CN109490895B - Interferometric synthetic aperture sonar signal processing system based on blade server - Google Patents
Interferometric synthetic aperture sonar signal processing system based on blade server Download PDFInfo
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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
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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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
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8902—Side-looking sonar
- G01S15/8904—Side-looking sonar using synthetic aperture techniques
Abstract
The invention discloses an interferometric synthetic aperture sonar signal processing system based on a blade server, which comprises a blade center, wherein a data receiving and storing unit of the blade center is used for carrying out block processing on received original echo data to obtain a plurality of data blocks and distributing the data blocks to each imaging unit; carrying out synthetic aperture imaging on original echo data in the data block in a parallel mode by processing threads running in different imaging units to obtain a synthetic aperture sonar image; the elevation reconstruction unit receives the synthetic aperture sonar images generated by the two imaging units respectively and calculates elevation information of an imaging area; the data receiving and storing unit, the imaging unit and the elevation reconstruction unit are realized on the basis of a blade server, and high-speed network connection is adopted among the units for data transmission to form a double-flow water line type structure so as to realize multi-thread parallel processing of double-side sonar signals; the invention has strong signal processing capability and high integration level, and can meet the requirements of a carrier on an InSAS real-time signal processing system.
Description
Technical Field
The invention belongs to the technical field of interferometric synthetic aperture sonar signal processing, and particularly relates to a system and a method for processing interferometric synthetic aperture sonar signals based on a blade server.
Background
Synthetic Aperture Sonar (SAS) is an underwater two-dimensional imaging technique capable of achieving high directional resolution regardless of the range direction. The interferometric synthetic aperture sonar (InSAS) is characterized in that one (or more) receiving matrixes are added in the direction vertical to a flight path on the basis of the Synthetic Aperture Sonar (SAS), and the height information of a scene is obtained by a method of comparing the phase and the height, so that a three-dimensional image of the scene is obtained. The interferometric synthetic aperture sonar (InSAS) is used as a three-dimensional high-resolution imaging sonar, has the advantages that the resolution of the synthetic aperture sonar is irrelevant to the imaging distance and the working frequency, and has high interferometric depth measurement precision, can be used for submarine topography measurement, underwater archaeology, submarine oil exploration, searching of underwater fallen objects and the like, and has an important role in the aspect of underwater small target identification (such as a mine).
The blade server is a low-cost server platform which can realize HAHD (High Availability High Density) and is specially designed for special application industries and High-Density computing environments. Blade servers are like "blades," and each "blade" is actually a system motherboard.
With the continuous development of the InSAS technology, the system resolution is continuously improved, the width of a mapping band is continuously increased, the data quantity to be processed is rapidly increased, and the signal processing efficiency needs to be improved so as to meet the signal processing requirement of the real-time InSAS system; real-time InSAS signal processing has two choices in hardware: a dedicated signal processor and a general-purpose signal processor. The special signal processor has the advantages of high operation speed and efficiency, and has the disadvantages of long development period, high price, small memory and poor expansibility. The general signal processor has the advantages of flexible programming, short development period, large memory capacity and strong expansibility, and a cluster computer in the general signal processor is applied to the signal processing of the synthetic aperture sonar, but the operation speed and the signal processing efficiency of the cluster computer cannot meet the high-intensity calculation requirement in the signal processing process of the interferometric synthetic aperture sonar (InSAS).
Disclosure of Invention
In view of at least one of the defects or the improvement needs in the prior art, the present invention provides a blade server-based interferometric synthetic aperture sonar signal processing system, which aims to solve the problems of low signal processing efficiency, large volume and poor versatility of the existing signal processor.
To achieve the above object, according to one aspect of the present invention, there is provided a blade server-based interferometric synthetic aperture sonar signal processing system, comprising a blade center including a data receiving and processing unit, an imaging unit, and at least two elevation reconstruction units; the number of the imaging units is twice that of the elevation reconstruction units;
the data receiving and storing unit is used for carrying out block processing and storing on the received original echo data in the azimuth direction to obtain a plurality of data blocks and distributing the data blocks to each imaging unit respectively; performing synthetic aperture imaging on the original echo data in the data block in a parallel mode by processing threads running in different imaging units to obtain a synthetic aperture sonar image; each elevation reconstruction unit is used for receiving the main synthetic aperture sonar image and the auxiliary synthetic aperture sonar image which are generated by the two processing threads and are on the same side, and calculating elevation information of an imaging area according to the two synthetic aperture sonar images;
the data receiving and storing unit, the imaging unit and the elevation reconstruction unit are realized on the basis of a blade server, and high-speed network connection is adopted among the units for data transmission, so that a double-flow water line type structure is formed, and multithreading parallel processing of signals on two sides of the interferometric synthetic aperture sonar is realized.
Preferably, in the interferometric synthetic aperture sonar signal processing system, the data receiving and processing unit includes a data receiving module, a preprocessing module and a navigation resolving module;
the data receiving module is used for calculating a storage space required by a single data block according to the operating parameters sent by the external control equipment, receiving and unpacking original echo data, and partitioning and storing the unpacked echo data in the corresponding storage space; the raw echo data comprises raw sonar data and sensor data;
the preprocessing module is used for converting the original sonar data from a SHORT data type into a FLAOT type;
the navigation calculation module is used for performing navigation calculation according to the sensor data in each data block to generate a navigation calculation result.
Preferably, in the interferometric synthetic aperture sonar signal processing system, the imaging unit includes a motion compensation module, a synthetic aperture imaging module, and a self-focusing module;
the motion compensation module is used for performing motion compensation on the spliced sonar data according to the navigation resolving result;
the synthetic aperture imaging module is used for carrying out synthetic aperture imaging on the sonar data after motion compensation according to the operation parameters to obtain a synthetic aperture sonar image; the synthetic aperture imaging module determines the number Nc of effective subarrays to be 2. PRI. V/D according to the pulse repetition interval PRI, the platform speed V and the subarray length D, then intercepts effective subarray data from a data block according to the number of the effective subarrays, and sequentially performs multi-subarray signal to single-subarray signal conversion and single-subarray synthetic aperture imaging on the effective subarray data to obtain a synthetic aperture sonar image; then, intercepting half of the synthetic aperture length of the synthetic aperture sonar image at the farthest distance upwards, and respectively intercepting half of the synthetic aperture length at the two sides upwards in the direction so as to eliminate the imaging results of incomplete echo data at the far distance and the data block edge;
the self-focusing module is used for carrying out self-focusing processing on the synthetic aperture sonar image so as to eliminate phase errors in an imaging image.
Preferably, in the interferometric synthetic aperture sonar signal processing system, the elevation reconstruction unit includes a registration and phase filtering module, a phase unwrapping module, and a digital elevation reconstruction module;
the registration and phase filtering module is used for carrying out complex image registration on the main synthetic aperture sonar image and the auxiliary synthetic aperture sonar image on each side and carrying out phase filtering on a registration result to obtain an interference phase image, and extracting mask information according to the interference phase image and the registered correlation coefficient to obtain a mask image and a winding phase;
the phase unwrapping module is used for performing phase unwrapping processing on the interference phase diagram according to the wrapping phase to obtain an unwrapping phase; sending the interference phase diagram, the mask image and the unwrapping phase to a digital elevation reconstruction module;
the digital elevation reconstruction module is used for determining an initial phase difference value according to control point information and a unwrapping phase in the registration process, acquiring an absolute phase difference according to the initial phase difference value and the unwrapping phase, and obtaining elevation information of an imaging area according to the absolute phase difference and a geometric relation during imaging.
Preferably, in the interferometric synthetic aperture sonar signal processing system, the data receiving module is further configured to store current data block parameter information corresponding to each data block into a structure corresponding to the data block; the parameter information of the current data block flows among the modules along with the data block in a pipeline mode, and the intermediate module updates the generated parameter information to the corresponding structural body and sends the parameter information to the next module.
Preferably, in the interferometric synthetic aperture sonar signal processing system, the blade center further includes a parameter receiving and controlling unit, and the parameter receiving and controlling unit is configured to receive an operation parameter and a control command sent by the display and control platform, and initialize the blade center according to the control command.
Preferably, in the interferometric synthetic aperture sonar signal processing system, the blade center further includes a processing result sending unit, configured to send the two-dimensional image and the three-dimensional elevation data generated by the elevation reconstruction unit to the display and control platform.
Preferably, the operation parameters of the interferometric synthetic aperture sonar signal processing system include an online/offline working mode, a port/starboard/bilateral working mode, a transmission signal parameter, an array parameter, a data acquisition parameter, a signal processing parameter and a data storage parameter; wherein the transmission signal parameters include center frequency, signal bandwidth, signal pulse width, and pulse repetition period; the array parameters comprise receiving array size, transmitting array size and base line length; the data acquisition parameters comprise sampling frequency, nearest sampling distance and farthest sampling distance; the signal processing parameters comprise synthetic aperture imaging parameters, image registration and filtering parameters, phase unwrapping parameters and digital elevation reconstruction parameters; the data storage parameters comprise a raw data storage path and a calculation result storage path.
Preferably, the interferometric synthetic aperture sonar signal processing system further comprises a display control platform, a data storage device and a data exchange device;
the display control platform is used for setting operation parameters, controlling the operation of the system and graphically displaying a two-dimensional image and three-dimensional elevation data generated at the center of the blade;
the data storage device is used for storing original echo data received by the blade center and two-dimensional images and three-dimensional elevation data obtained by processing the blade center;
the data exchange equipment is used for realizing high-speed data exchange among modules in the blade center and between the blade center and the data storage equipment and transmitting image data and parameter information between the blade center and the display control platform.
Preferably, in the interferometric synthetic aperture sonar signal processing system, a TCP/IP protocol is used for data transmission between the blade center and the display control system, and an Infiniband protocol is used for data transmission between modules inside the blade center.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) the invention provides a blade server-based interferometric synthetic aperture sonar signal processing system, which takes a blade server as a computing platform, utilizes multi-core in blades to perform multi-thread parallel signal processing in a shared memory environment, adopts high-speed network connection between the blades to perform data transmission, forms a double-flow water line type signal processing structure, and cooperatively completes the real-time processing task of signals at two sides of an interferometric synthetic aperture sonar; the system is stable and reliable in work and meets the real-time signal processing requirement of the interferometric synthetic aperture sonar; the system has strong processing capability, high integration level and small volume, and meets the requirement of the ship on the InSAS real-time signal processing system;
(2) the interference synthetic aperture sonar signal processing system based on the blade server has the advantages that the equipment expandability is high, the data exchange speed between blades is high, when the calculation capacity does not meet the real-time requirement, only blade nodes are added in the blade center, the system and the program do not need to be re-developed, and the universality is high;
(3) according to the interference synthetic aperture sonar signal processing system based on the blade server, which is provided by the invention, the system is developed based on a Windows platform, the program portability is good, and the development period of the signal processing system can be obviously shortened;
(4) according to the interference synthetic aperture sonar signal processing system based on the blade server, the internal parts of the computing nodes adopt a shared memory mode to process signals in parallel, data exchange among the nodes adopts a message transmission mechanism and can be respectively realized by adopting mature standard OpenMP and MPI, and the program research and development process is simplified while the program correctness is ensured.
Drawings
Fig. 1 is a block diagram of a blade server-based interferometric synthetic aperture sonar signal processing system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an InSAS dual pipeline signal processing structure according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating generation and transmission of parameter information of a current data block according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 is a block diagram illustrating a structure of an interferometric synthetic aperture sonar signal processing system based on a blade server according to the present invention, and as shown in fig. 1, the interferometric synthetic aperture sonar signal processing system includes a blade center, a data exchange device, a data storage device, and a display control platform;
the blade center is used for receiving original sonar data collected by sonar wet-end electronic equipment, completing tasks of preprocessing of original echo data, motion compensation, synthetic aperture imaging, image registration and filtering, phase unwrapping and digital elevation reconstruction in the process of processing interferometric synthetic aperture sonar signals and realizing real-time signal processing; the blade center is composed of a plurality of blade nodes, multi-core parallel computation is realized inside each blade node by adopting a shared memory mode, data exchange among different nodes is realized by adopting Message-Session-Interface (MPI) among the blade nodes, and a double-flow water-line type signal processing structure is formed.
The display control platform is used for setting system operation parameters, controlling the operation of the whole signal processing system and displaying two-dimensional and three-dimensional image data obtained after the interference signal processing is carried out on the blade center in real time and various sensor data.
The data storage equipment is used for storing original sonar data and various sensor data received by the blade center and storing two-dimensional images and three-dimensional elevation data after the interference signal processing is carried out by the blade center.
The data exchange equipment is used for realizing high-speed data exchange among blade nodes in the blade center and between the blade center and the data storage equipment and transmitting image data and parameter information between the blade center and the display control platform. As shown in fig. 1, the data switching device includes a high-speed switch and an ethernet switch, where the high-speed switch is used to implement high-speed data switching between the blade center and the data storage device, and the ethernet switch is used to implement transmission of image data and parameter information between the blade center and the display and control platform. Data transmission between the blade center and the sonar wet-end electronic equipment and between the blade center and the display control system adopts a TCP/IP protocol, and data transmission between blade nodes in the blade center adopts an Infiniband protocol.
Fig. 2 is a schematic diagram of an InSAS dual pipeline signal processing structure provided in this embodiment. In order to realize real-time processing of double-side interferometric synthetic aperture sonar signals by a blade center, a functional unit operating on the blade center comprises: the device comprises a parameter receiving and controlling unit, a data receiving and processing unit, four imaging units, two elevation reconstruction units and a processing result sending unit; the system comprises a data receiving and processing unit, two imaging units and an elevation reconstruction unit, wherein the data receiving and processing unit, the two imaging units and the elevation reconstruction unit are used for realizing double-thread real-time processing of left sonar signals; the data receiving and processing unit, the other two imaging units and the elevation reconstruction unit jointly realize double-thread real-time processing of the sonar signals on the right side; the data receiving and processing unit, the four imaging units and the two elevation reconstruction units form a double-flow waterline type processing structure on the left side and the right side, the real-time processing task of signals on two sides of the interferometric synthetic aperture sonar is completed in a coordinated mode, and the requirement for processing the real-time signals of the interferometric synthetic aperture sonar is met by improving the processing efficiency of the signals.
The parameter receiving and controlling unit is used for receiving system operation parameters and control commands sent by the display and control platform and carrying out initialization operation on the blade center according to the control commands; the system operation parameters comprise a system operation mode, a port/starboard/bilateral working mode, a transmitting signal parameter, an array parameter, a data acquisition parameter, a signal processing parameter, a data storage parameter and the like; the parameters of the transmitted signal comprise center frequency, signal bandwidth, signal pulse width and pulse repetition period; the array parameters comprise the size of a receiving array, the size of a transmitting array and the length of a base line; the data acquisition parameters comprise sampling frequency, nearest sampling distance and farthest sampling distance; the signal processing parameters comprise synthetic aperture imaging parameters, image registration and filtering parameters, phase unwrapping parameters and digital elevation reconstruction parameters; the data storage parameters include a raw data storage path and a calculation result storage path. The system operation mode comprises an online operation mode and an offline operation mode, and each operation mode is divided into three operation modes of port/starboard/double-side.
The data receiving and processing unit comprises a data receiving module, a preprocessing module and a navigation resolving module;
the data receiving module is used for calculating a storage space required by a single data block according to system operation parameters sent by the display control platform, receiving original echo data, unpacking the original echo data, partitioning the unpacked echo data, and storing the partitioned echo data in the corresponding storage space; the original echo data comprises original sonar data and sensor data, and the original sonar data is collected by sonar wet-end electronic equipment and is sent to the data receiving module; specifically, the data receiving module calculates the synthetic aperture length at the imaging distance according to the wavelength λ, the array element length D and the imaging distance R
And determining the number of pulses NPluese of original sonar data in the azimuth direction and the number of data points SAS _ Na in the azimuth direction of a single data block according to the synthetic aperture length which is 4 times as long as the synthetic aperture length and the number N of receiving subarrays, and determining the number of data points SAS _ Nr in the azimuth direction according to the nearest sampling distance Rmin, the farthest sampling distance Rmax and the sampling frequency Fs. Then opening up a storage space according to the upward data point SAS _ Na of the azimuth and the upward data point SAS _ Nr of the distance, and receiving the original dataUnpacking and blocking the wave data and storing the wave data in a corresponding storage space; the sonar data blocks obtained by block processing correspond to the receiving arrays at different spatial positions (upper left, lower left, upper right and lower right). In addition, the data receiving module also stores the current data block parameter information corresponding to each data block into the structural body corresponding to the data block, wherein the current data block parameter information comprises the line number, the column number, the pulse number, the receiving subarray number, the carrier frequency, the bandwidth, the pulse width and the like of the data block.
The preprocessing module is used for converting the original sonar data in each data block from a SHORT data type into a FLAOT type; after the preprocessing is finished, the sensor data and the parameter information of the current data block are sent to a navigation resolving module, and the sonar data and the parameter information of the current data block obtained by splicing are respectively sent to the four imaging units.
The navigation calculation module is used for performing navigation calculation according to the sensor data in the data block, generating navigation calculation results such as an ideal flight path, a course, a roll and a pitch corresponding to each pulse time, and a position deviation between the sonar carrier position and the ideal flight path at each pulse time, respectively sending the navigation calculation results to the four imaging units, and waiting for receiving the next sensor data to perform navigation calculation.
Each imaging unit comprises a motion compensation module, a synthetic aperture imaging module and a self-focusing module;
the motion compensation module is used for receiving parameter information of a current data block, the data block and a navigation calculation result, performing motion compensation on the sonar data spliced in the data block according to the navigation calculation result, sending the compensated sonar data to a corresponding synthetic aperture imaging module, and waiting for receiving the next data block to perform motion compensation calculation;
the synthetic aperture imaging module is used for receiving the current data block parameter information and the data block after motion compensation, and performing synthetic aperture imaging on sonar data in the data block according to system operation parameters to obtain a synthetic aperture sonar image; specifically, the synthetic aperture imaging module determines the number Nc of effective subarrays to be 2 · PRI · V/D according to the pulse repetition interval PRI, the platform speed V, and the subarray length D, then intercepts effective subarray data from the data block according to the number of effective subarrays, sequentially performs conversion from multi-subarray signals to single subarray signals and single-array synthetic aperture imaging on the effective subarray data, then intercepts half synthetic aperture length from the imaging result at the farthest distance upward, intercepts half synthetic aperture length from both sides in the direction upward, and eliminates the imaging result of incomplete echo data at the far distance and at the edge of the data block. The synthetic aperture imaging module fills the intercepted data block parameter information into a structural body corresponding to the current data block, and updates the current data block parameter information; and simultaneously sending the modified parameter information of the current data block and the imaging result to a self-focusing module.
The self-focusing module is used for carrying out self-focusing processing on the synthetic aperture sonar image obtained by the synthetic aperture imaging module, eliminating a phase error in an imaging result and obtaining a high-quality image; and then sending the data block obtained after the self-focusing processing and the parameter information of the current data block to an elevation reconstruction unit.
The two elevation reconstruction units are respectively positioned on the left and right assembly lines, and each elevation reconstruction unit comprises a registration and phase filtering module, a phase unwrapping module and a digital elevation reconstruction module;
the registration and phase filtering module on the left side assembly line is used for receiving current data block parameter information, an upper left array imaging result (synthetic aperture sonar image) and a lower left array imaging result which are sent by the two self-focusing modules on the left side, and similarly, the registration and phase filtering module on the right side assembly line is used for receiving the current data block parameter information, the upper right array imaging result and the lower right array imaging result which are sent by the two self-focusing modules on the right side; after receiving, the registration and phase filtering module uses control point information to perform complex image registration on the main synthetic aperture sonar image and the auxiliary synthetic aperture sonar image on each side, performs phase filtering on the registration result, improves the interference phase quality, and obtains an interference phase diagram; and after filtering is finished, extracting mask information according to the interference phase image and the registered correlation coefficient to obtain a mask image and a winding phase. After the registration is finished, the used control point information is uploaded to a structural body corresponding to the current data block, and the updated parameter information of the current data block, the interference phase diagram, the mask image and the winding phase are downloaded to the phase unwrapping module.
The phase unwrapping module is used for extracting a phase difference without wrapping from the filtered interference phase diagram, receiving parameter information of a current data block, the interference phase diagram, the mask image and the wrapping phase, performing phase unwrapping processing on the interference phase diagram according to the wrapping phase to obtain an unwrapping phase, and sending the interference phase diagram, the mask image and the unwrapping phase to the digital elevation reconstruction module;
the digital elevation reconstruction module is used for finishing initial phase difference determination and absolute phase difference calculation and realizing the establishment of a digital elevation model; the digital elevation reconstruction module receives parameter information of a current data block, an interference phase diagram, a mask image and a unwrapping phase, determines an initial phase difference value according to control point information and the unwrapping phase in the registration process, adds the initial phase difference value and the unwrapping phase to obtain an absolute phase difference, obtains three-dimensional elevation information of an imaging area according to the absolute phase difference and a geometric relation during imaging, and establishes a digital elevation model.
And the processing result sending unit is used for sending the two-dimensional images and the three-dimensional elevation information generated by the two digital elevation reconstruction modules to the display and control platform for graphical display.
FIG. 3 is a schematic diagram illustrating the generation and transmission of current data block parameter information during InSAS signal processing; as shown in fig. 3, in the system operation process, the parameter information of the current data block flows between the signal processing modules (blade nodes) along with the data block in a pipeline manner, and the intermediate signal processing module updates the newly generated parameter information to the corresponding structural body and sends the newly generated parameter information to the subsequent signal processing modules.
The embodiment also provides a method for processing interferometric synthetic aperture sonar signals based on the blade server, which comprises the following steps:
s1: starting an interferometric synthetic aperture sonar signal processing program and a display control platform system program on the center of the blade;
s2: setting system operation parameters through a display control system, and sending the system operation parameters to a blade center and underwater sonar wet-end electronic equipment; the sonar wet-end electronic equipment collects original sonar data and sends the original sonar data to the blade center;
s3: a data receiving and processing unit in the blade center acquires original sonar data and various sensor data, and unpacks, blocks and preprocesses the original sonar data and the sensor data;
s4: the navigation resolving module performs navigation resolving according to the sensor data to obtain a navigation resolving result;
s5: the motion compensation module performs motion compensation on the sonar data block according to the navigation resolving result; the synthetic aperture imaging module carries out synthetic aperture imaging processing on the sonar data block after motion compensation;
s6: the registration and phase filtering module respectively performs complex image registration on the main and auxiliary synthetic aperture sonar images on each side and performs phase filtering on the registration result;
s7: and the phase unwrapping module performs phase unwrapping on the phase filtering result to obtain an initial phase difference value.
S8: and the digital elevation reconstruction module calculates an absolute phase difference according to the registration result and the unwrapped initial phase difference value, and calculates the three-dimensional elevation information of the imaging area according to the geometric position relation and the absolute phase difference during imaging.
S9: and sending the two-dimensional image and the three-dimensional elevation information obtained by processing to a display and control platform, and carrying out graphical display on the processing result in real time by the display and control platform.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. An interferometric synthetic aperture sonar signal processing system based on a blade server comprises a blade center, and is characterized in that the blade center comprises a data receiving and processing unit, an imaging unit and at least two elevation reconstruction units; the number of the imaging units is twice that of the elevation reconstruction units;
the data receiving and storing unit is used for carrying out blocking processing and storing on the received original echo data in the azimuth direction to obtain a plurality of data blocks, respectively distributing the data blocks to each imaging unit, and storing the current data block parameter information corresponding to each data block into a structural body corresponding to the data block; performing synthetic aperture imaging on the original echo data in the data block in a parallel mode by processing threads running in different imaging units to obtain a synthetic aperture sonar image; each elevation reconstruction unit receives the synthetic aperture sonar images generated by the two processing threads and calculates elevation information of an imaging area according to the two synthetic aperture sonar images;
the current data block parameter information flows among the units along with the data blocks in a pipeline mode, and the intermediate unit updates the generated parameter information to the corresponding structural body and sends the parameter information to the next unit;
the data receiving and storing unit, the imaging unit and the elevation reconstruction unit are realized on the basis of a blade server, and high-speed network connection is adopted among the units for data transmission, so that a double-flow water line type structure is formed, and multithreading parallel processing of signals on two sides of the interferometric synthetic aperture sonar is realized.
2. The interferometric synthetic aperture sonar signal processing system of claim 1, wherein the data receiving and processing unit comprises a data receiving module and a navigation solution module;
the data receiving module is used for calculating a storage space required by a single data block according to the operating parameters sent by the external control equipment, receiving and unpacking original echo data, and partitioning and storing the unpacked echo data in the corresponding storage space; the raw echo data comprises raw sonar data and sensor data;
the navigation calculation module is used for performing navigation calculation according to the sensor data in each data block to generate a navigation calculation result.
3. The interferometric synthetic aperture sonar signal processing system of claim 2, wherein the imaging unit comprises a motion compensation module, a synthetic aperture imaging module, and a self-focusing module;
the motion compensation module is used for performing motion compensation on the spliced sonar data according to the navigation resolving result;
the synthetic aperture imaging module is used for carrying out synthetic aperture imaging on the sonar data after motion compensation according to the operation parameters to obtain a synthetic aperture sonar image;
the self-focusing module is used for carrying out self-focusing processing on the synthetic aperture sonar image so as to eliminate phase errors in an imaging image.
4. The interferometric synthetic aperture sonar signal processing system of claim 1 or 3, wherein the elevation reconstruction unit comprises a registration and phase filtering module, a phase unwrapping module, and a digital elevation reconstruction module;
the registration and phase filtering module is used for carrying out complex image registration on the main synthetic aperture sonar image and the auxiliary synthetic aperture sonar image on each side and carrying out phase filtering on a registration result to obtain an interference phase image, and extracting mask information according to the interference phase image and the registered correlation coefficient to obtain a mask image and a winding phase;
the phase unwrapping module is used for performing phase unwrapping processing on the interference phase diagram according to the wrapping phase to obtain an unwrapping phase; sending the interference phase diagram, the mask image and the unwrapping phase to a digital elevation reconstruction module;
the digital elevation reconstruction module is used for determining an initial phase difference value according to control point information and a unwrapping phase in the registration process, acquiring an absolute phase difference according to the initial phase difference value and the unwrapping phase, and obtaining elevation information of an imaging area according to the absolute phase difference and a geometric relation during imaging.
5. The interferometric synthetic aperture sonar signal processing system of claim 1, wherein the blade center further comprises a parameter receiving and control unit configured to receive operating parameters and control commands from an external display and control platform and to initialize the blade center according to the control commands.
6. The interferometric synthetic aperture sonar signal processing system of claim 1 or 5, wherein the blade center further comprises a processing result transmitting unit for transmitting the two-dimensional image and the three-dimensional elevation data generated by the elevation reconstruction unit to an external display and control platform.
7. The interferometric synthetic aperture sonar signal processing system of claim 2 or 5, wherein the operating parameters include an online/offline operating mode, a port/starboard/bilateral operating mode, transmit signal parameters, array parameters, data acquisition parameters, signal processing parameters, data storage parameters; wherein the transmission signal parameters include center frequency, signal bandwidth, signal pulse width, and pulse repetition period; the array parameters comprise receiving array size, transmitting array size and base line length; the data acquisition parameters comprise sampling frequency, nearest sampling distance and farthest sampling distance; the signal processing parameters comprise synthetic aperture imaging parameters, image registration and filtering parameters, phase unwrapping parameters and digital elevation reconstruction parameters; the data storage parameters comprise a raw data storage path and a calculation result storage path.
8. The interferometric synthetic aperture sonar signal processing system of claim 1, further comprising a display control platform, a data storage device, and a data exchange device;
the display control platform is used for setting operation parameters, controlling the operation of the system and graphically displaying a two-dimensional image and three-dimensional elevation data generated at the center of the blade;
the data storage device is used for storing original echo data received by the blade center and two-dimensional images and three-dimensional elevation data obtained by processing the blade center;
the data exchange equipment is used for realizing high-speed data exchange among modules in the blade center and between the blade center and the data storage equipment and transmitting image data and parameter information between the blade center and the display control platform.
9. The interferometric synthetic aperture sonar signal processing system of claim 8, wherein data transmission between the blade center and the display control system is performed using TCP/IP protocol, and data transmission between modules within the blade center is performed using Infiniband protocol.
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