CN108957444A - Sea ice region contour line detecting method and device - Google Patents
Sea ice region contour line detecting method and device Download PDFInfo
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- CN108957444A CN108957444A CN201810814679.6A CN201810814679A CN108957444A CN 108957444 A CN108957444 A CN 108957444A CN 201810814679 A CN201810814679 A CN 201810814679A CN 108957444 A CN108957444 A CN 108957444A
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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Abstract
The embodiment of the present invention provides a kind of sea ice region contour line detecting method and device, this method comprises: receiving pulse-echo sequence corresponding with pulse after emitting pulse along target direction across the sea；Pulse-echo sequence includes a series of echo amplitude of sampled points and each sampled point；The destination sample point of the spatially uniform acute variation of echo amplitude in sampled point is chosen, and using destination sample point as the profile point corresponding to target direction in sea ice region；Correspond to the profile point of different target directions by connecting, obtains the contour line in sea ice region.The embodiment of the present invention is provided by choosing the destination sample point in sampled point, the characteristics of using will appear apparent spatially uniform acute variation positioned at seawater region echo amplitude corresponding with the sampled point in sea ice boundary between areas region, obtain the contour line in sea ice region, it is able to detect that the circumference line in sea ice region, to help ship to make rational planning for course line, navigation risk is avoided.
Description
Technical field
The present embodiments relate to detection technique fields, more particularly, to a kind of sea ice region contour line detecting method
And device.
Background technique
Sea ice is an important factor for influencing winter harbour service, marine transportation and safety of ship.Ship passes in and out ice in winter
The harbour or bay of envelope, or have a large amount of floating ices, iceberg waters or ice-bound polar region, harbour, bay navigate by water, ship it is motor-driven by
Limit, if improper maneuver, hull is easily damaged, and ice easily occurs and is stranded, causes danger.Therefore, sea ice region need to be observed and determined in advance, especially
It is the edge contour of its coverage area, with course line of making rational planning for, avoiding navigation risk.In the related technology, to marine ice condition
It grasps, relies primarily on maritime affairs weather forecast, spaceborne radar and optical detection devices etc., but sea is carried out due to above-mentioned means
Observation is all difficult to continuously in time uninterruptedly, to be difficult to grasp sea sea ice situation in real time, it is more difficult to do
It is continuously tracked to the development of sea ice ice condition and movement.Although the radars such as boat-carrying navigation/search have work all-time anf all-weather
Make feature, but radar is typically only capable to detection point target, it is difficult to the area target of this large area in sea ice region is detected, thus difficult
To detect sea ice region contour line.
Summary of the invention
To solve the above-mentioned problems, the embodiment of the present invention provides one kind and overcomes the above problem or at least be partially solved
State the sea ice region contour line detecting method and device of problem.
According to a first aspect of the embodiments of the present invention, a kind of sea ice region contour line detecting method is provided, this method comprises:
Across the sea after target direction transmitting pulse, pulse-echo sequence corresponding with pulse is received；Pulse-echo sequence includes one
The echo amplitude of series of samples point and each sampled point；Choose the mesh of the spatially uniform acute variation of echo amplitude in sampled point
Sampled point is marked, and using destination sample point as the profile point corresponding to target direction in sea ice region；Corresponded to not by connection
The profile point of same target direction obtains the contour line in sea ice region.
Second aspect according to embodiments of the present invention, provides a kind of sea ice region contour line detector, which includes:
Receiving module, for after target direction transmitting pulse, receiving pulse-echo sequence corresponding with pulse across the sea；Pulse is returned
Wave train includes a series of echo amplitude of sampled points and each sampled point；Module is chosen, for choosing echo width in sampled point
The destination sample point of the spatially uniform acute variation of degree, and correspond to target direction using destination sample point as sea ice region
Profile point；Link block obtains the profile in sea ice region for corresponding to the profile point of different target directions by connection
Line.
According to a third aspect of the embodiments of the present invention, a kind of electronic equipment is provided, comprising: at least one processor；With
And at least one processor being connect with processor communication, in which: memory is stored with the program instruction that can be executed by processor,
The instruction of processor caller is able to carry out any possible implementation in the various possible implementations of first aspect
Provided sea ice region contour line detecting method.
According to a fourth aspect of the embodiments of the present invention, a kind of non-transient computer readable storage medium is provided, it is non-transient
Computer-readable recording medium storage computer instruction, computer instruction make the various possible realities of computer execution first aspect
Sea ice region contour line detecting method provided by any possible implementation in existing mode.
Sea ice region contour line detecting method and device provided in an embodiment of the present invention, by choosing echo width in sampled point
The destination sample point of the spatially uniform acute variation of degree, using being located at adopting for seawater region and sea ice boundary between areas region
The characteristics of corresponding echo amplitude of sampling point will appear apparent spatially uniform acute variation, obtains the contour line in sea ice region,
It is able to detect that the circumference line in sea ice region, so that ship be helped to make rational planning for course line, avoids navigation risk.
It should be understood that above general description and following detailed description be it is exemplary and explanatory, can not
Limit the embodiment of the present invention.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these figures.
Fig. 1 is the flow diagram of sea ice region contour line detecting method provided in an embodiment of the present invention；
Fig. 2 be another embodiment of the present invention provides sea ice region contour line detecting method flow diagram；
Fig. 3 is the structural schematic diagram of sea ice region contour line detector provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention is explicitly described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
The radars such as boat-carrying navigation/search have work characteristics all-time anf all-weather, can accomplish the reality to sea ice region
When detect, to guarantee marine safe navigation.But the type of target that the radars such as navigation/search usually detect is dotted mesh
Mark, point target generally occupy one or several resolution cells of radar, and detection processing is usually to determine center or the matter of target
The heart apart from orientation.But the area target of large area this for sea ice, it is generally not to determine wherein to the purpose that it is detected
The range-azimuth of the heart or mass center, but it needs to be determined that the coverage area of sea ice, the especially edge of its entire coverage area
Contour line.This is because the concrete condition for connecting the inside in sheet of sea ice region on sea does not directly affect marine vessel
Navigation.Based on this, the embodiment of the present invention provides a kind of sea ice region contour line detecting method, referring to Fig. 1, this method comprises:
101, pulse-echo sequence corresponding with pulse is received after target direction transmitting pulse across the sea；Pulse is returned
Wave train includes a series of echo amplitude of sampled points and each sampled point.
Wherein, sea ice region can be the floating ice on sea or iceberg.When ship navigates by water across the sea, can specifically it pass through
Radar transmitted pulse.Target direction is the direction of radar transmitted pulse, and target direction can be described as radar radial direction again.Due to radar
Can circumferentially (360 °) transmitting pulses, therefore, target direction be circumference in a direction.Pulse echo method is with echo width
Degree and time judge the presence of reflector and the detection method of position, therefore, are based on above-mentioned pulse echo method, the pulse of transmitting
It encounters the reflectors such as sea ice or seawater and will form pulse-echo sequence and return to radar.The pulse-echo sequence includes a series of
Sampled point, this series of sampled point, which can be, to be arranged apart from the sequence of ship from the near to the remote.Based on pulse-echo sequence,
The corresponding echo amplitude of available each sampled point and location information.
102, the destination sample point of the spatially uniform acute variation of echo amplitude in sampled point is chosen, and by destination sample
Profile point corresponding to target direction of the point as sea ice region.
Specifically, the fractional-sample point in pulse-echo sequence is located in the domain of sea-water area, and fractional-sample point is located at sea ice area
Domain.But sea ice region differs larger with the electromagnetic scattering echo amplitude in seawater region, the electromagnetism of sampled point dissipates in seawater region
It is emitted back towards wave amplitude and is integrally less than sampled point in sea ice region.Therefore, will appear in seawater region and the juncture area in sea ice region
Apparent spatially uniform variation.It therefore, can be this standard of spatially uniform acute variation based on echo amplitude to select
Take destination sample point, that is, echo amplitude the returning relative at least side sampled point in the sampled point of two sides of destination sample point
Wave amplitude is varied widely.Based on this, it can be confirmed that the location of destination sample point is seawater region and sea ice area
The intersection in domain, so that destination sample point is the profile point of sea ice region in the target direction.It is understood that corresponding to same
The profile point of one target direction can have one or more.
103, correspond to the profile point of different target directions by connecting, obtain the contour line in sea ice region.
Specifically, it can use radar and (such as radar utilized to carry out circumference to multiple and different target direction transmitting pulses
Scanning), and obtain the corresponding profile point of each target direction.By the connection between profile point, radar week may finally be obtained
The sea ice region of side whole.
Sea ice region contour line detecting method provided in an embodiment of the present invention, by the sky for choosing echo amplitude in sampled point
Between uniformity acute variation destination sample point, utilize be located at seawater region and sea ice boundary between areas region sampled point pair
The echo amplitude answered will appear the characteristics of apparent spatially uniform acute variation, obtain the contour line in sea ice region, Neng Goujian
The circumference line in sea ice region is measured, so that ship be helped to make rational planning for course line, avoids navigation risk.
The fluctuating of the echo amplitude of sampled point is smaller in seawater region.But accumulated since ice age difference is laminated, it connects into
The sea ice of piece can generate random fluctuation, so that the echo amplitude big rise and fall for the sampled point being located in sea ice region.By
It is to be chosen using the corresponding echo amplitude of destination sample point is this feature of spatially uniform acute variation in step 102
, therefore, in order to avoid having the sampled point of serious heteropical echo amplitude to choose destination sample point in sea ice region
Influence, referring to fig. 2, content based on the above embodiment, as a kind of alternative embodiment, the echo amplitude in choosing sampled point
Spatially uniform acute variation destination sample point before, the side that a kind of pair of pulse-echo sequence is smoothed is provided
Method, including but not limited to: pulse-echo sequence being smoothed in the target direction using smoothing filter, to reduce arteries and veins
The heterogeneity being located between the echo amplitude of the sampled point in sea ice region in refunds wave train, obtains smooth pulse echo sequence
Column.Therefore, it can use the serious heterogeneity of the sampled point inside smoothing filter removal sea ice region, and can retain
Between sea ice region and seawater region the characteristics of the spatially uniform acute variation of juncture area, to make the destination sample chosen
Point is more accurate.
Content based on the above embodiment, as a kind of alternative embodiment, provide it is a kind of using smoothing filter in target
Pulse-echo sequence is smoothed on direction, the method for obtaining smooth pulse-echo sequence, including but not limited to:
Step 1 intercepts pulse-echo sequence to set the sequence fragment of length, sets length by the rank of window function vector
Number determines.
Specifically, before step 1, for pulse-echo sequence X=(x1,x2,…,xM), it can first set Hamming window function
Vector W=(w1,w2,…,wN), wherein wnAs shown in following formula (1):
In formula, the value of order N is by radial sample rate f0With Range resolution cell size D0It determines, f0Unit be MHz,
D0Unit be rice, symbolExpression rounds up, and the value range of coefficient k is 3≤k≤10；The value of M is radially adopted by radar
Sample rate, pulse recurrence frequency and duty ratio determine that M can not generally be modified after radar determines, and M > N.
In step 1, pulse-echo sequence X is intercepted to a series of sequence fragment x for being N for lengthi=(xi,x2,…,
xN), the value range of i isSymbolIt indicates to be rounded downwards.That is the setting length and window function of sequence fragment
The order of vector W is identical.
Each vector in window function vector and sequence fragment is carried out convolution by step 2, and by convolution results and window function
The point value of vector cumulative and make quotient, obtains intermediate vector.
Specifically, the cumulative and SW of all point values of window function vector can be calculated before step 2:
In step 2, by window function vector W and each vector xiCarry out convolution, then again divided by SW, obtained result
As intermediate vector yi。
Step 3, the value for setting quantity in intermediate vector by choosing, obtain smooth pulse-echo sequence, setting quantity by
The order of window function vector determines.
Specifically, due to intermediate vector yiLength be 2N-1, for make the length of the sequence after smoothing processing with it is original
The length of pulse wave echo sequence be consistent, therefore after choosing the value of setting quantity in intermediate vector as smoothing processing
Export result zi。
As a kind of alternative embodiment, a kind of value setting quantity in intermediate vector by choosing is provided, smooth arteries and veins is obtained
The method of refunds wave train, including but not limited to: being obtained by the value for being located in the middle setting quantity chosen in intermediate vector
Smooth pulse-echo sequence.
Specifically, if N is even number, by intermediate vector yiBeforeA value is with afterIt is remaining after a value is rejected
Value sequence is constant as output result zi.If N is odd number, by intermediate vector yiBeforeA value is with afterA value is picked
After removing, remaining value sequence is constant as output result zi。
Result after entire pulse-echo sequence smoothing processing is denoted as smooth pulse-echo sequence Z,Z is each output result ziSpliced result.If directly being indicated with sampled point, for Z=
(z1,z2,z3,…,zM′), wherein
Content based on the above embodiment provides echo amplitude in a kind of selection sampled point as a kind of alternative embodiment
Spatially uniform acute variation destination sample point method, including but not limited to:
Step 1, by it is pre-set apart from sliding window along distance from closely to remote direction in smooth pulse-echo sequence it is sliding
It is dynamic, one Range resolution unit of stepping is slided every time, until reaching the end of pulse-echo sequence, and according to each Range resolution
The echo amplitude of sampled point in unit calculates the corresponding uniformity parameter of measurement of each Range resolution unit.
Specifically, settable apart from sliding window before step 1, the size N apart from sliding windowWAre as follows:
In formula, f0And D0Meaning and physical unit be same as above, the value interval of q is [3,8] and q is integer.
The corresponding uniformity parameter of measurement V of each Range resolution unitrAre as follows:
In formula, ziFor the echo amplitude of sampled point in the smooth pulse-echo sequence in Range resolution unit,It is NWIt is a to adopt
The arithmetic mean of instantaneous value of the echo amplitude of sampling point.
It is understood that VrIt is bigger, show that the uniformity in Range resolution unit is poorer, heterogeneity feature is presented；
Conversely, VrIt is smaller, show that the uniformity in Range resolution unit is better.
Apart from sliding window, along radar radial (i.e. target direction), constantly sliding, each stepping-in amount are from the near to the distant
I.e. each one Range resolution unit of stepping.It, until the end of smooth pulse-echo sequence, can be obtained with apart from sliding window movement
A series of uniformity parameter of measurement values are constituted a uniformity parameter of measurement sequence, can be indicated with Y, i.e. Y={ yi| i=1,2,
3,…}。
Step 2, for each uniformity parameter of measurement, if judgement knows that uniformity parameter of measurement is greater than decision threshold,
Using the corresponding sampled point of uniformity parameter of measurement as destination sample point.
Specifically, it is based on above-mentioned smoothing processing, the echo amplitude presentation of sea ice region and the sampled point in seawater region is very
Weak heterogeneity, only apparent heterogeneity is presented in the juncture area between seawater region and sea ice region.If sea does not have
There is sea ice, then the characteristics of sequence Y obtained answers Gaussian distributed, and even variation is integrally presented in sequence.It is settable to sentence based on this
Certainly thresholding confirms the corresponding sampling of uniformity parameter of measurement if the uniformity parameter of measurement in sequence Y is higher than decision threshold
The position of point is located at the boundary line in sea ice region and seawater region, the as profile point in sea ice region.If uniformity parameter of measurement
Lower than decision threshold, then confirm that the position of the corresponding sampled point of uniformity parameter of measurement is located at sea ice region or seawater region.
It should be noted that the embodiment of the present invention is not construed as limiting the method for obtaining decision threshold, it include but is not limited to adopt
Decision threshold is generated with the processing method of unit average constant false alarm, and can give false-alarm probability value is 10-3.In addition, for reply ratio
Several grades of adjustable decision thresholds can also be arranged in more severe sea condition and ice condition.If the relatively polyhomoeity parameter of measurement in sequence Y
The case where greater than decision threshold value, the value of decision threshold can be properly increased, that is, use other thresholding gears instead, it at this time can manual adjustment
The value of decision threshold.It is assumed that the above-mentioned decision threshold set is standard thresholding gear threshold value, then gear can be set are as follows: gear
Every to increase one grade, threshold value improves 20% on the basis of standard thresholding gear threshold value, and highest can raise 100%, in other words,
It raises gear and sets 5 grades altogether.
Content based on the above embodiment, multiple uniformity parameter of measurement form uniform according to the sequence of distance from the near to the remote
Property parameter of measurement sequence；Correspondingly, the profile point of different target directions is corresponded to by connecting, obtains the profile in sea ice region
After line, as a kind of alternative embodiment, a kind of method for confirming seawater region or sea ice region is provided, including but not limited to:
The first uniformity parameter of measurement subsequence and the second uniformity parameter of measurement subsequence are chosen in uniformity parameter of measurement sequence,
First uniformity parameter of measurement subsequence is made of the multiple uniformity parameter of measurement for being located at the side of contour line, and second uniformly
Property parameter of measurement subsequence be made of the multiple uniformity parameter of measurement of the other side for being located at contour line；Calculate separately first
The mean value of even property parameter of measurement subsequence and the second uniformity parameter of measurement subsequence；If judgement knows that the first uniformity measures ginseng
The mean value of number subsequence is greater than the mean value of the second uniformity parameter of measurement subsequence, then confirms the first sub- sequence of uniformity parameter of measurement
The side of the corresponding contour line of column is sea ice region, contour line corresponding to the second uniformity parameter of measurement subsequence it is another
Side is seawater region.
Specifically, by mass data analysis it is found that the uniformity parameter of measurement V in seawater regionrMean value is less than sea ice
The uniformity parameter of measurement V in regionrMean value.Therefore, for seawater boundary line two sides, respectively take q value as first in sequence Y
Uniformity parameter of measurement subsequence and the second uniformity parameter of measurement subsequence.It should be noted that the first uniformity parameter of measurement
The quantity of uniformity parameter of measurement can be identical or different in subsequence and the second uniformity parameter of measurement subsequence.It seeks respectively
After the average value of above-mentioned two subsequence, then it is compared.By the side of the mean value with biggish uniformity parameter of measurement
As sea ice region, the other side of the mean value of lesser uniformity parameter of measurement is as seawater region, so as to determine sea
On the basis of the contour line of ice formation domain, the type of contour line two side areas is further determined that.
Content based on the above embodiment, as a kind of alternative embodiment, if providing one kind judgement knows the first uniformity
The mean value of parameter of measurement subsequence is greater than the method for the mean value of the second uniformity parameter of measurement subsequence, including but not limited to: if
Judgement knows that the ratio between the mean value of the first uniformity parameter of measurement subsequence and the mean value of the second uniformity parameter of measurement subsequence are big
In setting multiple.Specifically, multiple, such as 2 are set.If (mean value is big for the ratio between mean value of two sides uniformity parameter of measurement
Person is divided by the small person of mean value) be greater than 2, then the big side of mean value corresponds to sea ice region, and the small side of mean value corresponds to seawater region.If two sides
The ratio between mean value (the big person of mean value is divided by the small person of mean value) is unsatisfactory for the condition of 2 times or more, then need to carry out by other methods or means
Further judgement, the embodiment of the present invention are not construed as limiting this.
Content based on the above embodiment, the embodiment of the invention provides a kind of sea ice region contour line detectors, should
Sea ice region contour line detector is used to execute the sea ice region contour line detecting method in above method embodiment.Referring to figure
3, which includes:
Receiving module 301, for after target direction transmitting pulse, receiving pulse echo corresponding with pulse across the sea
Sequence；Pulse-echo sequence includes a series of echo amplitude of sampled points and each sampled point.
Wherein, sea ice region can be the floating ice on sea or iceberg.When ship navigates by water across the sea, can specifically it pass through
Radar transmitted pulse.Target direction is the direction of radar transmitted pulse, and target direction can be described as radar radial direction again.Due to radar
Can circumferentially (360 °) transmitting pulses, therefore, target direction be circumference in a direction.Pulse echo method is with echo width
Degree and time judge the presence of reflector and the detection method of position, therefore, are based on above-mentioned pulse echo method, the pulse of transmitting
It encounters the reflectors such as sea ice or seawater and will form pulse-echo sequence and return to radar.The pulse-echo sequence includes a series of
Sampled point, this series of sampled point, which can be, to be arranged apart from the sequence of ship from the near to the remote.Based on pulse-echo sequence,
The corresponding echo amplitude of the available each sampled point of receiving module 301 and location information.
Selection module 302, the destination sample point of the spatially uniform acute variation for choosing echo amplitude in sampled point,
And using destination sample point as the profile point corresponding to target direction in sea ice region.
Specifically, the fractional-sample point in pulse-echo sequence is located in the domain of sea-water area, and fractional-sample point is located at sea ice area
Domain.But sea ice region differs larger with the electromagnetic scattering echo amplitude in seawater region, the electromagnetism of sampled point dissipates in seawater region
It is emitted back towards wave amplitude and is integrally less than sampled point in sea ice region.Therefore, will appear in seawater region and the juncture area in sea ice region
Apparent spatially uniform variation.Therefore, this that module 302 can be spatially uniform acute variation based on echo amplitude is chosen
One standard chooses destination sample point, that is, destination sample point echo amplitude relative at least side in the sampled point of two sides
The echo amplitude of sampled point is varied widely.Based on this, choosing module 302 can be confirmed the location of destination sample point
The as intersection in seawater region and sea ice region, so that destination sample point is the profile point of sea ice region in the target direction.
It is understood that one or more can be had by corresponding to the profile point of same target direction.
Link block 303 obtains the wheel in sea ice region for corresponding to the profile point of different target directions by connection
Profile.
Specifically, it can use radar and (such as radar utilized to carry out circumference to multiple and different target direction transmitting pulses
Scanning), and obtain the corresponding profile point of each target direction.Link block 303, may finally by the connection between profile point
Obtain the sea ice region of radar periphery whole.
Sea ice region contour line detector provided in an embodiment of the present invention, by the sky for choosing echo amplitude in sampled point
Between uniformity acute variation destination sample point, utilize be located at seawater region and sea ice boundary between areas region sampled point pair
The echo amplitude answered will appear the characteristics of apparent spatially uniform acute variation, obtain the contour line in sea ice region, Neng Goujian
The circumference line in sea ice region is measured, so that ship be helped to make rational planning for course line, avoids navigation risk.
As a kind of alternative embodiment, the device further include: Leveling Block, for using smoothing filter in target direction
On pulse-echo sequence is smoothed, with reduce in pulse-echo sequence be located at sea ice region in sampled point echo
Heterogeneity between amplitude obtains smooth pulse-echo sequence.
As a kind of alternative embodiment, Leveling Block includes: interception unit, for being setting by pulse-echo sequence interception
The sequence fragment of length, setting length are determined by the order of window function vector；Convolution unit is used for window function vector and sequence
Each vector in segment carries out convolution, and by the cumulative of convolution results and the point value of window function vector and makees quotient, in acquisition
Between vector；First selection unit obtains smooth pulse-echo sequence for the value by choosing setting quantity in intermediate vector,
Setting quantity is determined by the order of window function vector.
As a kind of alternative embodiment, the first selection unit is specifically used for: being located at centre by choosing in intermediate vector
The value of setting quantity obtain smooth pulse-echo sequence.
As a kind of alternative embodiment, module is chosen, comprising: computing unit is used for pre-set apart from sliding window edge
Distance slides one Range resolution unit of stepping from closely sliding in smooth pulse-echo sequence to remote direction every time, until
Reach the end of pulse-echo sequence, and according to the echo amplitude of the sampled point in each Range resolution unit, calculate each away from
Uniformity parameter of measurement corresponding from resolution cell；First judging unit is used for for each uniformity parameter of measurement, if judgement
Know that uniformity parameter of measurement is greater than decision threshold, then using the corresponding sampled point of uniformity parameter of measurement as destination sample point.
As a kind of alternative embodiment, sequence composition homogeneity of multiple uniformity parameter of measurement according to distance from the near to the remote
Parameter of measurement sequence；Correspondingly, the device further include: the second selection unit, for being chosen in uniformity parameter of measurement sequence
First uniformity parameter of measurement subsequence and the second uniformity parameter of measurement subsequence, the first uniformity parameter of measurement subsequence are
Multiple uniformity parameter of measurement by being located at the side of contour line form, and the second uniformity parameter of measurement subsequence is by being located at wheel
Multiple uniformity parameter of measurement of the other side of profile form；Second judgment unit is measured for calculating separately the first uniformity
The mean value of parameter subsequence and the second uniformity parameter of measurement subsequence；If the first uniformity parameter of measurement subsequence is known in judgement
Mean value be greater than the second uniformity parameter of measurement subsequence mean value, then confirm corresponding to the first uniformity parameter of measurement subsequence
The side of contour line be sea ice region, the other side of contour line corresponding to the second uniformity parameter of measurement subsequence is seawater
Region.
As a kind of alternative embodiment, second judgment unit is specifically used for: if the first uniformity parameter of measurement is known in judgement
The ratio between the mean value of subsequence and the mean value of the second uniformity parameter of measurement subsequence are greater than setting multiple.
The embodiment of the invention provides a kind of electronic equipment, as shown in figure 4, the equipment includes: processor (processor)
401, memory (memory) 402 and bus 403；Wherein, processor 401 and memory 402 complete phase by bus 403 respectively
Communication between mutually；Processor 401 is used to call the program instruction in memory 502, to execute sea provided by above-described embodiment
Ice formation domain silhouettes detection method, for example, across the sea after target direction transmitting pulse, receive arteries and veins corresponding with pulse
Refunds wave train；Pulse-echo sequence includes a series of echo amplitude of sampled points and each sampled point；It chooses in sampled point and returns
The destination sample point of the spatially uniform acute variation of wave amplitude, and correspond to target using destination sample point as sea ice region
The profile point in direction；Correspond to the profile point of different target directions by connecting, obtains the contour line in sea ice region.
The embodiment of the present invention also provides a kind of non-transient computer readable storage medium, the non-transient computer readable storage
Medium storing computer instruction, the computer instruction make computer execute the inspection of sea ice region contour line provided by corresponding embodiment
Survey method, for example, across the sea after target direction transmitting pulse, receive pulse-echo sequence corresponding with pulse；Arteries and veins
Refunds wave train includes a series of echo amplitude of sampled points and each sampled point；The space for choosing echo amplitude in sampled point is equal
The destination sample point of even property acute variation, and using destination sample point as the profile point corresponding to target direction in sea ice region；
Correspond to the profile point of different target directions by connecting, obtains the contour line in sea ice region.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: ROM, RAM, magnetic disk or light
The various media that can store program code such as disk.
The embodiments such as sea ice region contour line detection device described above are only schematical, wherein as separation
The unit of part description may or may not be physically separated, component shown as a unit can be or
It can not be physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to reality
Border needs to select some or all of the modules therein to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art
Without paying creative labor, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Certain Part Methods of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of sea ice region contour line detecting method characterized by comprising
Across the sea after target direction transmitting pulse, pulse-echo sequence corresponding with the pulse is received；The pulse is returned
Wave train includes a series of echo amplitude of sampled points and each sampled point；
Choose the destination sample point of the spatially uniform acute variation of echo amplitude in the sampled point, and by the destination sample
Profile point corresponding to the target direction of the point as sea ice region；
The profile point for corresponding to the different target directions by connecting, obtains the contour line in the sea ice region.
2. the method according to claim 1, wherein the space for choosing echo amplitude in the sampled point is equal
Before the destination sample point of even property acute variation, further includes:
The pulse-echo sequence is smoothed on the target direction using smoothing filter, to reduce the arteries and veins
The heterogeneity being located between the echo amplitude of the sampled point in the sea ice region in refunds wave train, obtains smooth arteries and veins
Refunds wave train.
3. according to the method described in claim 2, it is characterized in that, described right on the target direction using smoothing filter
The pulse-echo sequence is smoothed, comprising:
It is the sequence fragment of setting length by pulse-echo sequence interception, the length that sets is by the order of window function vector
It determines；
Each vector in the window function vector and the sequence fragment is subjected to convolution, and by convolution results and the window letter
The point value of number vector cumulative and make quotient, obtains intermediate vector；
The value for setting quantity in the intermediate vector by choosing, obtains the smooth pulse-echo sequence, the setting quantity
It is determined by the order of the window function vector.
4. according to the method described in claim 3, it is characterized in that, described set quantity by choosing in the intermediate vector
Value obtains the smooth pulse-echo sequence, comprising:
The smooth pulse-echo sequence is obtained by the value for being located in the middle setting quantity chosen in the intermediate vector.
5. according to the method described in claim 3, it is characterized in that, the space for choosing echo amplitude in the sampled point is equal
The destination sample point of even property acute variation, comprising:
By it is pre-set apart from sliding window along distance from closely being slided in the smooth pulse-echo sequence to remote direction, every time
One Range resolution unit of stepping is slided, until reaching the end of the pulse-echo sequence, and according to each distance point
It distinguishes the echo amplitude of the sampled point in unit, calculates the corresponding uniformity parameter of measurement of each Range resolution unit；
It, will if judgement knows that the uniformity parameter of measurement is greater than decision threshold for each uniformity parameter of measurement
The corresponding sampled point of the uniformity parameter of measurement is as the destination sample point.
6. according to the method described in claim 5, it is characterized in that, multiple uniformity parameter of measurement according to distance by closely to
Remote sequence composition homogeneity parameter of measurement sequence；Correspondingly, described to correspond to the different target directions by connecting
The profile point, after the contour line for obtaining the sea ice region, further includes:
The first uniformity parameter of measurement subsequence is chosen in the uniformity parameter of measurement sequence and the second uniformity measures ginseng
Number subsequence, the first uniformity parameter of measurement subsequence are multiple uniformities by being located at the side of the contour line
Parameter of measurement composition, the second uniformity parameter of measurement subsequence are by being located at the multiple described of the other side of the contour line
Uniformity parameter of measurement composition；
Calculate separately the mean value of the first uniformity parameter of measurement subsequence and the second uniformity parameter of measurement subsequence；
If judgement knows that the mean value of the first uniformity parameter of measurement subsequence is greater than the second uniformity parameter of measurement subsequence
Mean value, then confirm the contour line corresponding to the first uniformity parameter of measurement subsequence side be the sea ice area
Domain, the other side of the contour line corresponding to the second uniformity parameter of measurement subsequence are seawater region.
7. according to the method described in claim 6, it is characterized in that, if the first uniformity parameter of measurement is known in the judgement
The mean value of subsequence is greater than the mean value of the second uniformity parameter of measurement subsequence, comprising:
If the mean value and the sub- sequence of the second uniformity parameter of measurement of the first uniformity parameter of measurement subsequence are known in judgement
The ratio between mean value of column is greater than setting multiple.
8. a kind of sea ice region contour line detector characterized by comprising
Receiving module, for after target direction transmitting pulse, receiving pulse echo sequence corresponding with the pulse across the sea
Column；The pulse-echo sequence includes a series of echo amplitude of sampled points and each sampled point；
Selection module, the destination sample point of the spatially uniform acute variation for choosing echo amplitude in the sampled point, and
Using the destination sample point as the profile point corresponding to the target direction in sea ice region；
Link block obtains the sea ice area for corresponding to the profile point of the different target directions by connection
The contour line in domain.
9. a kind of electronic equipment characterized by comprising
At least one processor；
And at least one processor being connect with the processor communication, in which:
The memory is stored with the program instruction that can be executed by the processor, and the processor calls described program to instruct energy
Enough methods executed as described in claim 1 to 7 is any.
10. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer instruction is stored up, the computer instruction makes the computer execute the method as described in claim 1 to 7 is any.
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| JP7479768B2 (en) | 2020-09-18 | 2024-05-09 | 日本無線株式会社 | Target detection device |
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