CN104714223A - Method of automatically extracting direct-navigation section data in synthetic aperture sonar data - Google Patents

Method of automatically extracting direct-navigation section data in synthetic aperture sonar data Download PDF

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Publication number
CN104714223A
CN104714223A CN201310681521.3A CN201310681521A CN104714223A CN 104714223 A CN104714223 A CN 104714223A CN 201310681521 A CN201310681521 A CN 201310681521A CN 104714223 A CN104714223 A CN 104714223A
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vacuate
points
storehouse
track points
point
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CN104714223B (en
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江泽林
张鹏飞
刘维
刘纪元
张春华
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Institute of Acoustics CAS
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Institute of Acoustics CAS
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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
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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

Abstract

The invention relates to a method of automatically extracting direct-navigation section data in synthetic aperture sonar data. Through adopting rarefying algorithm, rarefying processing is carried out on all track points in the synthetic aperture sonar data to obtain rarefying points, the straight distances between all track points in the track between any two adjacent rarefying points and the two points are all smaller than a set rarefying distance threshold, the distance between any two adjacent rarefying points is larger than a set adjacent rarefying point distance threshold, limited track points are obtained on a track curve, a folded line is formed, the shape of the original track curve is maintained to a certain degree, distinct direct-navigation section data can be extracted in the synthetic aperture sonar data, the rarefying algorithm can be used for automatically extracting the direct-navigation section data, manual processing is not needed, the working efficiency is saved, and the calculation time is saved.

Description

The extraction method of segment data is sailed through in a kind of synthetic aperture sonar data
Technical field
The present invention relates to the technical field of signal processing.In particular to the extraction method of sailing through to segment data in a kind of synthetic aperture sonar data.
Background technology
Sonar is the equipment utilizing underwater sound wave to detect target and locate.For being arranged on naval vessel or the active sonar of pull-type, according to the transmit direction of sound wave, can be divided into side-looking, under look, the type such as forward sight.Wherein side looking sonar mostly is imaging sonar, is mainly used in Underwater Target Detection, seafloor topography mapping etc.The side looking sonar of current main-stream has side-scan sonar (Side Scan Sonar, SSS) and synthetic aperture sonar (Synthetic ApertureSonar) two classes.
Synthetic aperture sonar is the high resolving power acoustic imaging sonar of a kind of advanced person, its ultimate principle be utilize small-bore basic matrix in orientation to mobile form virtual large aperture, by carrying out Coherent processing to the sonar echo of diverse location, thus obtain orientation to high-resolution imaging result.
Synthetic aperture sonar imaging algorithm is divided into Time-Domain algorithm and the large class of frequency domain algorithm two.Time-Domain algorithm realizes mainly through interpolation, index and plural number superposition, and its advantage is: use is flexible, EMS memory occupation is little, is easy to realize, and its shortcoming is that counting yield is low, requires higher to sampling rate.Frequency domain algorithm realizes mainly through Fourier transform and multiple multiplication, and its advantage is that counting yield is high, and its shortcoming is that EMS memory occupation is large, can not directly apply to non-rectilinear flight path and Nonuniform azimuth sampling.
Along with the development of synthetic aperture sonar technology, and the continuous progress of computer process ability, treatment effeciency and the processing speed of the lifting Technologies Against Synthetic Aperture sonar of technique and tactics index are had higher requirement.In this context, frequency domain imaging algorithm becomes more excellent selection.But compared with Time-Domain algorithm, frequency domain imaging algorithm requires that sonar does uniform rectilinear's navigation.And in real navigation, in order to carry out imaging repeatedly, from various visual angles to target, the flight path of sonar only keeps direct route usually within a certain period of time, the sonar data obtained like this is connected to form by direct route segment data and non-straight leg (as turned) data break.Use the imaging results of frequency domain algorithm to non-straight leg data normally fuzzy.
In the later stage application of sonar image (such as image mosaic, sound spectrogram are inlayed, target identification etc.), need to use sonar image clearly, this just requires that carrying out direct route segment data to raw radar data or imaging data extracts, and the artificial extracting method of general employing extracts.But because sonar image data volume is comparatively large, use the artificial method extracted to the time and human resources consumption comparatively large, inefficiency.
Summary of the invention
The object of the invention is to, extract in synthetic aperture sonar data and sail through to segment data in order to solve the artificial extracting method of existing employing and there is time and the larger technical matters of human resources consumption, the invention provides the extraction method of sailing through to segment data in a kind of synthetic aperture sonar data, realize the automatic extraction of synthetic aperture sonar data direct route section, improve work efficiency.
For achieving the above object, the invention provides the extraction method of sailing through to segment data in a kind of synthetic aperture sonar data, described extraction method comprises:
Step 1) setting vacuate distance threshold and adjacent vacuate point distance threshold;
Step 2) extract positional information and the frame number information of each track points in synthetic aperture sonar data;
Step 3) is storing step 2 successively) in the positional information of track points that obtains, vacuate process is carried out to all track points and obtains vacuate point, make all track points between any two adjacent vacuate points on flight path all be less than to the distance of this point-to-point transmission straight line the vacuate distance threshold set in step 1);
Step 4) judges further according to the vacuate point obtained in step 3): if the distance between any two adjacent vacuate points is greater than the adjacent vacuate point distance threshold set in step 1), then extract this two adjacent vacuates o'clock as two end points stored in direct route section end point set, otherwise delete these two adjacent vacuate points;
Step 5) obtains the frame number information corresponding to each end points from the direct route section end point set of step 4), and according to this frame number information from synthetic aperture sonar extracting data direct route segment data.
As the further improvement of technique scheme, the positional information of described track points is GPS information.
As the further improvement of technique scheme, described step 3) adopts Douglas-Peucker algorithm realization, and concrete steps comprise:
Step 301) open up course made good quantity space P, storing step 2 successively) in the positional information of track points that obtains, open up two storehouse A and B for storing the some sequence number of track points, by top track points P 1with Terminal Track point P nsome sequence number respectively stored in storehouse A and storehouse B;
Step 302) from storehouse A, read stack top element i, and obtain track points P ipositional information, from storehouse B, read stack top element j, and obtain track points P jpositional information;
Step 303) calculate P in course made good quantity space P ito P jbetween each track points to straight line P ip jdistance, and obtain distance maximal value D wherein kand the track points P of correspondence k;
Step 304) compare D kwith vacuate distance threshold D thsize, if D k>=D th, determine P iand P jbetween flight path can not be approximately straight line, now by track points P ksome sequence number k be pressed in storehouse B, the top-of-stack pointer of storehouse B adds 1, if D simultaneously k< D th, determine P iand P jbetween flight path be approximately straight line, by track points P jsome sequence number j delete from storehouse B and be pressed in storehouse A, simultaneously the top-of-stack pointer of storehouse A adds 1, and the top-of-stack pointer of storehouse B subtracts 1;
Step 305) repeated execution of steps 302) to step 304), until storehouse B is empty;
Step 306) sequentially find corresponding track points according to each element in storehouse A, by all track points composition flight path point sets found, this flight path point set is as the vacuate point set obtained after vacuate process.
The extraction method advantage of sailing through to segment data in a kind of synthetic aperture sonar data of the present invention is: the present invention is by adopting evacuating algorithm, in Technologies Against Synthetic Aperture sonar data, all track points carry out vacuate process acquisition vacuate point, the all track points between any two adjacent vacuate points on flight path are made all to be less than the vacuate distance threshold of setting to the distance of this point-to-point transmission straight line, and the distance met between any two adjacent vacuate points is greater than the adjacent vacuate point distance threshold of setting, namely on flight path curve, limited track points is got, become broken line, and the shape of original flight path curve can be kept to a certain extent, thus can extract in synthetic aperture sonar data and sail through to segment data clearly, and utilize this evacuating algorithm can automatically extract direct route segment data, do not need artificial treatment, in addition, adopt Douglas-Peucker algorithm as evacuating algorithm, and utilize storehouse to realize the storage of track points, the space of can increase work efficiency further, save computing time and consumption.
Accompanying drawing explanation
Fig. 1 is the extraction method process flow diagram of sailing through to segment data in a kind of synthetic aperture sonar data of the present invention.
Fig. 2 is the schematic diagram using Douglas-Peucker algorithm to obtain vacuate point in the embodiment of the present invention.
Fig. 3 is the stack architecture schematic diagram adopting Douglas-Peucker algorithm in the embodiment of the present invention.
Fig. 4 is the flight path vacuate process instance graph in the embodiment of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the extraction method of sailing through to segment data in a kind of synthetic aperture sonar data of the present invention is described in detail.
As Fig. 1 shows the extraction method of sailing through to segment data in a kind of synthetic aperture sonar data of the present invention, described extraction method comprises:
Step 1) setting vacuate distance threshold and adjacent vacuate point distance threshold;
Step 2) extract positional information and the frame number information of each track points in synthetic aperture sonar data;
Step 3) is storing step 2 successively) in the positional information of track points that obtains, vacuate process is carried out to all track points and obtains vacuate point, make all track points between any two adjacent vacuate points on flight path all be less than to the distance of this point-to-point transmission straight line the vacuate distance threshold set in step 1);
Step 4) judges further according to the vacuate point obtained in step 3): if the distance between any two adjacent vacuate points is greater than the adjacent vacuate point distance threshold set in step 1), then extract this two adjacent vacuates o'clock as two end points stored in direct route section end point set, otherwise delete these two adjacent vacuate points;
Step 5) obtains the frame number information corresponding to each end points from the direct route section end point set of step 4), and according to this frame number information from synthetic aperture sonar extracting data direct route segment data.
Based on above-mentioned extraction method, the stability of sonar carrier is mainly considered in the setting of described vacuate distance threshold, and when sonar vector stabilisation is better, this vacuate distance threshold can get less value; When sonar vector stabilisation is poor, this vacuate distance threshold can get larger value, and the reference value of vacuate distance threshold setting is 1 meter.In addition, the reference value of adjacent vacuate point distance threshold setting is generally the several times of length of synthetic aperture.
Based on above-described embodiment, usually on sonar carrier, positioning equipment is installed, in sonar data file except echo data or view data, is also attached with flight path positional information, use in applying to facilitate the later stage.This flight path information directly utilizes the file layout of data file to extract.In addition, can using the positional information of GPS information as track points.
Above-mentioned steps 3) realization can adopt Douglas-Peucker algorithm.Douglas-Peucker algorithm is a kind of evacuating algorithm.The implication of vacuate is in digitized process, needs to carry out sample reduction to curve, on curve, namely gets limited point, become broken line, and can keep original shape to a certain extent.
General Douglas-Peucker algorithm utilizes the thought of recurrence (iteration), the head and the tail 2 getting one section of curve are linked to be straight line, on judgment curves, each point is to the distance of straight line, if ultimate range is less than threshold value, then replace straight line with head and the tail 2, if ultimate range is greater than threshold value, then utilize curve point corresponding to ultimate range that curve is divided into two sections, continue to use above-mentioned determination methods to every section of curve.As shown in Figure 2, after utilizing Douglas-Peucker algorithm that curve A B is carried out vacuate, obtain 6 vacuate points, namely finally can replace curve A B with broken line ADCEFB.And the present invention improves general Douglas-Peucker algorithm, mainly utilize the thought of storehouse to realize, and do not use the method for above-mentioned recursive iteration.Although because the method easy to understand of recursive iteration and realization, when data volume is larger, there is larger uncontrollability usually.Compared with realizing with the method for recursive iteration, use the Douglas-Peucker algorithm of storehouse can raise the efficiency, save the space of computing time and consumption.
In the present embodiment, the present invention adopts Douglas-Peucker algorithm to comprise the concrete steps that all track points carry out vacuate process:
Step 301) open up course made good quantity space P, storing step 2 successively) in the positional information of track points that obtains, open up two storehouse A and B for storing the some sequence number of track points, by top track points P 1with Terminal Track point P nsome sequence number respectively stored in storehouse A and storehouse B; As shown in Figure 3 (a), be pressed into element 1 in storehouse A, be pressed into element N in storehouse B, element 1 and element N represent top track points P respectively 1with Terminal Track point P nsome sequence number.
Step 302) as shown in Figure 3 (b), from storehouse A, read stack top element i, and obtain track points P ipositional information, from storehouse B, read stack top element j, and obtain track points P jpositional information;
Step 303) calculate P in course made good quantity space P ito P jbetween each track points to straight line P ip jdistance, and obtain distance maximal value D wherein kand the track points P of correspondence k;
Step 304) compare D kwith vacuate distance threshold D thsize, if D k>=D th, determine P iand P jbetween flight path can not be approximately straight line, as shown in Figure 3 (c), now by track points P ksome sequence number k be pressed in storehouse B, the top-of-stack pointer of storehouse B adds 1, if D simultaneously k< D th, determine P iand P jbetween flight path be approximately straight line, as shown in Figure 3 (d), by track points P jsome sequence number j delete from storehouse B and be pressed in storehouse A, simultaneously the top-of-stack pointer of storehouse A adds 1, and the top-of-stack pointer of storehouse B subtracts 1;
Step 305) repeated execution of steps 302) to step 304), until storehouse B is empty;
Step 306) sequentially find corresponding track points according to each element in storehouse A, by all track points composition flight path point sets found, this flight path point set is as the vacuate point set Q obtained after vacuate process.
Based on the vacuate point set Q that above-mentioned steps obtains, whether the distance between any two adjacent vacuate points that judgement wherein contains exceedes the adjacent vacuate point distance threshold of setting, and concrete steps comprise:
Suppose that vacuate point set Q comprises M vacuate point, judge two adjacent vacuate point Q successively iand Q i+1(i=1,2 ..., M-1) between actual range D qi, Qi+1if, D qi, Qi+1> D th_Azimuth, then Q is thought iand Q i+1between flight path be direct route, then extract this two adjacent vacuates o'clock as two end points stored in direct route section end point set T; Otherwise think Q iand Q i+1between distance too small, data volume is not enough to carry out direct route process, deletes these two adjacent vacuate points.The direct route section end point set T of final acquisition, meets T={ (Q i, Q i+1) | D qi, Qi+1> D th_Azimuth.
According to the direct route section end point set T that above-mentioned steps obtains, obtain the frame number information corresponding to each end points that it comprises, and according to this frame number information from synthetic aperture sonar extracting data direct route segment data.
As shown in Figure 4, be section flight path vacuate process instance graph of in the embodiment of the present invention.The quantity of Reciprocal course point is 22378 points, is only 189 points after vacuate.As can be seen from the figure, direct route section vacuate point distribution in synthetic aperture sonar data is sparse, densely distributed at turnaround section vacuate point, therefore, by utilizing the extraction method of sailing through to segment data in synthetic aperture sonar data of the present invention, the shape of original flight path curve can be kept to a certain extent, thus can extract in synthetic aperture sonar data and sail through to segment data clearly.
It should be noted last that, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted.Although with reference to embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, modify to technical scheme of the present invention or equivalent replacement, do not depart from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.

Claims (3)

1. sail through to an extraction method for segment data in synthetic aperture sonar data, it is characterized in that, described extraction method comprises:
Step 1) setting vacuate distance threshold and adjacent vacuate point distance threshold;
Step 2) extract positional information and the frame number information of each track points in synthetic aperture sonar data;
Step 3) is storing step 2 successively) in the positional information of track points that obtains, vacuate process is carried out to all track points and obtains vacuate point, make all track points between any two adjacent vacuate points on flight path all be less than to the distance of this point-to-point transmission straight line the vacuate distance threshold set in step 1);
Step 4) judges further according to the vacuate point obtained in step 3): if the distance between any two adjacent vacuate points is greater than the adjacent vacuate point distance threshold set in step 1), then extract this two adjacent vacuates o'clock as two end points stored in direct route section end point set, otherwise delete these two adjacent vacuate points;
Step 5) obtains the frame number information corresponding to each end points from the direct route section end point set of step 4), and according to this frame number information from synthetic aperture sonar extracting data direct route segment data.
2. sail through to the extraction method of segment data in synthetic aperture sonar data according to claim 1, it is characterized in that, the positional information of described track points is GPS information.
3. sail through to the extraction method of segment data in synthetic aperture sonar data according to claim 1, it is characterized in that, described step 3) adopts Douglas-Peucker algorithm realization, and concrete steps comprise:
Step 301) open up course made good quantity space P, storing step 2 successively) in the positional information of track points that obtains, open up two storehouse A and B for storing the some sequence number of track points, by top track points P 1with Terminal Track point P nsome sequence number respectively stored in storehouse A and storehouse B;
Step 302) from storehouse A, read stack top element i, and obtain track points P ipositional information, from storehouse B, read stack top element j, and obtain track points P jpositional information;
Step 303) calculate P in course made good quantity space P ito P jbetween each track points to straight line P ip jdistance, and obtain distance maximal value D wherein kand the track points P of correspondence k;
Step 304) compare D kwith vacuate distance threshold D thsize, if D k>=D th, determine P iand P jbetween flight path can not be approximately straight line, now by track points P ksome sequence number k be pressed in storehouse B, the top-of-stack pointer of storehouse B adds 1, if D simultaneously k< D th, determine P iand P jbetween flight path be approximately straight line, by track points P jsome sequence number j delete from storehouse B and be pressed in storehouse A, simultaneously the top-of-stack pointer of storehouse A adds 1, and the top-of-stack pointer of storehouse B subtracts 1;
Step 305) repeated execution of steps 302) to step 304), until storehouse B is empty;
Step 306) sequentially find corresponding track points according to each element in storehouse A, by all track points composition flight path point sets found, this flight path point set is as the vacuate point set obtained after vacuate process.
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