CN105654478B - Underwater heat source detecting method based on thermal area integration - Google Patents
Underwater heat source detecting method based on thermal area integration Download PDFInfo
- Publication number
- CN105654478B CN105654478B CN201511000636.7A CN201511000636A CN105654478B CN 105654478 B CN105654478 B CN 105654478B CN 201511000636 A CN201511000636 A CN 201511000636A CN 105654478 B CN105654478 B CN 105654478B
- Authority
- CN
- China
- Prior art keywords
- under water
- thermal source
- region
- suspected target
- heat source
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
Landscapes
- Engineering & Computer Science (AREA)
- Quality & Reliability (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Image Processing (AREA)
Abstract
The invention discloses an underwater heat source detecting method based on thermal area integration. The method comprises the steps of establishing a thermal diffusion model of an underwater heat source; according to the thermal diffusion model of the underground heat source, determining the size of an energy integration area by the depth h of the underwater heat source; obtaining an infrared image which comprises a thermal diffusion area which is radiated from the underwater heat source to a horizontal plane, performing multiple-dimension dividing on the infrared image according to the size of the energy integration area, and performing energy integration through utilizing the multiple-dimension divided area as the unit; and according to the integration energy of the multiple-dimension divided area, obtaining a suspected target area of each dividing dimension, and combining the overlapped areas of the suspected target areas of the dividing dimensions, thereby obtaining a final suspected target area and realizing underwater heat source detection. The underwater heat source detecting method can eliminate interferences of noise, temperature difference and environment noise of a camera and makes signal difference reach a detachable strength, thereby realizing a purpose of detecting the underwater heat source.
Description
Technical field
The invention belongs to the technical field that physical oceangraphy, thermophysics and information processing intersect, more particularly, to one
Plant the thermal source detection method under water based on heat domain integral.
Background technology
The research of Underwater Targets Recognition is constantly subjected to the very big pass of many scholars, engineers and technicians and military service
Note, has extensive developing and demand, particularly maritime surveillance, water at aspects such as ocean engineering, communication engineering and military public security
The detection and identification of target (such as oil platform, Watership Down, dam foundation crack etc.) in lower pipeline, seabed mine locating and water all be unable to do without
The exploitation of image technique and research.
When submarine navigation device is moved, aircraft flow-disturbing itself, and the propelling current of equidirectional of propeller, surrounding seawater can be produced
Disturbance.Disturbance is finally spread by turbulent motion, and can produce subtle effects to the Temperature Distribution of neighbouring sea water.Navigate under water simultaneously
Row device itself equally can produce impact to the ocean temperature passed through, by drive marine mistake as a mobile thermal source under water
Journey is conducted to extra large surface, can produce disturbance to sea-surface temperature.The energy major part that submarine navigation device is produced when moving is converted into
Heat energy, energy will not disappear without foundation, finally pass to the water surface, cause the capacity volume variance in region.
The cold tail (or the heat for producing) that submarine navigation device is produced when moving, through conduction of heat and thermal convection current, can cause sea
The capacity volume variance in face, in the infrared figure being imaged to the sea containing submarine navigation device, for single pixel, energy
Difference is not obvious, and camera may can't detect the change of temperature.It is in the case where infrared camera prevailing temperature resolution is relatively low, existing
Some submarine navigation device detection methods, only take into account by the means of image procossing to detect submarine target, do not account for heat
Application of the physicss in image procossing, causes verification and measurement ratio low, and false alarm rate is high.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of water based on heat domain integral
Lower thermal source detection method, can eliminate the noise jamming of the camera noise temperature difference and environment, and verification and measurement ratio is high, and false alarm rate is low.
For achieving the above object, the invention provides one kind thermal source detection method under water, it is characterised in that including following step
Suddenly：
(1) set up the thermal diffusion model of thermal source under water：Thermal source under water is made to be radiated the center in the thermal diffusion region of horizontal plane
For O, the center of thermal source is O' under water, and the latent depth of thermal source is h under water, and the thermal diffusion of thermal source is most fast from O' to O under water, from O' to water
Most slow below lower thermal source, thermal source is radiated the calorific intensity in the thermal diffusion region of horizontal plane and locates most by force, outwards gradually to subtract in O under water
It is weak；
(2) thermal diffusion model according to thermal source under water, determines the subregional size of energy product by the latent deep h of thermal source under water；
(3) infrared image in the thermal diffusion region that horizontal plane is radiated comprising thermal source under water is obtained, according to energy product subregion
The size in domain carries out multiple dimensioned division to infrared image, and energy integral is carried out in units of the region of multiple dimensioned division；
(4) integral energy according to the region of multiple dimensioned division, obtains the suspected target region of each partition of the scale, merges
The overlapping region in the suspected target region of each partition of the scale, obtains final suspected target region, realizes the inspection of thermal source under water
Survey.
Preferably, in the step (3), the size in all regions of i-th partition of the scale is wi×3wi, i-th yardstick
The integral energy in m-th region for dividingWherein, g represents infrared image, and c is represented
The number of regions that infrared image a line is divided, m%c represent m mould c.
Preferably, in the step (3), the noise jamming of the camera noise temperature difference and environment is eliminated using equation below：
Wherein,Impact of the submarine target to r-th pixel of integral domain is represented,Represent infrared camera equivalent
Impact of the noise temperature difference to r-th pixel of integral domain,Represent shadow of the environment noise to r-th pixel of integral domain
Ring, n represents integral domain pixel number.
Preferably, in the step (4), according to the integral energy in all regions of i-th partition of the scale, obtain i-th
The suspected target region of partition of the scaleWherein,
M is the areal of i-th partition of the scale, Ei,mFor the integral energy in m-th region of i-th partition of the scale.
Preferably, in the step (4), when two suspected target regions are rectangle, judgement by the following method is
No overlap：Two rectangles central point image coordinate system x directions distance less than or equal to two rectangles mean breadth,
And the central point of two rectangles is judged when the distance in image coordinate system y directions is less than or equal to the average height of two rectangles
Two suspected target regions overlap；Otherwise judge that two suspected target regions do not overlap.
Preferably, in the step (4), when in two suspected target regions, at least one is irregular figure, lead to
Cross following method to judge whether to overlap：All summits of a suspected target regional graphics are not in another doubtful mesh wherein
When in mark regional graphics, judge that two suspected target regions do not overlap；Otherwise judge that two suspected target regions overlap.
In general, by the contemplated above technical scheme of the present invention compared with prior art, with following beneficial effect
Really：Existing camera temperature resolution is relatively low, noise jamming is big, it is impossible to reach the purpose of the signal of thermal source under water for detecting faint
In the case of, the method detected using the thermal source under water based on heat domain integral can eliminate the camera noise temperature difference and environment
Noise jamming, makes signal difference reach detectable intensity, so as to realize detecting the purpose of thermal source under water.
Description of the drawings
Fig. 1 is the detection method flow chart of thermal source under water based on heat domain integral of the embodiment of the present invention；
Fig. 2 thermal source anisotropy conduction of heat schematic diagrams；
Fig. 3 is the two-dimensional representation of submarine direction thermal diffusion；
Fig. 4 is the stress and strain model figure of ocean model；
Fig. 5 is the phantom of ocean layering；
Fig. 6 is submarine navigation device wake flow longitudinal section simulation result；
Fig. 7 is motion submarine navigation device underwater exercise temperature field pseudo-colourss simulation result；
Whether inside the closed polygon Fig. 8 is to judge schematic diagram a little；
Fig. 9 is the infrared figure original graph on sea；
Figure 10 is that design sketch is stretched in infrared Tula；
Figure 11 is the suspected target figure for detecting.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.As long as additionally, technical characteristic involved in invention described below each embodiment
Do not constitute conflict each other can just be mutually combined.
The present invention proposes a kind of thermal source remote detecting method under water based on heat domain integral, it is therefore intended that utilize aviation
Device and spacecraft detection various thermals source under water, including submarine navigation device.Which is it is critical that set up the thermal diffusion mould of thermal source under water
Type, eliminates the noise jamming of the camera noise temperature difference or environment using heat domain integral method, reaches signal difference detectable
Intensity, so as to large scale detects suspected target region, also do not see and phase of the present invention in existing domestic and foreign literature
Same or similar report.
As shown in figure 1, the embodiment of the present invention includes following step based on the detection method of thermal source under water of heat domain integral
Suddenly：
(1) set up the thermal diffusion model of thermal source under water：
The strong and weak form of the thermal diffusion produced from aircraft on the water surface is most to weaken to surrounding by force from directly over aircraft
Disk pattern；And undersurface diffusion mode may be considered the ellipsoid dispersal pattern caused because of yardstick difference, it is assumed that navigation
Device surrounding is blocked without any, then thermal diffusion mode shows as spherical.
The center that thermal source under water is radiated the thermal diffusion region of horizontal plane is made to be O, the center of thermal source is O' under water, under water heat
The latent depth (i.e. the distance of O' to O) in source is h, and the thermal diffusion of thermal source is most fast from O' to O under water, from O' to thermal source under water below most
Slowly, under water thermal source to be radiated the calorific intensity in the thermal diffusion region of horizontal plane most strong at O, outwards gradually weaken；
As shown in Fig. 2 being thermal source anisotropy conduction of heat schematic diagram, when aircraft is located under water, thermal diffusion is to navigation
The surrounding of device is diffused.But according to the principle of heat propagation, the intensity of heat propagation is by strong and weak be divided into：Aircraft just goes up
Side (O'O directions), above aircraft side below (remove O'O directions) and aircraft.Therefore the heat for being produced by aircraft on the water surface
The strong and weak form of diffusion is the disk pattern most weakened to surrounding by force from directly over aircraft；And undersurface diffusion mode can be with
It is considered the ellipsoid dispersal pattern caused because of yardstick difference.
Assume aircraft surrounding block without any, then thermal diffusion mode show as it is spherical, Fig. 2 by dotted line ACB rotation constitute
's.But it is actual then do not exist, it is actual then separated by different medium airs.If it is O that submarine thermal expansion is scattered to the center of horizontal plane, navigate
Row device is to two end points that the distance at the center of horizontal plane is that h, A and B represent hypothesis.
(2) thermal diffusion model according to thermal source under water, determines the subregional size of energy product by the latent deep h of thermal source under water；
In this emulation experiment, submarine length be 100m, submarine underwater along the thermal diffusion of submarine direction two dimension
Schematic diagram as shown in figure 3, therefore, integral domain length can be chosen for 2*h+lq=200m.For convenience of calculation, integral domain size
Maximum can be chosen for 70m*210m.
(3) infrared image in the thermal diffusion region that horizontal plane is radiated comprising thermal source under water is obtained, according to energy product subregion
The size in domain carries out multiple dimensioned division to infrared image, and energy integral is carried out in units of the region of multiple dimensioned division；
(3-1) the thermo parameters method model of thermal source and marine environment is set up under water, obtains heat of the thermal source to horizontal plane under water
The emulation infrared image of diffusion zone.
The foundation of geometric model is carried out using SolidWorks softwares to ocean and submarine navigation device, with ICEM CFD couple
The geometric model for establishing carries out the division of grid, and grid is imported Fluent then carries out the related setting of solver, uses
Tecplot carries out post processing to solving calculated result, the submarine navigation device geometric model set up under marine environment, and
To the infrared figure of the emulation containing submarine navigation device.
(3-1-1) foundation of geometric model is carried out to ocean and submarine navigation device
According to practical situation and correlation theories knowledge, it is determined that the size dimension and submarine navigation device of built geometric model are based on
Ocean location, it is 200m*600m to take zoning, and the boat of submarine navigation device is 50m deeply.
(3-1-2) geometric model to establishing carries out the division of grid
Stress and strain model is carried out to geometric model using TGrid/ (Tet/Hybrid) mixed structures.To submarine navigation device wall
When carrying out stress and strain model, with reference to the division of body fitted anisotropic mesh so as to the long-range Yu Haiyang wall grid of fine and closely woven degree of grid it is thin
Close degree, so as to improve the accuracy and precision of result of calculation, stress and strain model figure is as shown in Figure 4.
(3-1-3) grid is imported Fluent carries out the related setting of solver
Start Fluent and import ready-portioned grid, solver and operating condition are set, to physical model, perimeter strip
The correlated conditions such as part, initial condition are set, after being provided with by calculated.Detailed process includes following sub-step：
A () starts Fluent and imports grid
Start Fluent, into Fluent Launcher interfaces, the Dimension in Fluent Launcher interfaces
Middle selection 3D, keeps default setting, into Fluent main interfaces.Grid is imported, mesh quality is checked, it is ensured that there is no negative body
Product, and preserve project.
B () defines solver, keep default setting.It is for operating condition, it is considered to the impact of gravity, (overall in General
Model specification) in panel, Gravity check boxes are chosen, -9.81 are input in Z, that is, the gravity arranged in Z axis negative direction accelerates
Degree.
C () defines physical model, select turbulence model, using second order standard k- ε moulds in Model (model specification) panel
Type.Energy options are double-clicked, energy equation is opened.
D () arranges material character, as the fluent material given tacit consent in Material (material) panel does not have wet concentration item, need
Replicated from material database.Create/Edit buttons are clicked, in the physical parameter setting dialog box for ejecting, is clicked
Fluent Database buttons.Material database needed for will now ejecting, in Fluent Fluid Mat erials
Select Water-liquid Copy.After the completion of establishment, Body fluid types in cell area condition are set to into Water-
liquid。
(e) arrange boundary condition, for convenient simulation, in parameter setting, it is assumed that submarine navigation device be it is actionless,
And ocean is that 5m/s is moved with the actual speed of submarine navigation device.The type for arranging section input is speed entrance boundary bar
Part, the size of given speed is 5m/s, and temperature is 300k.The type of section output is free exit boundary, it is not necessary to given
Exit condition.The type for arranging submarine is wall boundary condition, and wall is static without sliding, gives submarine navigation device
Temperature is 330k, and unit volume heat generation rate is 100w/m3.The type of section walls is wall boundary condition, is set to move
Dynamic wall, and given translational speed is 5m/s, direction is X-axis positive direction, sets wall surface temperature as 330k.
F () arranges and solves control parameter, equation group adopts SIMPLE algorithms, and the precision for making residual error is 0.00001, keeps silent
Recognize setting to initialize solver.After the completion of initialization, the step number for arranging iterative calculation is 1000 steps, and solver is carried out
Calculate.
(3-1-4) post processing is carried out to solving calculated result with Tecplot
Result of calculation post processing, preserves and calculates acquired results, reads in example file and data text using Tecplot softwares
Part.Activation contour figure layer, selection target variable is temperature, and drawing isoline adjusts diagram parameter repeatedly until obtain ideal
Temperature chart.
The phantom of ocean layering is as shown in Figure 5.Submarine navigation device wake flow longitudinal section simulation result is as shown in fig. 6, fortune
Dynamic submarine navigation device underwater exercise temperature field pseudo-colourss simulation result is as shown in Figure 7.
There is above simulation result to understand.The underwater movement of submarine, is conducted to extra large surface by marine dynamic process, may be right
Sea-surface temperature produces trickle disturbance.By the infrared SST observation of High Resolution, the thin of SST is recognized
Microvariations, it is possible to by setting up appropriate inverse model, detect the flight path under water of submarine.
(3-2) multiple dimensioned division is carried out to infrared image, energy integral is carried out in units of the region of multiple dimensioned division.
Wherein, the size in all regions of i-th partition of the scale is wi×3wi, 25 meters≤wi≤ 70 meters, i-th yardstick is drawn
The integral energy in m-th region dividedG represents infrared image, and c represents infrared figure
As the number of regions that a line is divided, m%c represents m mould c.
The thought of heat region energy proposed by the present invention integration, its importance is, existing infrared camera resolution
Low, noise jamming is big, it is impossible to reach the purpose of the signal of thermal source under water for detecting faint.The important method of energy area integration,
The noise jamming of the camera noise temperature difference or environment can be eliminated, makes signal difference reach detectable intensity.
Potentially submarine target temperature range is -50 DEG C～50 DEG C, and the gray scale bit of LONG WAVE INFRARED image is 16 gray scales
Level scope is the temperature variation that 0～65535,100,/65,536 0.0015 DEG C=1.5mk of ≈ are that a gray value is represented, judges
At least 3 gray levels of gray threshold that submarine target is present are 4.5mk, and the sensitivity of infrared camera is 30mk, adds environment
Noise, camera may can't detect the change of temperature, and the noise that can eliminate the camera noise temperature difference and environment using equation below is done
Disturb.
Wherein,Impact of the submarine target to r-th pixel of integral domain is represented,Represent infrared camera equivalent
Impact of the noise temperature difference to r-th pixel of integral domain,Represent shadow of the environment noise to r-th pixel of integral domain
Ring, n represents integral domain pixel number.
(4) integral energy according to the region of multiple dimensioned division, obtains the suspected target region of each partition of the scale, merges
The overlapping region in the suspected target region of each partition of the scale, obtains final suspected target region, realizes the inspection of thermal source under water
Survey.
Wherein, the integral energy according to all regions of i-th partition of the scale, obtains the doubtful mesh of i-th partition of the scale
Mark regionM is the area of i-th partition of the scale
Domain number.
When two suspected target regions are rectangle, judge whether by the following method to overlap：
Assume suspected target region ti-1The parameter of corresponding rectangle 1 is：The coordinate in the upper left corner is (x1,y1), width is w1,
Height is h1；tiThe parameter of corresponding rectangle 2 is：The coordinate in the upper left corner is (x2,y2), width is w2, height is h2。
In detection, the pass of the coordinate of Correlation Centre point distance in the x and y direction and width can be mathematically processed into
System.Distance of the i.e. two rectangular centre points in x directions is less than or equal to the mean breadth of two rectangles, while the distance in y directions
Less than or equal to the average height of two rectangles.Mathematic(al) representation is presented herein below：
X directions：A=(| (x1+w1/2)-(x2+w2/ 2) | ＜ | (w1+w2)/2|)
Y directions：B=(| (y1+h1/2)-(y2+h2/ 2) | ＜ | (h1+h2)/2|)
If a＆＆b is true, ti-1And tiOverlap, if false, then ti-1And tiDo not overlap.
When at least one is irregular figure in two suspected target regions, judge whether weight by the following method
It is folded：
For the suspected target region t of irregular figurei-1And ti, it is assumed that tiIt is by p0p1p2...psp0This s set of vertices
Into closed figure, judge ti-1And tiWhether overlap, be exactly to judge p respectively0p1p2...psWhether in ti-1Inside, if
p0p1p2...psNot in ti-1It is internal, then ti-1And tiDo not overlap, if p0p1p2...psThere is a summit in ti-1Inside, that
Ti-1And tiOverlap.
Here use horizontal/vertical cross point diagnostic method and (be applied to any enclosed polygon, including concave polygon and convex
Polygon).As shown in figure 8, making horizontal linear from P points, straight line and polygonal all intersection points are solved, in x-axis direction, from a left side
Two intersection Is P are taken out successively to right1、IP2If P certainly exists point P in IP in polygonal internal1、IP22 points of centre
If (centre is also can be regarded as in coincidence).So, we can sequentially consider polygonal each edge, obtain the total number of intersection point.
During straight line and polygon intersection is solved, there are some special circumstances, this algorithm is agreed as follows, Ke Yizheng
Really judge a little whether inside closed polygon.For 1 point of P on polygon0, it is considered to side P0P2And P0Previous point P1：
If a, only P0P2Level, when P is in P0P2When on the straight line of place, P2Add intersection point set；
If b, line segment P1P0, P0P2All level, works as P1Also in P0P2When on the straight line of place, then twice P2Add intersection point collection
Close.
If c, y=p.y straight line and its intersection point are P0If, P1P0, P0P2All in the same side of y=p.y, then twice P0
Add intersection point set.
1 point of P is judged whether inside closed polygon, p.x, p.y represent the transverse and longitudinal coordinate of point P respectively, its specific algorithm
Flow process is as follows：
1) make a horizontal linear from P points, from 1 point of P of closed polygon0Start, complete polygon of traversal is all of
Point, its previous point are expressed as P1, latter point be expressed as P2。
2) horizontal linear is sought with polygonal all intersection points, it is contemplated that special circumstances.If line segment P0P2Level, if p.y
=p2.y, then point P2Add intersection point set.If line segment P0P2Level, p1.y=p0.y, then again point P2Add intersection point collection
Close.
If 3) line segment P0P2Level, does not obtain y=p.y straight lines and line segment P0P2Intersection I P, if IP and P0Overlap, sentence
Broken string section P1P0With line segment P0P2Whether in straight line y=p.y both sides, if it is, IP is added intersection point set.The P if IP gets along well0
Overlap, then IP is added intersection point set directly.
4) sequence of abscissa size is pressed in intersection point meeting point.
5) put and be judged as on border not in polygon, if intersection point number is odd number, judge point outside polygon, successively
Two point IP are taken in intersection point set1,IP2, if there is p.x ＞=p1And p.x ＜=p .x2.x, then point P in polygon
Face, if it does not exist, then point P is outside polygon.
If ti-1And tiOverlap, by ti-1And tiIt is merged into a target area.If ti-1And tiDo not overlap, then compare ti-1With
tiGray average, if target is thermal source (i.e. under water the temperature of thermal source be higher than ambient temperature), choose gray average the greater
For target area；If target is low-temperature receiver (i.e. the temperature of thermal source is less than ambient temperature under water), chooses gray average smaller and be
Target area.
After whether the suspected target region that detection different scale is divided overlaps, the suspected target region of each yardstick is closed
And, obtain final suspected target region.
When 50m is deeply moved under water, the infrared figure original graph on sea is as shown in figure 9, effect is stretched in infrared Tula to submarine navigation device
Fruit is schemed as shown in Figure 10, and as shown in figure 11, it is identification that in Figure 11, thick line white edge outlines the part come to the suspected target for detecting
The thermal source under water for going out and its region of tail.
As it will be easily appreciated by one skilled in the art that the foregoing is only presently preferred embodiments of the present invention, not to
The present invention, all any modification, equivalent and improvement made within the spirit and principles in the present invention etc. are limited, all should be included
Within protection scope of the present invention.
Claims (5)
1. one kind thermal source detection method under water, it is characterised in that comprise the steps：
(1) set up the thermal diffusion model of thermal source under water：The center that thermal source under water is radiated the thermal diffusion region of horizontal plane is made to be O,
The center of thermal source is O' under water, and the latent depth of thermal source is h under water, and the thermal diffusion of thermal source is most fast from O' to O under water, from O' to heat under water
Most slow below source, thermal source is radiated the calorific intensity in the thermal diffusion region of horizontal plane and locates most by force, outwards gradually to weaken in O under water；
(2) thermal diffusion model according to thermal source under water, determines the subregional size of energy product by the latent deep h of thermal source under water；
(3) infrared image in the thermal diffusion region that horizontal plane is radiated comprising thermal source under water is obtained, it is subregional according to energy product
Size carries out multiple dimensioned division to infrared image, and energy integral is carried out in units of the region of multiple dimensioned division：Wherein, the size in all regions of i-th partition of the scale is wi×3wi, Ei,mTable
Show the integral energy in m-th region of i-th partition of the scale, g represents infrared image, and c represents the area that infrared image a line is divided
Domain number, m%c represent m mould c, wiRepresent the width in the region of i-th partition of the scale；
(4) integral energy according to the region of multiple dimensioned division, obtains the suspected target region of each partition of the scale, merges each
The overlapping region in the suspected target region of partition of the scale, obtains final suspected target region, realizes the detection of thermal source under water.
2. thermal source detection method under water as claimed in claim 1, it is characterised in that in the step (3), using equation below
Eliminate the noise jamming of the camera noise temperature difference and environment：
Wherein,Impact of the submarine target to r-th pixel of integral domain is represented,Represent infrared camera equivalent noise
Impact of the temperature difference to r-th pixel of integral domain,Represent impact of the environment noise to r-th pixel of integral domain, n
Represent integral domain pixel number.
3. thermal source detection method under water as claimed in claim 1, it is characterised in that in the step (4), according to i-th chi
The integral energy in all regions that degree is divided, obtains the suspected target region of i-th partition of the scaleWherein, M is the region of i-th partition of the scale
Number, Ei,mFor the integral energy in m-th region of i-th partition of the scale.
4. thermal source detection method under water as claimed in claim 1, it is characterised in that in the step (4), in two doubtful mesh
When mark region is rectangle, judge whether by the following method to overlap：Two rectangles central point in image coordinate system x directions
Distance less than or equal to two rectangles mean breadth, and the central point of two rectangles is in the distance in image coordinate system y directions
Less than or equal to two rectangles average height when, judge that two suspected target regions overlap；Otherwise judge two suspected targets
Region does not overlap.
5. such as thermal source detection method under water as claimed in claim 1, it is characterised in that in the step (4), doubtful at two
When in target area, at least one is irregular figure, judge whether by the following method to overlap：A doubtful mesh wherein
Mark regional graphics all summits not in another suspected target regional graphics when, judge that two suspected target regions do not weigh
It is folded；Otherwise judge that two suspected target regions overlap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511000636.7A CN105654478B (en) | 2015-12-25 | 2015-12-25 | Underwater heat source detecting method based on thermal area integration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511000636.7A CN105654478B (en) | 2015-12-25 | 2015-12-25 | Underwater heat source detecting method based on thermal area integration |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105654478A CN105654478A (en) | 2016-06-08 |
| CN105654478B true CN105654478B (en) | 2017-04-26 |
Family
ID=56477570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511000636.7A Active CN105654478B (en) | 2015-12-25 | 2015-12-25 | Underwater heat source detecting method based on thermal area integration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105654478B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108305257B (en) * | 2017-12-27 | 2020-08-04 | 华中科技大学 | Seabed tunnel remote sensing detection positioning method under background thermal radiation constraint |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10011039A1 (en) * | 2000-03-07 | 2001-09-13 | Claus Schlueter | Hydra-compound internal combustion engine or thermal machine uses Schluter cycle for valve-controlled piston engines and other suitable types plus low resistance internal combustion engine cycle |
| CN102269723B (en) * | 2011-07-26 | 2013-05-22 | 中国石油天然气股份有限公司长庆油田分公司 | Method and device for measuring water content of crude oil based on thermal diffusion |
| CN103942793B (en) * | 2014-04-16 | 2016-11-16 | 上海交通大学 | The consistent motion region detection method of video based on thermal diffusion |
-
2015
- 2015-12-25 CN CN201511000636.7A patent/CN105654478B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105654478A (en) | 2016-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| De Marco et al. | Experimental and numerical hydrodynamic analysis of a stepped planing hull | |
| CN107576388A (en) | Three-dimensional structure sound source radiation sound field forecasting procedure under a kind of shallow sea channel | |
| Burk et al. | Mesoscale simulation of supercritical, subcritical, and transcritical flow along coastal topography | |
| Wang et al. | On the internal collapse phenomenon at the closure of cavitation bubbles in a deceleration process of underwater vertical launching | |
| CN113420440B (en) | Vortex identification method based on ocean vertical structure | |
| CN111859748B (en) | Ocean internal wave simulation method based on vertical mixed coordinates | |
| McDonough | Lectures in elementary fluid dynamics: physics, mathematics and applications | |
| Asher et al. | The effect of water depth and internal geometry on the turbulent flow inside a coral reef | |
| Pidcock et al. | The spatial variability of vertical velocity in an Iceland basin eddy dipole | |
| Stanislas | Near wall turbulence: An experimental view | |
| CN109991670A (en) | A kind of submarine target localization method | |
| Wang et al. | Wind–wave misalignment effects on Langmuir turbulence in tropical cyclone conditions | |
| Xiang et al. | A CFD approach for numerical assessment of hydrodynamic coefficients of an inclined prism near the sea bottom | |
| CN105654478B (en) | Underwater heat source detecting method based on thermal area integration | |
| Sudharsun et al. | Free surface features of submarines moving underwater: Study of Bernoulli Hump | |
| Chiapponi et al. | Cross-shore variability and vorticity dynamics during wave breaking on a fixed bar | |
| Seol et al. | Towed underwater PIV measurement for free-surface effects on turbulent wake of a surface-piercing body | |
| CN105631100A (en) | Fluid simulation method for target infrared wake characteristics of water scene | |
| Stashchuk et al. | Horizontal dispersion in shelf seas: High resolution modelling as an aid to sparse sampling | |
| Yao et al. | A study of wave-driven flow characteristics across a reef under the effect of tidal current | |
| Luo et al. | Thermal characteristics of vehicle wake induced by the interaction between hydrodynamic wake and cold skin | |
| CN105606224B (en) | Underwater heat source detection and location method based on water body hierarchical filtering | |
| Mazzuoli et al. | Direct numerical simulation of the oscillatory flow around a sphere resting on a rough bottom | |
| Sun et al. | Characteristics of the surface signatures induced by a sphere in a linearly stratified flow | |
| Shaffer et al. | Determining the discharge rate from a submerged oil leak jet using ROV video |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |