathrm{\α}\sin \mathrm{\β}\cos \mathrm{\γ}+\cos \mathrm{\α}\sin \mathrm{\γ}& -\cos \mathrm{\α}\sin \mathrm{\β}\cos \mathrm{\γ}+\sin \mathrm{\α}\sin \mathrm{\γ}\\ -\cos \mathrm{\β}\sin r& -\sin \mathrm{\α}\sin \mathrm{\β}\sin \mathrm{\γ}+\cos \mathrm{\α}\cos \mathrm{\γ}& \cos \mathrm{\α}\sin \mathrm{\β}\sin \mathrm{\γ}+\sin \mathrm{\α}\cos \mathrm{\γ}\\ \sin \mathrm{\β}& -\sin \mathrm{\α}& \cos \mathrm{\α}\sin \mathrm{\β}\end{array}\right]$ Wherein above euler rotation matrix is " 1-2-3 " pattern, namely rotates the x axle earlier, rotates the y axle then, at last the z axle is rotated; Therefore by the arbitrary coordinate conversion under the platform coordinate system O_xyz to coordinate system O ₁_ x ₁y ₁z ₁Under the transformational relation of coordinate be:

$\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]=R_{\mathrm{OT}}^1(\left[\begin{array}{c}x\\ y\\ z\end{array}\right]-\left[\begin{array}{c}{x}_{10}\\ y_{10}\\ z_{10}\end{array}\right])$

Can obtain the inverse transformation relation of two coordinate systems accordingly.

$\left[\begin{array}{c}x\\ y\\ z\end{array}\right]={\left(R_{\mathrm{OT}}^1\right)}^{-1}\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]+\left[\begin{array}{c}{x}_{10}\\ y_{10}\\ {\mathrm{<figure-callout\; id="10"\; label="z"\; filenames="HDA0000094307800000031.png"\; state="\{\{state\}\}">z</figure-callout>}}_{10}\end{array}\right]$

(2) O of observation sonar II ₂_ x ₂y ₂z ₂Coordinate system and platform O_xyz coordinate system contextual definition relation are the same.The transformational relation of two coordinate systems is:

$\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]=R_{\mathrm{OT}}^2(\left[\begin{array}{c}x\\ y\\ z\end{array}\right]-\left[\begin{array}{c}{x}_{20}\\ y_{20}\\ z_{20}\end{array}\right])$

Can obtain the inverse transformation relation of two coordinate systems accordingly.

$\left[\begin{array}{c}x\\ y\\ z\end{array}\right]={\left(R_{\mathrm{OT}}^2\right)}^{-1}\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]+\left[\begin{array}{c}{x}_{20}\\ y_{20}\\ z_{20}\end{array}\right]$

(3) target-based coordinate system O ₃_ x ₃y ₃z ₃With the platform coordinate system relation

Defining relation is the same.The transformational relation of two coordinate systems is:

$\left[\begin{array}{c}{x}_3\\ y_3\\ {\mathrm{<figure-callout\; id="3"\; label="z"\; filenames="HDA0000094307800000031.png"\; state="\{\{state\}\}">z</figure-callout>}}_3\end{array}\right]=R_{\mathrm{OT}}^3(\left[\begin{array}{c}x\\ y\\ z\end{array}\right]-\left[\begin{array}{c}{x}_{30}\\ y_{30}\\ z_{30}\end{array}\right])$

Can obtain the inverse transformation relation of two coordinate systems accordingly

$\left[\begin{array}{c}x\\ y\\ z\end{array}\right]={\left(R_{\mathrm{OT}}^3\right)}^{-1}\left[\begin{array}{c}{x}_3\\ y_3\\ {\mathrm{<figure-callout\; id="3"\; label="z"\; filenames="HDA0000094307800000031.png"\; state="\{\{state\}\}">z</figure-callout>}}_3\end{array}\right]+\left[\begin{array}{c}{x}_{30}\\ y_{30}\\ z_{30}\end{array}\right].$

The theoretical coordinate of true origin under target platform coordinate system O_xyz that receives basic matrix I coordinate system when supposing no alignment error is (x ₁₀, y ₁₀, z ₁₀), its rotation Eulerian angle theoretical value with respect to platform coordinate system is (α ₁, β ₁, γ ₁), location and angle alignment error during sonar battle array actual installation (even simultaneously under the situation of not having other error, also need add certain agitation error for the numerical stability that solves solution), so its actual true origin and actual installation rotation angle are

$\left[\begin{array}{c}{\hat{x}}_{10}\\ {\hat{y}}_{10}\\ {\hat{z}}_{10}\end{array}\right]=\left[\begin{array}{c}{x}_{10}\\ y_{10}\\ {\mathrm{<figure-callout\; id="10"\; label="z"\; filenames="HDA0000094307800000031.png"\; state="\{\{state\}\}">z</figure-callout>}}_{10}\end{array}\right]+\left[\begin{array}{c}{\mathrm{\&sigma;}}_{x1}\\ {\mathrm{\&sigma;}}_{y1}\\ {\mathrm{\&sigma;}}_{z1}\end{array}\right]$

With

$\left[\begin{array}{c}{\widehat{\mathrm{\&alpha;}}}_1\\ {\widehat{\mathrm{\&beta;}}}_1\\ {\widehat{\mathrm{\&gamma;}}}_1\end{array}\right]=\left[\begin{array}{c}{\mathrm{\&alpha;}}_1\\ {\mathrm{\&beta;}}_1\\ {\mathrm{\&gamma;}}_1\end{array}\right]+\left[\begin{array}{c}{\mathrm{\&sigma;}}_{\mathrm{\&alpha;}1}\\ {\mathrm{\&sigma;}}_{\mathrm{\&beta;}1}\\ {\mathrm{\&sigma;}}_{\mathrm{\&gamma;}1}\end{array}\right]$

σ wherein _X1, σ _Y1And σ _Z1Be respectively and receive basic matrix I true origin alignment error, σ _{α 1}, σ _{β 1}And σ _{γ 1}Be respectively the attitude alignment error that receives basic matrix I, the euler rotation matrix with error is so

${\hat{R}}_{\mathrm{OT}}^1=\left[\begin{array}{ccc}\cos {\widehat{\mathrm{\&beta;}}}_1\cos {\widehat{\mathrm{\&gamma;}}}_1& \sin {\widehat{\mathrm{\&alpha;}}}_1\sin {\widehat{\mathrm{\&beta;}}}_1\cos {\widehat{\mathrm{\&gamma;}}}_1+\cos {\widehat{\mathrm{\&alpha;}}}_1\sin {\widehat{\mathrm{\&gamma;}}}_1& -\cos {\widehat{\mathrm{\&alpha;}}}_1\sin {\widehat{\mathrm{\&beta;}}}_1\cos {\widehat{\mathrm{\&gamma;}}}_1+\sin {\widehat{\mathrm{\&alpha;}}}_1\sin {\widehat{\mathrm{\&gamma;}}}_1\\ -\cos {\widehat{\mathrm{\&beta;}}}_1\sin {\widehat{\mathrm{\&gamma;}}}_1& -\sin {\widehat{\mathrm{\&alpha;}}}_1\sin {\widehat{\mathrm{\&beta;}}}_1\sin {\widehat{\mathrm{\&gamma;}}}_1+\cos {\widehat{\mathrm{\&alpha;}}}_1\cos {\widehat{\mathrm{\&gamma;}}}_1& \cos {\widehat{\mathrm{\&alpha;}}}_1\sin {\widehat{\mathrm{\&beta;}}}_1\sin {\widehat{\mathrm{\&gamma;}}}_1+\sin {\widehat{\mathrm{\&alpha;}}}_1\cos {\widehat{\mathrm{\&gamma;}}}_1\\ \sin {\widehat{\mathrm{\&beta;}}}_1& -\sin {\widehat{\mathrm{\&alpha;}}}_1& \cos {\widehat{\mathrm{\&alpha;}}}_1\sin {\widehat{\mathrm{\&beta;}}}_1\end{array}\right]$ (noticing that different with the distance and bearing error random nature of sonar observation, alignment error is a deviate of determining, can be assumed to be no randomness)

According to above-mentioned relation, next scattering point position of target platform coordinate system O_xyz is (x _i, y _i, z _i), it at the coordinate that adds after receiving basic matrix I image error and receiving basic matrix I platform alignment error is

$\left[\begin{array}{c}{x}_{1i}\\ y_{1i}\\ z_{1i}\end{array}\right]={\left({\hat{R}}_{\mathrm{OT}}^1\right)}^{-1}\left[\begin{array}{c}{\hat{x}}_{1i}\\ {\hat{y}}_{1i}\\ {\hat{z}}_{1i}\end{array}\right]+\left[\begin{array}{c}{\hat{x}}_{10}\\ {\hat{y}}_{10}\\ {\hat{z}}_{10}\end{array}\right]---\left(1\right)$

In like manner, next scattering point position of target platform coordinate system O_xyz is (x _i, y _i, z _i), it at the coordinate that adds after receiving basic matrix II image error and receiving basic matrix II platform alignment error is

$\left[\begin{array}{c}{x}_{2i}\\ y_{2i}\\ z_{2i}\end{array}\right]={\left({\hat{R}}_{\mathrm{OT}}^2\right)}^{-1}\left[\begin{array}{c}{\hat{x}}_{2i}\\ {\hat{y}}_{2i}\\ {\hat{z}}_{2i}\end{array}\right]+\left[\begin{array}{c}{\hat{x}}_{20}\\ {\hat{y}}_{20}\\ {\hat{z}}_{20}\end{array}\right]---\left(2\right)$

Therefore, at each impulsive measurement result, what need determine is: satisfy two sonar camber lines (by waiting R _1iWith θ such as grade _1iAnd by etc. R _2iWith θ such as grade _2iDetermine) level angle of two sonars during the minimum distance of space

With

That is, determined is that formula (1) and (2) are the set of the banded target location solution of two band errors under global coordinate system, and the solution of its band error can be tried to achieve by following formula

$\{({\tilde{x}}_{1i},{\tilde{y}}_{1i},{\tilde{z}}_{1i}),({\tilde{x}}_{2i},{\tilde{y}}_{2i},{\tilde{z}}_{2i})\}=\arg \underset{(x_{1i},y_{1i},z_{1i}),(x_{2i},y_{2i},z_{2i})}{\min }{|\left[\begin{array}{c}{x}_{1i}\\ y_{1i}\\ z_{1i}\end{array}\right]-\left[\begin{array}{c}{x}_{2i}\\ y_{2i}\\ z_{2i}\end{array}\right]|}^2---\left(3\right)$

Wherein || the mould of expression vector, this point target is united the estimated value that calculates and is with crossing two sonars so

$\left[\begin{array}{c}{\hat{x}}_i\\ {\hat{y}}_i\\ {\hat{z}}_i\end{array}\right]=(\left[\begin{array}{c}{\tilde{x}}_{1i}\\ {\tilde{y}}_{1i}\\ {\tilde{z}}_{1i}\end{array}\right]+\left[\begin{array}{c}{\tilde{x}}_{2i}\\ {\tilde{y}}_{2i}\\ {\tilde{z}}_{2i}\end{array}\right])/2---\left(4\right)$

Formula (4) is the three-dimensional coordinate of the position of resolving out.

Claims (3)

1. the underwater movement objective position measurement method based on the two dimensional image sonar is characterized in that comprising the steps:

(1) sets up by receiving basic matrix I and receiving two dimension that basic matrix II constitutes and receive relation between basic matrix and the target platform coordinate system;

(2) scattering point that the select target position is complementary on the image of sonar I and sonar II;

(3) according to selected scattering point, on sonar I and sonar II coordinate system, set up the search set of separating respectively;

(4) with under the search set converting into target platform coordinate system of separating on sonar I and the sonar II coordinate system, at a distance of 2 nearest points, getting this mid point of 2 was the position of target under the target platform coordinate system during two search were with under the searching target platform coordinate system;

The relation that the described two dimension that is made of reception basic matrix I and reception basic matrix II receives between basic matrix and the target platform coordinate system is the geometric center that receives basic matrix I and reception basic matrix II transducer array surface to be regarded as the initial point O of sonar I coordinate system and sonar II coordinate system ₁, O ₂, the launching coordinate system initial point is O ₀, the initial point of target platform coordinate system is O, coordinate system O ₁_ x ₁y ₁z ₁, O ₂_ x ₂y ₂z ₂, O ₀_ x ₀y ₀z ₀With O_xyz on same plane, coordinate system O ₁_ x ₁y ₁z ₁, O ₂_ x ₂y ₂z ₂, O ₀_ x ₀y ₀z ₀Be distributed on the circle centered by coordinate origin O_xyz, and coordinate system O ₀_ x ₀y ₀z ₀At coordinate system O ₁_ x ₁y ₁z ₁, O ₂_ x ₂y ₂z ₂The centre; The z axle of target platform coordinate system straight up, the y axle points to coordinate system O ₁_ x ₁y ₁z ₁, O ₂_ x ₂y ₂z ₂Line O ₁O ₂, and perpendicular to O ₁O ₂, the x axle is followed the right-hand rule; Receive basic matrix I and receive basic matrix II energy converter planar will with surface level angle at 45; The y of sonar I coordinate system ₁Axially go up perpendicular to energy converter planar x ₁Axle is downward along the surface of transducer, z ₁Axle is followed the right-hand rule; The direction of each coordinate axis of sonar II coordinate system is identical with sonar I coordinate system; The direction and goal platform coordinate system unanimity of each coordinate axis of launching coordinate system;

Described search set of setting up the solution on sonar I and the sonar II coordinate system refer to set up polar coordinate system R, θ,

On search set; Wherein R represents oblique distance, and θ represents the position angle,

Expression vertical height angle; Refer to that specifically the match point of selecting at sonar I image is the point (x under the two-dimentional rectangular coordinate system ₁, y ₁), make z ₁=0 obtains the (x under the three-dimensional system of coordinate ₁, y ₁, z ₁), it is transformed under the polar coordinate system

Add respectively R, θ,

On confusion region Δ R, Δ θ,

Δ R determines by the range resolution that receives basic matrix, and Δ θ determines by the angular resolution that receives basic matrix,

Be to receive covering of the fan 20 ° of angle of releases longitudinally; The setting search step-length

Then the search set on the sonar I coordinate system is combined into $(R_1-\mathrm{\&Delta;R}/2):\&PartialD;R:(R_1+\mathrm{\&Delta;R}/2),$ $({\mathrm{\&theta;}}_1-\mathrm{\&Delta;\&theta;}/2):\&PartialD;\mathrm{\&theta;}:({\mathrm{\&theta;}}_1+\mathrm{\&Delta;\&theta;}/2),$

Search set on the sonar II coordinate system is combined into $(R_2-\mathrm{\&Delta;R}/2):\&PartialD;R:(R_2+\mathrm{\&Delta;R}/2),$ $({\mathrm{\&theta;}}_2-\mathrm{\&Delta;\&theta;}/2):\&PartialD;\mathrm{\&theta;}:({\mathrm{\&theta;}}_2+\mathrm{\&Delta;\&theta;}/2),$

2. the underwater movement objective position measurement method based on the two dimensional image sonar according to claim 1 is characterized in that: the image of described sonar I and sonar II refers to transmit the sonar I primitive data of returning and receive basic matrix II and transmit the sonar II primitive data of returning and carry out two-dimensional imaging and handle the image of the position at the reception basic matrix I place that obtains and the observed object on the angle and receive the position at basic matrix II place and the image of the observed object on the angle receiving basic matrix I; The described scattering point that is complementary refers to that point and the point on the sonar II image of the sonar I image selected are the points that the scattering of underwater moving body target same position is returned.

3. the underwater movement objective position measurement method based on the two dimensional image sonar according to claim 2 is characterized in that: described with referring under the search set converting into target platform coordinate system of separating on sonar I and the sonar II coordinate system, will gather $(R_1-\mathrm{\&Delta;R}/2):\&PartialD;R:(R_1+\mathrm{\&Delta;R}/2),$ $({\mathrm{\&theta;}}_1-\mathrm{\&Delta;\&theta;}/2):\&PartialD;\mathrm{\&theta;}:({\mathrm{\&theta;}}_1+\mathrm{\&Delta;\&theta;}/2),$

In corresponding point Be transformed into earlier under the rectangular coordinate system for (x ', y ', z '), again by the euler rotation matrix between sonar I coordinate system and the target platform coordinate system with its converting into target platform coordinate system, with the every bit of sonar I and sonar II search set the inside converting into target platform coordinate system all, form the search band of two three-dimensionals, the search band of described two three-dimensionals intersects, at a distance of nearest 2 be 2 nearest points of distance objective actual position, get their the approximate actual position of thinking target of mid point.

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