CN105572676A - Seine object fish shoal tracking method based on horizontal fishgraph images - Google Patents
Seine object fish shoal tracking method based on horizontal fishgraph images Download PDFInfo
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- CN105572676A CN105572676A CN201510942437.1A CN201510942437A CN105572676A CN 105572676 A CN105572676 A CN 105572676A CN 201510942437 A CN201510942437 A CN 201510942437A CN 105572676 A CN105572676 A CN 105572676A
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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
- G01S15/96—Sonar systems specially adapted for specific applications for locating fish
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a seine object fish shoal tracking method based on horizontal fishgraph images. Through obtaining echo signals of a fishgraph, a seine object fish shoal is tracked, a movement locus is predetermined, and thus the success rate of seine fishing is improved. According to the invention, through adjusting the inclination angle of a sonar, changing the emission direction of sound waves and performing 360-degree rotation, underwater three-dimensional space can be scanned, three-dimensional images are drafted, the quantity of fish shoals is estimated in a stereo mode, and effective help is provided for development of fish resources.
Description
Technical field
The present invention relates to a kind of shoal of fish method for tracing, particularly a kind of purse seine target shoal of fish based on horizontal fish finder image follow the trail of, anticipation, 3-D view solid estimation the number of fish school method.
Background technology
The fishing operation mode of deep-sea fishing mainly contains the forms such as trawlnet, purse seine, longline fishing, squid jig.Fishing for for Tuna--like Fishes, purse seine is topmost mode.Because tuna swimming rate is fast, agile, therefore when the discovery shoal of fish is surrounded and seize again, deep space network rate will be caused, and do not have good results.Existing horizontal fish finder only can detect size and the distribution situation of the shoal of fish under water, lacks effective tracking of the shoal of fish and the anticipation to shoal of fish movement locus, lacks 3-D view to the three-dimensional estimation function of the number of fish school simultaneously.
Summary of the invention
For the problems referred to above, fundamental purpose of the present invention is to provide a kind of purse seine target shoal of fish method for tracing based on horizontal fish finder image.
Central scope of the present invention: obtain raw data by horizontal fish finder, utilizes filtering algorithm therefrom to extract target shoal of fish information, founding mathematical models; The tracking of shoal of fish motion state is realized by data processing algorithm; By the real-time analysis to shoal of fish motion state, extract the information such as shoal of fish swimming rate and direction of motion, realize the anticipation to shoal of fish movement locus, thus reach and improve purse seine and to cast net the object of success ratio; Simultaneously by changing emission angle and the direction of sonar capsule, gathering underwater 3 D image, realizing the three-dimensional estimation function of the number of fish school.
The present invention solves above-mentioned technical matters by following technical proposals:
Based on a purse seine target shoal of fish method for tracing for horizontal fish finder image, the system used mainly comprises the sonar capsule that underwater acoustic transducer is housed, data collecting card, analog-to-digital conversion module, PC, gyroscope, GPS and trend meter etc.The method is specifically:
The first step: obtain original signal by the sonar capsule that underwater acoustic transducer is housed, utilize data collecting card original signal to be nursed one's health, then through analog-to-digital conversion module, simulating signal is converted to digital signal, import PC into.
Second step: unlatching gyroscope, GPS obtain navigations information, opens trend meter and obtains Ocean current information, and import data into PC in real time.
3rd step: the underwater sound signal of acquisition and navigation and Ocean current information are combined, demonstrated size and the distribution of the shoal of fish by the software of tracing system in real time, is followed the trail of the shoal of fish, and carries out anticipation to the movement locus of the shoal of fish.
4th step: the emission angle and the inclination direction that change horizontal fish finder sonar capsule according to the scan period of specifying, gather 360 degree of omnibearing three-dimensional space datas, thus drawing three-dimensional image, the quantity of the three-dimensional estimation shoal of fish.
In specific embodiments of the invention, after obtaining original acoustic signal, the shoal of fish to be followed the trail of and as follows to the realization flow of its track anticipation:
The first step: horizontal fish finder Image semantic classification: owing to inevitably there is the non-echo component such as clutter in image, by image pretreatment operation, reduces clutter to the impact of effective shoal of fish information.
Second step: target detection: target echo and original image background separation are come, detect moving target from original image.Set up the tracking transaction module of Target Tracking System to moving target, determine the motion state of target, and optimization aim tracker.
3rd step: target component is enrolled: in conjunction with ocean current and navigations information, determine the position coordinate parameters of target, and the geometric properties information of target, so that target shows at the vector quantization of display terminal, obtains the profile information of target.Then being geographic coordinate by target location of pixels coordinate transformation on the original image, is actual geographic size by target area convert information, make admission to target component and the shoal of fish size correspondence on.
4th step: target data record stores: the relevant information of preserving all targets in stipulated time section, comprises target acquisition time, target location and characteristic information thereof etc.The object information file stored is that follow-up dynamic three-dimensional display does basis.
5th step: the prediction of target trajectory: to target state real-time analysis, the information such as the movement velocity of extraction target and direction, realize the anticipation to target trajectory.
In specific embodiments of the invention, JPDA (JPDA) and Kalman filtering (KF) algorithm are adopted to multiobject tracking and track anticipation, ensure that the high precision position of the correct division that homology is measured and each target merges to estimate, improve system to multiobject detection probability and tracking performance.
In specific embodiment in the present invention, the stereoscopic scanning system that can change sonar capsule inclination angle and sound wave transmit direction has two sense of rotation, one is around vertical direction 360 degree rotation, and it two for rotate up and down in perpendicular, and the idiographic flow realizing underwater stereoscopic scanning is as follows:
The first step: being 0 degree with horizontal plane angle, be vertically downward 90 degree as calculating standard, sonar capsule is first with a less inclination angle
, initial transmissions angle
xiang Shuizhong launches sound wave, and receives echoed signal.
Second step: the inclination alpha of sonar capsule is fixed, increases a fixed angle by emission angle β
, continue emission detection sound wave and receive echo.
3rd step: repeat second step, until 360 degree of gamut detections are complete.
4th step: the inclination alpha changing sonar capsule, increases
degree, repeats second and third step.
5th step: when inclination value α meets or exceeds
degree, a complete period surface sweeping terminates.
In specific embodiment in the present invention, adopt iso-surface patch algorithm to carry out check processing to the sampled point in 3 d data field, carry out classification process by K mean cluster, realize effective structure of 3-D view.
The invention has the beneficial effects as follows: the present invention extracts shoal of fish target information by filtering from raw data, and utilize Kalman filtering (KF) and JPDA (JPDA) algorithm to follow the trail of the target shoal of fish, anticipation is carried out to movement locus, thus the success ratio that raising purse seine is cast net; Change the inclination angle of sonar capsule simultaneously, scan the three dimensions in 360 degree of gamuts, drawing three-dimensional image, the three-dimensional estimation number of fish school, this improves the development efficiency of China's marine fishery resources by being beneficial to, promote the development of marine economy.
Accompanying drawing explanation
Fig. 1 is the hardware circuit diagram of whole system of the present invention.
Fig. 2 is data flow architecture figure of the present invention.
Fig. 3 is the algorithm flow chart of target tracking of the present invention and movement locus anticipation.
Fig. 4 is that sonar capsule of the present invention rotates schematic diagram.
Fig. 5 is the sonar capsule scanning work process flow diagram of the solid estimation number of fish school of the present invention.
Fig. 6 is 3-D scanning schematic diagram of the present invention.
Embodiment
Fig. 1 is the hardware circuit diagram of whole system of the present invention, hardware system of the present invention comprises the sonar capsule 1 that underwater acoustic transducer is housed, described sonar capsule 1 connection data capture card 2, the simulating signal that data collecting card 2 obtains passes to PC 4 after analog-to-digital conversion module 3; The sensors 6 such as gyroscope 5, GPS and trend meter obtain ocean current and navigations information, and pass to PC 4.Sonar capsule 1 of the present invention can change beam transmission inclination angle simultaneously, and can 360 degree of rotations.
The workflow of this system is as follows:
The first step: obtain original signal by the sonar capsule that underwater acoustic transducer is housed, utilize data collecting card original signal to be nursed one's health, then through analog-to-digital conversion module, simulating signal is converted to digital signal, import PC into.
Second step: open gyroscope and obtain navigations information, open GPS, trend meter obtains Ocean current information, and import data into PC in real time.
3rd step: the underwater sound signal of acquisition and navigation and Ocean current information are combined, demonstrated size and the distribution of the shoal of fish by the software of tracing system in real time, is followed the trail of the shoal of fish, and carries out anticipation to the movement locus of the shoal of fish.
4th step: the emission angle and the inclination angle that change horizontal fish finder sonar capsule according to the scan period of specifying, gather 360 degree of omnibearing three-dimensional space datas, thus drawing three-dimensional image, the quantity of the three-dimensional estimation shoal of fish.
Fig. 2 is data flow architecture figure of the present invention.The original signal of fish finder is by after data collecting card, and carry out analog-to-digital conversion through A/D module and pass to PC again, the triggering of sonar capsule and tilt control signal pass to PC by common I/O port, and navigation and Ocean current information pass to PC by RS232 interface.
Fig. 3 is the algorithm flow chart of target tracking of the present invention and movement locus anticipation.
The first step: raw data obtains: by obtaining original underwater sound data with the data acquisition system (DAS) of sonar capsule.
Second step: Image semantic classification: inevitably there is the non-echo component such as clutter due in the image that horizontal fish finder obtains, by image pretreatment operation, reduces clutter to the impact of effective shoal of fish information.
3rd step: target detection: utilize Kalman filtering algorithm target echo and original image background separation to be come, detect moving target from original image.Set up the tracking transaction module of Target Tracking System to moving target, determine the motion state of target, and optimization aim tracker.
4th step: target component is enrolled: in conjunction with ocean current and navigations information, determine the position coordinate parameters of target, and the geometric properties information of target, so that target shows at the vector quantization of display terminal, obtains the profile information of target.Then being geographic coordinate by target location of pixels coordinate transformation on the original image, is actual geographic size by target area convert information, make admission to target component and the shoal of fish size correspondence on.
5th step: target data record stores: the relevant information of preserving all targets in stipulated time section, comprises target acquisition time, target location and characteristic information thereof etc.The object information file stored is that follow-up dynamic three-dimensional display does basis.
6th step: the prediction of target trajectory: by Joint Probabilistic Data Association algorithm to target state real-time analysis, the information such as the movement velocity of extraction target and direction, realize the anticipation to target trajectory.
7th step: target shows in real time: the position of target, speed and anticipation information etc. are shown in real time.
For the anticipation of target following and track, realized by a recursive process.First being used for upgrading the targetpath set up by the measurement information extracted from original image, if fall into the tracking gate of target from the metric data of original image, is then effectively measure; Then carry out tracking to maintain, comprise motor-driven identification and auto adapted filtering and prediction, in order to estimate the time of day of each targetpath; In tracking space, the input of data correlation is effective measurement, from potential fresh target or clutter, the method for tracking initiation may be utilized to discern the false from the genuine, and correspondingly set up new targetpath with the incoherent measurement of the targetpath set up; Then, when target flees from tracking space or by destruction, delete flight path by tracking terminating approach, to alleviate unnecessary computing cost, improve system works efficiency; Finally, before new measurement arrives, by target prediction state and the center of probability determination subsequent time tracking gate and the size that receive correct echo, to restart the recursion circulation of subsequent time.
Achieve in this recursive process multiobject effective tracking, and anticipation can be carried out to the movement locus of different target under each state.
Fig. 4 is that sonar capsule of the present invention rotates schematic diagram, and sonar capsule has two sense of rotation, and one can around vertical direction 360 degree rotation, and it two can rotate up and down in perpendicular.
Fig. 5 is the sonar capsule scanning work process flow diagram of the solid estimation number of fish school of the present invention, and concrete scanning process is as follows:
The first step: being 0 degree with horizontal plane angle, be straight down 90 degree as calculating standard, sonar capsule is first with a less inclination angle
, initial transmissions angle
xiang Shuizhong launches sound wave, and receives echoed signal, carries out data storage.
Second step: the inclination angle of sonar capsule
fixing, by emission angle
increase a fixed angle
, the angle that namely sonar capsule rotates along vertical direction is
, continue emission detection sound wave and receive echo, carrying out data storage.
3rd step: repeat second step, until 360 degree of gamut detections are complete.
4th step: the inclination angle changing sonar capsule
, increase
, repeat second and third step.
5th step: work as inclination value
meet or exceed
degree, namely a complete period surface sweeping terminates.
By can after the sonar capsule collection three-dimensional underwater sound data under water of the anglec of rotation, in conjunction with ocean current, navigations information, " iso-surface patch " algorithm is adopted to carry out check processing to the sampled point in 3 d data field, by setting initial target cluster centre point and initial background cluster centre point value, use K mean cluster iterative algorithm, obtain target cluster centre value G and background cluster centre value D, find target image point, calculate all target images point at X, Y, minimum and maximum coordinate points on Z tri-directions, thus calculate the size of target image, realize the quick reconfiguration of 3-D view, utilize extraterrestrial target quantity survey (surveying) algorithm, realize estimating of the number of fish school.
Fig. 6 is operating diagram of the present invention, and the ship carrying native system utilizes native system to obtain underwater information, follows the trail of and carries out track anticipation, be aided with rotatable sonar capsule simultaneously to submarine target, realizes underwater 3 D scanning.
Although show and describe embodiments of the invention; those having ordinary skill in the art will appreciate that: can carry out multiple changes and improvements to these embodiments when not departing from principle of the present invention and aim, these changes and improvements all will fall in the claimed scope of the invention.Application claims protection domain is had the right requirement and equivalents thereof.
Claims (5)
1. the purse seine target shoal of fish method for tracing based on horizontal fish finder image, the method uses as lower device: this device is equipped with the sonar capsule (1) of underwater acoustic transducer, described sonar capsule connection data capture card (2), the data that data collecting card (2) obtains pass to PC (4) after analog-to-digital conversion module (3); Gyroscope (5), GPS and trend meter (6) obtain ocean current and navigations information, and described gyroscope (5), GPS are connected with PC (4) by RS232 interface with trend meter (6); Sonar capsule (1) can change beam transmission inclination angle, and can 360 degree of rotations, it is characterized in that the method is specifically:
The first step: obtain original signal by the sonar capsule (1) that underwater acoustic transducer is housed, utilizes data collecting card (2) original signal to be nursed one's health, then through analog-to-digital conversion module (3), simulating signal is converted to digital signal, import PC (4) into;
Second step: open gyroscope (5) and obtain navigations information, open GPS, trend meter (6) obtains Ocean current information, and data are imported in real time into PC (4);
3rd step: the underwater sound signal of acquisition and navigation and Ocean current information are combined, demonstrated size and the distribution of the shoal of fish by the software of tracing system in real time, is followed the trail of the shoal of fish, and carries out anticipation to the movement locus of the shoal of fish;
4th step: the emission angle and the inclination direction that change horizontal fish finder sonar capsule (1) according to the scan period of specifying, gather 360 degree of omnibearing three-dimensional space datas, thus drawing three-dimensional image, the quantity of the three-dimensional estimation shoal of fish.
2. the purse seine target shoal of fish method for tracing based on horizontal fish finder image according to claim 1, is characterized in that: follow the tracks of the shoal of fish in the 3rd step and as follows to the implementation procedure of its track anticipation:
First carry out horizontal fish finder Image semantic classification, reduce clutter to the impact of effective shoal of fish information; Then carry out target detection, set up Target Tracking System, determine target state; Then carry out target component admission, determine the position coordinate parameters of target, and the geometric properties information of target; Then carry out the storage of target data record again, preserve the relevant information of all targets in stipulated time section, comprise target acquisition time, target location and characteristic information thereof; The prediction of last realize target movement locus.
3. the purse seine target shoal of fish method for tracing based on horizontal fish finder image according to claim 2, is characterized in that: adopt Kalman filtering in conjunction with Joint Probabilistic Data Association algorithm, carry out effective detection and tracking, realize the anticipation of track to multiple goal.
4. the purse seine target shoal of fish method for tracing based on horizontal fish finder image according to claim 1, it is characterized in that: the stereoscopic scanning system that can change sonar capsule inclination angle and sound wave transmit direction has two sense of rotation, one is around vertical direction 360 degree rotation, and it two for rotate up and down in perpendicular.
5. the purse seine target shoal of fish method for tracing based on horizontal fish finder image according to claim 1, it is characterized in that: adopt " iso-surface patch " algorithm to carry out check processing to the sampled point in three-dimensional space data, carry out classification process by K mean cluster, realize effective structure of 3-D view.
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| CN106709938A (en) * | 2016-11-18 | 2017-05-24 | 电子科技大学 | Multi-target tracking method based on improved TLD (tracking-learning-detected) |
| CN106707287A (en) * | 2016-12-23 | 2017-05-24 | 浙江大学 | Fish school quantity estimation method based on extended Kalman filtering combined with nearest neighbor clustering algorithm |
| CN106772401A (en) * | 2016-12-23 | 2017-05-31 | 浙江大学 | Number of fish school method of estimation based on probability hypothesis density particle filter algorithm |
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