CN103592650B - The three-dimensional sonar imaging system of graphic based processor and three-D imaging method thereof - Google Patents
The three-dimensional sonar imaging system of graphic based processor and three-D imaging method thereof Download PDFInfo
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- CN103592650B CN103592650B CN201310597887.2A CN201310597887A CN103592650B CN 103592650 B CN103592650 B CN 103592650B CN 201310597887 A CN201310597887 A CN 201310597887A CN 103592650 B CN103592650 B CN 103592650B
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/56—Display arrangements
- G01S7/62—Cathode-ray tube displays
- G01S7/6245—Stereoscopic displays; Three-dimensional displays; Pseudo-three dimensional displays
Abstract
The invention discloses a kind of three-dimensional sonar imaging system and three-D imaging method thereof of graphic based processor, three-dimensional sonar imaging system comprises the down-sampled module of signal etc. connected successively, the underwater sound signal that the down-sampled module of described signal is used for underwater sound sensor receives moves low frequency from high frequency, and is changed into the digital signal being convenient to computer disposal; Described cache module is for preserving the multi-channel sampling data received from the down-sampled module of signal; The parallel beam of described graphic based processor forms module from cache module, reads multi-channel back wave data; The parallel beam of the wideband pulse compression module process graphic based processor of described graphic based processor forms the different spaces angle direction frequency-region signal of module output; Described 3-D display module receives the output information of Wave beam forming module of graphic based processor and the output information of the wideband pulse compression module of graphic based processor.The present invention has the features such as low cost, high-performance, extendability be strong.
Description
Technical field
The invention belongs to Underwater Detection field, particularly relate to a kind of three-dimensional sonar imaging system and three-D imaging method thereof of graphic based processor (GraphicsProcessingUnit, GPU).
Background technology
Sonar is the equipment utilizing underwater sound wave to detect target and locate.At present the major function of general sonar system is detection to submarine target and the two-dimensional localization of target in orientation, distance.Along with the development of ocean development and Military Application demand, as marine engineering enforcement, Technique of Subsea Pipeline Inspection, frogman's detection, submarine navigation device navigation etc., submarine target is proposed to the requirement of three-dimensional localization, three-dimensional sonar is born thus.
Three-dimensional sonar generally adopts two-dimensional array to receive sound wave, thus makes it on level, vertical and distance 3 directions, directly obtain resolution characteristic.To Echo Processing normally along time slice, first form two-dimensional image sequence, recycling computing machine compositing 3 d images.
The imaging device of existing three-dimensional sonar adopts multiple FPGA (Field-ProgrammableGateArray, i.e. field programmable gate array) to realize, and hardware configuration is complicated, and development difficulty is large and cost is high.The graphic process unit (GraphicsProcessingUnit, GPU) of high speed development has the novel computing platform of development prospect for signal transacting provides in recent years.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of three-dimensional sonar imaging system and three-D imaging method thereof of graphic based processor, and it has the features such as low cost, high-performance, extendability be strong.
The present invention solves above-mentioned technical matters by following technical proposals: a kind of three-dimensional sonar imaging system of graphic based processor, it is characterized in that, it comprises the down-sampled module of the signal connected successively, cache module, the parallel beam of graphic based processor forms module, the wideband pulse compression module of graphic based processor, 3-D display module, the underwater sound signal that the down-sampled module of described signal is used for underwater sound sensor receives moves low frequency from high frequency, and changed into the digital signal being convenient to computer disposal, described digital signal is multi-channel sampling data, described cache module is for preserving the multi-channel sampling data received from the down-sampled module of signal, the parallel beam of described graphic based processor forms module and from cache module, reads multi-channel back wave data, for calculating different spaces angle direction frequency-region signal, the parallel beam of the wideband pulse compression module process graphic based processor of described graphic based processor forms the different spaces angle direction frequency-region signal of module output, for calculating the distance of target, described 3-D display module receives the output information of Wave beam forming module of graphic based processor and the output information of the wideband pulse compression module of graphic based processor, for the target detected being shown at three dimensions.
The present invention also provides a kind of three-D imaging method of three-dimensional sonar imaging system of graphic based processor, and it is characterized in that, it comprises the following steps:
Step one: the down-sampled module of signal is carried out orthogonal down-sampled to the data from underwater sound sensor, by orthogonal down-sampled after numeral resolve signal storage to cache module;
Step 2: after cache module receives frame data according to the detection range of setting, the parallel beam transferring data to graphic based processor forms the global storage of module;
Step 3: the parallel beam of graphic based processor forms module and processes the array data in global storage, the orientation angles of solving target and luffing angle;
Step 4: the wideband pulse compression module of graphic based processor carries out process of pulse-compression to the result that the parallel beam of graphic based processor forms module, obtains the range information of target, and result is outputted to 3-D display module;
Step 5: the Output rusults of the wideband pulse compression module of 3-D display module scans graphic based processor, according to the threshold value of setting, carries out color coding to Output rusults, shows in the three-dimensional sample space of presetting.
Preferably, the parallel beam of described graphic based processor forms module and carries out two dimensional beam formation to the horizontal direction of space exploration and vertical direction.
Preferably, space exploration is divided into horizontal direction M wave beam by described 3-D display module, the N number of wave beam of vertical direction, a range direction P interval, and remember M × N × P spatial sampling point altogether, M, N, P are natural numbers.
Preferably, the value at a described range direction P interval is calculated by wideband pulse compression.
Positive progressive effect of the present invention is: the acquisition of the present invention to target range information is realized by wideband pulse compression module, there is higher processing gain, the features such as the present invention also has low cost, high-performance in addition, extendability is strong, structure is simple, development difficulty is low.Three-dimensional sonar generally adopts two-dimensional array to receive sound wave, and detect target in level, vertical direction, this process relates to huge calculated amount.Existing three-dimensional sonar generally adopts DSP array or FPGA to realize, and such system architecture is complicated, and the construction cycle is long, difficulty is large, cost is high, and upgrade, upgrading needs to redesign hardware.The three-dimensional sonar imaging system of a kind of graphic based processor of the present invention, the Floating-point Computation ability that the Wave beam forming module of its core utilizes graphic process unit powerful, reaches the three-dimensional sonar imaging system identical function of existing employing DSP array or FPGA.The three-dimensional sonar imaging system of a kind of graphic based of the present invention processor upgrades upgrading and only need change corresponding graphic process unit, without the need to redesigning hardware.Current graphic process unit performance is more and more stronger, and price is more and more lower, and therefore the present invention has very high cost performance.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the three-dimensional sonar imaging system that the present invention is based on graphic process unit.
Embodiment
Present pre-ferred embodiments is provided, to describe technical scheme of the present invention in detail below in conjunction with accompanying drawing.
As shown in Figure 1, the three-dimensional sonar imaging system that the present invention is based on graphic process unit comprises parallel beam formation module, the wideband pulse compression module of graphic based processor, the 3-D display module of the down-sampled module of the signal connected successively, cache module, graphic based processor, the down-sampled module of described signal is used for the underwater sound signal that underwater sound sensor (such as sensor array etc.) receives to move low frequency from high frequency, and being changed into the digital signal being convenient to computer disposal, described digital signal is multi-channel sampling data; Described cache module is for preserving the multi-channel sampling data received from the down-sampled module of signal; The parallel beam of described graphic based processor forms module and from cache module, reads multi-channel back wave data, for calculating different spaces angle direction frequency-region signal; The parallel beam of the wideband pulse compression module process graphic based processor of described graphic based processor forms the different spaces angle direction frequency-region signal of module output, for calculating the distance of target; Described 3-D display module receives the output information (output information comprises different spaces angle direction frequency-region signal etc.) of Wave beam forming module of graphic based processor and the output information (output information comprises the distance etc. of target) of the wideband pulse compression module of graphic based processor, for the target detected being shown at three dimensions.
The three-D imaging method that the present invention is based on the three-dimensional sonar imaging system of graphic process unit comprises the following steps:
Step one: the down-sampled module of signal is carried out orthogonal down-sampled to the data from underwater sound sensor, by orthogonal down-sampled after numeral resolve signal storage to cache module;
Step 2: after cache module receives frame data according to the detection range of setting, the parallel beam transferring data to graphic based processor forms the global storage of module;
Step 3: the parallel beam of graphic based processor forms module and processes the array data in global storage, the orientation angles of solving target and luffing angle;
Step 4: the wideband pulse compression module of graphic based processor carries out process of pulse-compression to the result that the parallel beam of graphic based processor forms module, obtains the range information of target, and result is outputted to 3-D display module.
Step 5: the Output rusults of the wideband pulse compression module of 3-D display module scans graphic based processor, according to the threshold value of setting, carries out color coding to Output rusults, shows in the three-dimensional sample space of presetting.
The object lesson that the present invention is based on the three-D imaging method of the three-dimensional sonar imaging system of graphic process unit is as follows, namely adopts following steps:
Step 1: the down-sampled module of signal exports each passage of sensor array carries out frequency spectrum shift, signal frequency fc is moved lower frequency (fc-fd), after low passband ripple, after carrying out digital sample with fs >=2 (fc-fd), array data is stored in cache module A by channel sequence.Wherein, fc is the centre frequency of the detectable signal of systems radiate, and fd is the frequency, demodulation frequency of orthogonal down-sampled use, and fs is the frequency that system carries out digital sample.
Step 2: according to the detection range of setting, after cache module receives a complete frame echo data, the parallel beam copying data to graphic based processor immediately forms the first global storage B of module.
Step 3: the parallel beam formation module of graphic based processor reads data and processes from the first global storage B, two dimensional beam formation is carried out to the horizontal direction of space exploration and vertical direction, the position angle that calculating echo reaches and the angle of pitch, and parallel beam result being kept at graphic based processor forms the second global storage C of module.
Step 4: the wideband pulse compression module of graphic based processor carries out process of pulse-compression to the data in the second global storage C, obtains the range information of target, and result is outputted in the storer D of 3-D display module.
Step 5: 3-D display module is according to the beam configuration of system and detection range and signal sampling frequency, space exploration is divided into horizontal direction M wave beam, the N number of wave beam of vertical direction, a range direction P interval, remember M × N × P spatial sampling point altogether, M, N, P are natural numbers.Each spatial sampling point coordinate (x, y, z) is by unique wave beam number and distance numbers index.Result in 3-D display module scans storer D, reject the value being less than detection threshold, the value of reservation is pressed wave beam number and distance numbers, different colours is mapped as at three dimensions (x according to energy size, y, z) some display is drawn at place, and numerous such spatial sampling points can form shape or the distribution of the detection of a target, complete the 3-D display to target.
The above specific embodiment; the technical matters of solution of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. a three-D imaging method for the three-dimensional sonar imaging system of graphic based processor, it is characterized in that, it comprises the following steps:
Step one: the down-sampled module of signal is carried out orthogonal down-sampled to the data from underwater sound sensor, by orthogonal down-sampled after numeral resolve signal storage to cache module;
Step 2: after cache module receives frame data according to the detection range of setting, the parallel beam transferring data to graphic based processor forms the global storage of module;
Step 3: the parallel beam of graphic based processor forms module and processes the array data in global storage, the orientation angles of solving target and luffing angle;
Step 4: the wideband pulse compression module of graphic based processor carries out process of pulse-compression to the result that the parallel beam of graphic based processor forms module, obtains the range information of target, and result is outputted to 3-D display module;
Step 5: the Output rusults of the wideband pulse compression module of 3-D display module scans graphic based processor, according to the threshold value of setting, carries out color coding to Output rusults, shows in the three-dimensional sample space of presetting;
The three-dimensional sonar imaging system of described graphic based processor, it comprises parallel beam formation module, the wideband pulse compression module of graphic based processor, the 3-D display module of the down-sampled module of the signal connected successively, cache module, graphic based processor, the underwater sound signal that the down-sampled module of described signal is used for underwater sound sensor receives moves low frequency from high frequency, and being changed into the digital signal being convenient to computer disposal, described digital signal is multi-channel sampling data; Described cache module is for preserving the multi-channel sampling data received from the down-sampled module of signal; The parallel beam of described graphic based processor forms module and from cache module, reads multi-channel back wave data, for calculating different spaces angle direction frequency-region signal; The parallel beam of the wideband pulse compression module process graphic based processor of described graphic based processor forms the different spaces angle direction frequency-region signal of module output, for calculating the distance of target; Described 3-D display module receives the output information of Wave beam forming module of graphic based processor and the output information of the wideband pulse compression module of graphic based processor, for the target detected being shown at three dimensions.
2. the three-D imaging method of the three-dimensional sonar imaging system of graphic based processor as claimed in claim 1, it is characterized in that, the parallel beam of described graphic based processor forms module and carries out two dimensional beam formation to the horizontal direction of space exploration and vertical direction.
3. the three-D imaging method of the three-dimensional sonar imaging system of graphic based processor as claimed in claim 2, it is characterized in that, space exploration is divided into horizontal direction M wave beam by described 3-D display module, the N number of wave beam of vertical direction, a range direction P interval, remember M × N × P spatial sampling point altogether, M, N, P are natural numbers.
4. the three-D imaging method of the three-dimensional sonar imaging system of graphic based processor as claimed in claim 3, is characterized in that, the value at a described range direction P interval is calculated by wideband pulse compression.
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| CN105043225A (en) * | 2015-04-24 | 2015-11-11 | 中国海洋石油总公司 | Three-dimensional measuring equipment for submarine pipelines |
| CN106990406B (en) * | 2017-03-01 | 2019-06-25 | 浙江大学 | A kind of three-dimensional acoustics imaging real time signal processing device based on embeded processor |
| CN106980112A (en) * | 2017-05-09 | 2017-07-25 | 成都泰声科技有限公司 | Sonar array signal processing platform |
| CN109186752B (en) * | 2018-09-22 | 2020-07-03 | 天津大学 | Underwater acoustic signal acquisition, transmission and detection system based on graphic processor |
| CN111239745A (en) * | 2019-12-31 | 2020-06-05 | 飞依诺科技(苏州)有限公司 | Beam synthesis processing method, beam synthesis processing device, computer equipment and storage medium |
| CN112904348B (en) * | 2021-01-22 | 2023-10-03 | 中铁第四勘察设计院集团有限公司 | Three-dimensional detection method, device, equipment and storage medium |
| CN113687364B (en) * | 2021-07-13 | 2024-03-19 | 中国船舶重工集团公司第七一五研究所 | Method for inhibiting false bottom of three-dimensional imaging sonar image |
| CN114442871B (en) * | 2021-12-29 | 2022-12-16 | 中国船舶重工集团公司第七一五研究所 | Passive sonar broadband alert long-history display method and device |
| CN114879205A (en) * | 2022-04-06 | 2022-08-09 | 上海船舶电子设备研究所(中国船舶重工集团公司第七二六研究所) | Target three-dimensional imaging method and system based on vertical wide-beam image sonar |
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