CN103852764A - Submarine navigation monitoring system based on laser polarization detection - Google Patents
Submarine navigation monitoring system based on laser polarization detection Download PDFInfo
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- CN103852764A CN103852764A CN201210522546.4A CN201210522546A CN103852764A CN 103852764 A CN103852764 A CN 103852764A CN 201210522546 A CN201210522546 A CN 201210522546A CN 103852764 A CN103852764 A CN 103852764A
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- 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
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a submarine navigation monitoring system based on laser polarization detection. The submarine navigation monitoring system comprises an underwater part 1 and a ground part 2, wherein the underwater part comprises a submarine navigation system, a two-axis turntable, a scanning mechanism 19 and a submarine sound signal transmission system 5; the ground part comprises a submarine sound signal receiving system 30 and monitoring equipment 35.The main principle is that laser light becomes partially polarized light or linearly polarized light after being reflected through a man-made object, and the polarization property of the reflected light contains a variety of information of the object. As the texture structure, the surface state and the material type of the underwater man-made object are different from the texture structure, the surface state and the material type of a natural object, reflected laser light with different polarization properties are obtained, images with different degrees of polarization are extracted through a polarizer arranged at the front of a video camera, and the man-made object is separated through image processing. The submarine navigation monitoring system can assist the sonar technology in effectively detecting and recognizing submarines, torpedoes and other military targets, thereby being a detection means which is high in distinguishability, sensitivity and efficiency.
Description
Technical field
The present invention relates to a kind of for monitoring the submerge supervisory system of water-bed culture, the seabed submerge supervisory system that particularly a kind of laser polarization detects.
Background technology
Along with the strategic task of naval changes in the coastal waters that have potential hostility and keeps military deployment from deep-sea antagonism, mine warfare and antimine warfare are got up with regard to ever more important.Modern submarine quietness technology is more and more advanced simultaneously, and single sonar detection technology can not meet the needs of modern war.Thereupon, utilize the detection of light to be also progressively applied in military detection.
Polarization Detection technology is the novel remote sensing growing up in recent years.As everyone knows, any target in earth surface and atmosphere, in reflection, scattering and electromagnetic radiation process, can produce the feature polarization being determined by himself characteristic.Polarization imaging can increase the quantity of information of target, can greatly improve to a certain extent the accuracy of target detection and identification, is the irreplaceable novel Detection Techniques over the ground of other detection means.Substantially also in the laboratory Primary Study stage, the system of practical application is considerably less both at home and abroad, and the background of research application is all almost ground and atmospheric environment.Because the underwater decay of light is very large, transmission range is very limited, and therefore its submersible service has been subject to certain restriction.
But, along with the particularly development of " ocean window " bluish-green laser technology of laser technology, the transmission range of Laser Underwater is in continuous increase, the Underwater Target Detection and the recognition technology that detect based on polarization characteristics of lasers can more and more be paid close attention to, will be called a focus in Polarization Detection research, there is important using value and wide application prospect simultaneously.
The technology adopting in traditional image processing, analytic process is all the information providing based on light intensity feature and wavelength characteristic, this make image process and analytical algorithm very complicated, and can only do some preliminary analyses to profile, the classification etc. of target in image, and be difficult to make correct understanding for some essential characteristic of target in image.Therefore, traditional optical imagery Detection Techniques are difficult to the true and false of detection effectively and discrimination objective.
The present invention adopts Polarization Detection technology, utilizes detection and the identification of catoptrical polarization characteristic realize target, will be expected to solve the detection problem of " zero noise " submarine and submarine mine.
Summary of the invention
The technical problem to be solved in the present invention is: in optical detection, can not grow at present can not be correct in distance monitoring and image processing demonstration image in the deficiency such as essential characteristic of target, a kind of seabed submerge supervisory system that uses laser polarization to detect is provided, there is the features such as high resolving power, high sensitivity, high-level efficiency, can realize the detection of super-silent water-bed target.
The technical solution used in the present invention is: a kind of seabed submerge supervisory system that uses laser polarization to detect, comprise underwater portion and above ground portion, and wherein underwater portion comprises submerge system, two-axle rotating table, scanning mechanism, underwater sound signal transmission system; Above ground portion comprises underwater sound signal receiving system and watch-dog.
Described submerge system comprises mounting platform, rises dive thruster, movable propeller, air bag, mounting platform is used for installing two shaft platforms, rises dive thruster, movable propeller, air bag and underwater sound signal transmission system, wherein rises the both sides that are arranged on platform of the thruster symmetry of diving; Air bag is arranged on the below of platform both sides by fixed mount symmetry; Movable propeller is arranged on the afterbody of platform; Underwater sound signal transmission system is arranged on the top of platform afterbody.The latent thruster of submerge device utilization liter and movable propeller submerge, to testing goal ground, realize hovering by the aeration quantity that regulates air bag, and start to monitor.
Described two-axle rotating table comprises direction rotating shaft, orientation follower gear, orientation driving gear, bearing servo motor, pitching rotating shaft, pitching support, pitching driving gear, pitching follower gear, pitching servomotor.Orientation follower gear is arranged on platform by direction rotating shaft, realizes orientation regulate by bearing servo driven by motor orientation driving gear; Pitching support is fixed on orientation follower gear; Pitching servomotor is fixed on pitching support, and pitching follower gear is arranged on flat pitching support by pitching rotating shaft, drives pitching driving gear to realize scanning mechanism luffing angle regulate by pitching servomotor; Scanning mechanism is arranged in pitching rotating shaft by fixed mount.
Described two-axle rotating table has two covers, is arranged on respectively the both sides up and down of platform, and the turntable of upside can be realized the monitoring of any angle target of episphere, and the turntable of downside can be realized the monitoring of any angle target of lower semisphere.
Described turntable and scanning mechanism seal by hemispheric translucent cover, can effectively control the corrosion failure of seawater to turntable and scanning mechanism.
Described scanning mechanism comprises polaroid, optical filter, ICCD, polaroid controller, CCD controller, pulse green laser, isochronous controller, image processor.Green laser is used for launching active light source, and the light of reflection through isochronous controller registration with after merging, is transferred to image processor by the image of scanning by polaroid, optical filter, ICCD, spreads out of by underwater acoustic information transmission system through the image of image processor processing.
Described underwater acoustic information receiving system is mainly used in receiving the image information of being transmitted by underwater acoustic information transmission system, and image information is transferred to PGB monitor after signal amplifier amplifies, and understands water-bed detection target information by monitor.System realizes the location to underwater sound signal receiving system by water surface float.
Cardinal principle of the present invention is: laser, after culture reflection, becomes partial poolarized light or linearly polarized light, and catoptrical polarization characteristic has contained target much information.The texture structure of man-made target and natural target, surface state and material type are distinct under water, obtain the reflection laser of different polarization characteristic, utilize the preposition polariscope of video camera to extract different polarization degree image, isolate man-made target by image processing.
The present invention, using green laser as lighting source, reduces environment light source impact, improves operating distance and the detection accuracy of system.Adopt rangerate-gate technique, use pulse laser and the ICCD with gating function, greatly improve image quality, having strengthened system surveys and the ability of identifying target, before ICCD, add rotatable polaroid, obtain the image of different polarization state, obtain image detail information through polarization difference processing, utilize the average gray value difference of material degree of polarization figure, the variation of optical polarization can inverting detected target texture structure, surface state and material type etc., thereby the identification of realize target.
The key technical indexes of the present invention is: (1) watertightness: system under water continuous working without infiltration phenomenon; (2) real-time: the time of image acquisition and processing is less than 2 seconds; (3) operating distance: be not less than 100 meters; (4) green laser wavelength is 0.52 μ m.
The technical advantage that the present invention realizes is: extract different polarization degree image by the preposition polariscope of scanning mechanism, polarization image can characterize some ionization meters and be difficult to the information characterizing, and under low light conditions, also can effectively identify, and resolution is high, disguised strong.Recycling image processing software is processed polarization image, finally realizes the identification to target.Can assist sonar technique, effectively survey and identify the military targets such as submarine, submarine mine, be a kind of high resolving power, high sensitivity, high efficiency detection means.
Brief description of the drawings
Fig. 1 is system composition diagram
Fig. 2 is underwater portion structural drawing
Fig. 3 is turntable structure figure (upside)
Fig. 4 is turntable structure figure (downside)
Fig. 5 is scanning mechanism structural drawing (removing the first half housing)
Fig. 6 is above ground portion composition diagram
Where: .. .. .. .. 1 underwater part 2 part 3 ground mounting platform transparent cover 4 5 6 underwater acoustic signal transmission system moving propeller balloon 7 8 9 liters submersible propeller scanning mechanism 10 scanning mechanism mounting bracket 11 tilt bracket 12. pitch shaft 13. orientation driven gear 14 pitch servo motor 15. bearing shaft 16, 17. azimuth servo motor 161. pitch drive gear pinion bearing 131. pitch driven gear 18. airbag mounting bracket 19 scanning housing 20.CCD controller 21.ICCD 22. filter 23. polarizer 24. polarizer controller 25. green lasers 26. lasers bracket 27. image processor 28. wireless transmission module 29. synchronous Controller 30. underwater acoustic signal receiving system 31. buoy 32. transmission line 33. signal amplifier 34. workbench 35.PGB monitor 36. the ground.
Embodiment
As shown in the figure, the present invention includes underwater portion 1 and above ground portion 2, wherein underwater portion comprises submerge system, two-axle rotating table, scanning mechanism 19, underwater sound signal transmission system 5; Above ground portion comprises underwater sound signal receiving system 30 and watch-dog 35.
Submerge system comprises mounting platform 4, rises dive thruster 8, movable propeller 6, air bag 7, mounting platform 4, for two shaft platforms being installed, being risen dive thruster 8, movable propeller 6, air bag 7 and underwater sound signal transmission system 5, wherein rises the both sides that are arranged on platform 4 of thruster 8 symmetries of diving; Air bag 7 is arranged on the below of platform 4 both sides by fixed mount 18 symmetries; Movable propeller 6 is arranged on the afterbody of platform 4; Underwater sound signal transmission system 5 is arranged on the top of platform 4 afterbodys.The latent thruster 8 of submerge device utilization liter and movable propeller 6 submerges, to testing goal ground, realize hovering by the aeration quantity that regulates air bag 7, and start to monitor.
Two-axle rotating table comprises direction rotating shaft 15, orientation follower gear 13, orientation driving gear 16, bearing servo motor 17, pitching rotating shaft 12, pitching support 11, pitching driving gear 161, pitching follower gear 131, pitching servomotor 14.Orientation follower gear 13 is arranged on platform 4 by direction rotating shaft 15, drives orientation driving gear 16 to realize orientation regulate by bearing servo motor 17; Pitching support 11 is fixed on orientation follower gear 13; Pitching servomotor 14 is fixed on pitching support 11, and pitching follower gear 131 is arranged on pitching support 11 by pitching rotating shaft 12, drives pitching driving gear 161 to realize scanning mechanism 9 luffing angles regulate by pitching servomotor 14; Scanning mechanism 9 is arranged in pitching rotating shaft 12 by fixed mount 10.
Two-axle rotating table has two covers, is arranged on respectively the both sides up and down of platform 4, and the turntable of upside can be realized the monitoring of any angle target of episphere, and the turntable of downside can be realized the monitoring of any angle target of lower semisphere.
Turntable and scanning mechanism 9 seal by hemispheric translucent cover 3, can effectively control the corrosion failure of seawater to turntable and scanning mechanism.
Scanning mechanism 9 comprises polaroid 23, optical filter 22, ICCD 21, polaroid controller 24, CCD controller 20, pulse green laser 25, isochronous controller 29, image processor 27.Green laser 25 is for launching active light source, the light of reflection by polaroid 23, optical filter 22, ICCD 21 by the image of scanning through isochronous controller 29 registrations with after merging, be transferred to image processor 27, the image of processing through image processor 27 spreads out of by underwater acoustic information transmission system 5.
Underwater acoustic information receiving system 30 is mainly used in receiving the image information of being transmitted by underwater acoustic information transmission system, and image information is transferred to PGB monitor 35 after signal amplifier 33 amplifies, and understands water-bed detection target information by monitor.System realizes the location to underwater sound signal receiving system 30 by water surface float 31.
The present invention is militarily with a wide range of applications and important using value.Compared with traditional sonar technique, have survey flexibly, response rapidly, target more easy to identify, good concealment and detection accuracy high.Compared with traditional passive type submarine target imaging technique, adopt " window under water " green laser active illumination, greatly reduce stray light under water, increase contrast; The rangerate-gate technique of developed recently is applied to native system, greatly reduces the impact of water body scattering, be more conducive to detection and the identification of target.The present invention can be generalized to many civilian aspects, as aquaculture, under water archaeology, submerged wreck investigate, rubbish monitoring in water, underwater operation, the search of losing weaponry under water, the search of crime material evidence and the accident investigation of paddling, salvage, sea life are observed and the field such as related science research.Exploitation of the present invention is expected to develop a kind of brand-new Underwater Target Detection and recognition technology with application, is of great significance for improving the fight capability tool of China's underwater ordnance under complicated marine environment.
Claims (9)
1. the seabed submerge supervisory system of a laser polarization detection comprises underwater portion 1 and above ground portion 2, and wherein underwater portion comprises submerge system, two-axle rotating table, scanning mechanism 19, underwater sound signal transmission system 5; Above ground portion comprises underwater sound signal receiving system 30 and watch-dog 35.
2. the seabed submerge supervisory system that a kind of laser polarization according to claim 1 detects, it is characterized in that submerge system comprises mounting platform 4, rises dive thruster 8, movable propeller 6, air bag 7, mounting platform 4, for two shaft platforms being installed, being risen dive thruster 8, movable propeller 6, air bag 7 and underwater sound signal transmission system 5, wherein rises the both sides that are arranged on platform 4 of thruster 8 symmetries of diving; Air bag 7 is arranged on the below of platform 4 both sides by fixed mount 18 symmetries; Movable propeller 6 is arranged on the afterbody of platform 4; Underwater sound signal transmission system 5 is arranged on the top of platform 4 afterbodys.
3. the latent thruster 8 of submerge device utilization liter and movable propeller 6 submerges, to testing goal ground, realize hovering by the aeration quantity that regulates air bag 7, and start to monitor.
4. the seabed submerge supervisory system that a kind of laser polarization according to claim 1 detects, is characterized in that two-axle rotating table comprises direction rotating shaft 15, orientation follower gear 13, orientation driving gear 16, bearing servo motor 17, pitching rotating shaft 12, pitching support 11, pitching driving gear 161, pitching follower gear 131, pitching servomotor 14; Orientation follower gear 13 is arranged on platform 4 by direction rotating shaft 15, drives orientation driving gear 16 to realize orientation regulate by bearing servo motor 17; Pitching support 11 is fixed on orientation follower gear 13; Pitching servomotor 14 is fixed on pitching support 11, and pitching follower gear 131 is arranged on pitching support 11 by pitching rotating shaft 12, drives pitching driving gear 161 to realize scanning mechanism 9 luffing angles regulate by pitching servomotor 14; Scanning mechanism 9 is arranged in pitching rotating shaft 12 by fixed mount 10.
5. the seabed submerge supervisory system that a kind of laser polarization according to claim 1 detects, it is characterized in that two-axle rotating table has two covers, be arranged on respectively the both sides up and down of platform 4, the turntable of upside can be realized the monitoring of any angle target of episphere, and the turntable of downside can be realized the monitoring of any angle target of lower semisphere.
6. the seabed submerge supervisory system that a kind of laser polarization according to claim 1 detects, is characterized in that turntable and scanning mechanism 9 seal by hemispheric translucent cover 3, can effectively control the corrosion failure of seawater to turntable and scanning mechanism.
7. the seabed submerge supervisory system that a kind of laser polarization according to claim 1 detects, is characterized in that scanning mechanism 9 comprises polaroid 23, optical filter 22, ICCD 21, polaroid controller 24, CCD controller 20, pulse green laser 25, isochronous controller 29, image processor 27; Green laser 25 is for launching active light source, the light of reflection by polaroid 23, optical filter 22, ICCD 21 by the image of scanning through isochronous controller 29 registrations with after merging, be transferred to image processor 27, the image of processing through image processor 27 spreads out of by underwater acoustic information transmission system 5.
8. the seabed submerge supervisory system that a kind of laser polarization according to claim 1 detects, it is characterized in that underwater acoustic information receiving system 30 is mainly used in receiving the image information of being transmitted by underwater acoustic information transmission system, image information is transferred to PGB monitor 35 after signal amplifier 33 amplifies, and understands water-bed detection target information by monitor.
9. system realizes the location to underwater sound signal receiving system 30 by water surface float 31.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210522546.4A CN103852764A (en) | 2012-12-07 | 2012-12-07 | Submarine navigation monitoring system based on laser polarization detection |
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| CN201210522546.4A CN103852764A (en) | 2012-12-07 | 2012-12-07 | Submarine navigation monitoring system based on laser polarization detection |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108028892A (en) * | 2015-09-30 | 2018-05-11 | 索尼公司 | Information acquisition equipment and information obtaining method |
| CN108386677A (en) * | 2018-03-06 | 2018-08-10 | 漳州视瑞特光电科技股份有限公司 | A kind of monitor with regulatory function |
| CN109856638A (en) * | 2019-02-28 | 2019-06-07 | 中国计量大学 | A kind of method that specific submarine target searches for positioning automatically |
| CN110481738A (en) * | 2019-08-20 | 2019-11-22 | 哈尔滨工程大学 | A kind of latent device of full impregnated photosphere shape manned capsule sightseeing |
| CN111141389A (en) * | 2020-02-20 | 2020-05-12 | 长春理工大学 | Device and method for measuring transmission characteristics of polarized light in underwater environment |
| CN112379386A (en) * | 2020-09-30 | 2021-02-19 | 中国人民解放军陆军炮兵防空兵学院 | Unmanned swarm target space position distribution detection system and method |
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2012
- 2012-12-07 CN CN201210522546.4A patent/CN103852764A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108028892A (en) * | 2015-09-30 | 2018-05-11 | 索尼公司 | Information acquisition equipment and information obtaining method |
| CN108028892B (en) * | 2015-09-30 | 2021-02-09 | 索尼公司 | Information acquisition apparatus and information acquisition method |
| CN108386677A (en) * | 2018-03-06 | 2018-08-10 | 漳州视瑞特光电科技股份有限公司 | A kind of monitor with regulatory function |
| CN109856638A (en) * | 2019-02-28 | 2019-06-07 | 中国计量大学 | A kind of method that specific submarine target searches for positioning automatically |
| CN109856638B (en) * | 2019-02-28 | 2021-09-17 | 中国计量大学 | Method for automatically searching and positioning specific underwater target |
| CN110481738A (en) * | 2019-08-20 | 2019-11-22 | 哈尔滨工程大学 | A kind of latent device of full impregnated photosphere shape manned capsule sightseeing |
| CN110481738B (en) * | 2019-08-20 | 2022-04-05 | 哈尔滨工程大学 | Full-light-transmitting spherical manned cabin sightseeing submersible vehicle |
| CN111141389A (en) * | 2020-02-20 | 2020-05-12 | 长春理工大学 | Device and method for measuring transmission characteristics of polarized light in underwater environment |
| CN112379386A (en) * | 2020-09-30 | 2021-02-19 | 中国人民解放军陆军炮兵防空兵学院 | Unmanned swarm target space position distribution detection system and method |
| CN112379386B (en) * | 2020-09-30 | 2024-01-02 | 中国人民解放军陆军炮兵防空兵学院 | Unmanned bee colony target space position distribution detection system and method |
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Application publication date: 20140611 |