CN112946662B - Method and device for visualizing sonar detection range - Google Patents
Method and device for visualizing sonar detection range Download PDFInfo
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- CN112946662B CN112946662B CN202110135671.9A CN202110135671A CN112946662B CN 112946662 B CN112946662 B CN 112946662B CN 202110135671 A CN202110135671 A CN 202110135671A CN 112946662 B CN112946662 B CN 112946662B
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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
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Abstract
The invention provides a visualization method and a visualization device for a sonar detection range, and solves the technical problem that the visualization process of the conventional sonar detection range lacks complex information display dimensionality. The method comprises the following steps: acquiring sonar detection data; establishing a visual prefabricated body representing sonar detection dimension characteristics; and matching the visual prefabricated body with sonar detection data to form a visual model of a sonar detection range. The dimension feature mapping of sonar detection data is carried out by forming a visual prefabricated body reflecting sonar detection key dimension features, and the intuitive display of sonar detection data is realized. Furthermore, dynamic display of sonar detection data is realized, a human-in-control tool is provided for power control of sonar detection, and a display tool is provided for displaying working conditions of sonar equipment formed in a virtual reality digital sand table.
Description
Technical Field
The invention relates to the technical field of sonar, in particular to a method and a device for visualizing a sonar detection range.
Background
The existing sonar technology utilizes the propagation of sound waves in water and the reflection characteristic of underwater targets to form underwater technical equipment with detection, navigation or communication functions through electroacoustic conversion and information processing. The sound waves are influenced and restricted by the uneven distribution of seawater media and the sea surface and the sea bottom in the transmission process, refraction, scattering, reflection and interference can be generated, sound ray bending, signal fluctuation and distortion can be generated, the transmission path is changed, and a sound shadow area appears, which can seriously influence the working distance and the measurement precision of the sonar. The detection distance data of the sonar can change along with time at different depths and different directions along with different positions of sonar equipment, and the detection distance data usually has a large difference of effective detection distance according to an active mode or a passive mode.
Conventionally, sonar ranging measurements have been performed on sea maps and digital sand tables using planar two-dimensional graphics for the presentation of a single range feature (e.g., minimum range), which has not allowed for efficient visualization of three-dimensional data including depth dimensions. The detection dimensionality of the sonar for the actual situation cannot be scientifically and accurately expressed, so that the perception of the sonar detection performance is understood and recognized wrongly, which is mainly reflected in data change and display errors.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide a method and an apparatus for visualizing a sonar detection range, which solve the technical problem that a visualization process of an existing sonar detection range lacks complex information display dimensions.
The method for visualizing the sonar detection range comprises the following steps:
acquiring sonar detection data;
establishing a visual prefabricated body representing sonar detection dimension characteristics;
and matching the visual prefabricated body with the sonar detection data to form a visual model of a sonar detection range.
The sonar detection range visualization device provided by the embodiment of the invention comprises:
a memory for storing program code during processing of the method for visualizing a sonar detection range as described above;
a processor for executing the program code.
The visualization device for the sonar detection range provided by the embodiment of the invention comprises:
the signal sampling module is used for acquiring sonar detection data;
the model establishing module is used for establishing a visual prefabricated body representing the dimensional characteristics of sonar detection data;
and the model application module is used for adapting the visual prefabricated body and sonar detection data to form a visual model of a sonar detection range.
According to the method and the device for visualizing the sonar detection range, which are disclosed by the embodiment of the invention, the dimension characteristic mapping of sonar detection data is carried out by forming the visual prefabricated body reflecting the sonar detection key dimension characteristics, so that the sonar detection data can be visually displayed. Furthermore, dynamic display of sonar detection data is realized, a human-in-control tool is provided for power control of sonar detection, and a display tool is provided for displaying working conditions of sonar equipment formed in a virtual reality digital sand table.
Drawings
Fig. 1 is a flowchart illustrating a method for visualizing a sonar detection range according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a visualized prefabricated part in the method for visualizing the sonar detection range according to the embodiment of the present invention.
Fig. 3 is a schematic diagram of a detection distance-space visualization model formed by sonar radiation and formed by a sonar detection range visualization method according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a visualization apparatus for sonar detection range according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention is further described below with reference to the accompanying drawings and the detailed description. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
As shown in fig. 1, a method for visualizing a sonar detection range according to an embodiment of the present invention is shown in fig. 1. In fig. 1, the present embodiment includes:
step 100: sonar detection data is acquired.
One skilled in the art will appreciate that there are multiple characteristic attributes for the reflected object for each sonar detection data, including but not limited to detection time, detection depth, detection angle, detection distance, etc. In one embodiment of the invention, the data acquisition structure of sonar detection data is shown in the following table:
the sonar detection data respectively have measurement sequentiality in three measurable dimensions of time, depth and angle. Sonar detection data is typically obtained by sampling the signals of a continuous measurement process.
Step 200: and establishing a visual prefabricated body for representing sonar detection dimensional characteristics.
Those skilled in the art will appreciate that the signal characteristics of a reflective target are primarily reflected in the depth, angle and distance dimensions. By setting sampling intervals and sampling rates for three dimensions of depth, angle and distance, a prefabricated body for visualizing the dimensional characteristics of sonar detection data can be formed.
A visual preform according to an embodiment of the invention is shown in fig. 2. In fig. 2, the visual prefabricated part is a fan-shaped upright post, the axial length of the fan-shaped upright post is relative depth data, the radial length of the fan-shaped upright post is relative distance data, and the opening angle of the fan-shaped upright post is the relative coverage angle of the sound wave bundle. In one embodiment of the present invention, the axis vertex (at the fan vertex) of the fan-shaped column is used as the connecting origin or base point.
Step 300: and matching the visual prefabricated body with sonar detection data to form a visual model of a sonar detection range.
And the visual prefabricated bodies are adapted with sonar detection data one by one, and the visual prefabricated bodies adapted one by one are combined according to the depth dimension and the angle dimension in sequence to form a visual model in a sonar detection range. A sonar radiation visualization model formed by sonar detection data according to an embodiment of the present invention is shown in fig. 3. In fig. 3, a sonar radiation visualization model is formed according to the detection depth of sonar equipment, the sound radiation direction, and the sound wave bundling angle. The visualization model can be used for visualizing the sonar detection range in real time according to the change of the relative numerical values of the corresponding dimension characteristics in the visual prefabricated body.
According to the sonar detection range visualization method, the visual prefabricated body reflecting the sonar detection key dimensional characteristics is formed to carry out the dimensional characteristic mapping of sonar detection data, and the sonar detection data are visually displayed. Furthermore, dynamic display of sonar detection data is realized, a human-in-control tool is provided for power control of sonar detection, and a display tool is provided for displaying working conditions of sonar equipment formed in a virtual reality digital sand table.
As shown in fig. 1, in an embodiment of the present invention, the creating a visual preform in step 200 includes:
step 210: the axial height, which characterizes the relative depth, is quantified in different proportions to the radial length, which characterizes the relative distance.
The relative depth and relative distance are often not an order of magnitude and are typically 1. In order to ensure the visualization effect and the visualization metric, different scales are required for quantification. The length of pixels corresponding to the same length of the same visual preform in the radial direction and the axial direction is not uniform.
According to the sonar detection range visualization method, the scale features of the sonar detection data are cut through the visual prefabricated part, the visual effect of key dimension features is highlighted, and the technical purpose of data display is guaranteed.
As shown in fig. 1, in an embodiment of the present invention, the creating a visual preform in step 200 includes:
step 220: three visual preforms were formed with open angles set at 1 °, 2 °, and 5 ° characterizing the relative coverage angle.
To the coverage angle that utilizes visual prefabricated body to form the full circumference, adopt the visual prefabricated body of optimizing the opening angle can carry out effective split according to the opening angle with the sonar detection data of the arbitrary angle sound wave tied in a bundle of sonar equipment.
According to the visualization method of the sonar detection range, the visualization prefabricated body with the preset opening angle is used for splitting and combining sonar detection data, and the dynamic change of the transmitting power parameter in the sonar detection process can be effectively and dynamically represented. The formed opening angle granularity can form the combination (or the split) of the visual prefabricated body in time so as to accurately represent the change of the sound wave bundling angle and simultaneously meet the optimization of the calculation resources and the display resources of the visual model.
As shown in fig. 1, in an embodiment of the present invention, the creating a visual preform in step 200 includes:
step 230: and adjusting the transparency of the visual prefabricated body according to the setting depth of the visual prefabricated body.
The necessary depth settings are required to be able to determine the axial absolute depth range of the visualisation preform. According to the determination of the absolute depth range, the position of the absolute depth range in the overall depth can be used as a weight coefficient, and the coloring transparency of the visual prefabricated body can be set.
The method for visualizing the sonar detection range reflects the underwater depth through the coloring transparency, can effectively improve the correlation of the sonar detection range rain and spirit pair, and improves the visualization efficiency.
As shown in fig. 1, in an embodiment of the present invention, the forming a visualization model of the sonar detection range in step 300 includes:
step 310: and determining a detection origin of the visual model according to sonar detection data.
As can be understood by those skilled in the art, the distance reference of sonar detection data takes the vibration source position of sonar equipment as the reference, and the detection origin of axial depth and radial detection distance can be established according to the detection origin.
Step 320: and determining a detection depth step according to the detection origin, and determining a corresponding sonar detection data set according to the detection depth step.
The detection depth step length is determined in the axial direction, and a sonar detection data set at the same depth can be determined as a filtering condition.
Step 330: and determining the radial length and the opening angle of the visual prefabricated bodies arranged along the circumferential direction according to the sonar detection data set.
In same degree of depth, utilize visual prefabricated body's the angle of bundling of the great sound wave in the preset open angle adaptation sonar detection data, form visual prefabricated body according to the quantity of adaptation open angle to set up the radial distance length in the sonar detection data.
The sonar detection range visualization method provided by the embodiment of the invention provides a specific process for forming a sonar detection range visualization model by adapting sonar detection data and a visualization prefabricated part. Through the automation of adaptation process, can the visual display sonar detection state's real-time change on visual model, effectively improve detection state analysis efficiency, optimize sonar detection strategy.
In an embodiment of the present invention, a scale factor between the detection depth step and the radial length scale is:
(actual radial length/number of radial pixels): (actual depth length/number of depth pixels) is 0.05 to 0.001.
According to the sonar detection range visualization method, the significance of key visual position features and the harmony of the whole visual model are formed through the scale coefficient, and the scaling constraint of the visual model scaling is met.
In one embodiment of the invention, the forming of sonar detection data comprises:
step 110: establishing signal time sequence characteristic data according to the real sonar detection signals;
step 120: establishing signal emission characteristic data according to the real sonar detection signals;
step 130: establishing signal reflection characteristic data according to the real sonar detection signals;
step 140: after discrete sampling of time sequence characteristic data, emission characteristic data and reflection characteristic data, characteristic association is carried out through a data acquisition structure to form sonar detection data in an underwater sound space.
The sonar detection range visualization method provided by the embodiment of the invention forms automatic data fusion for real sonar detection signals, and ensures effective adaptation of data dimension characteristics and detection signal types.
The visualization device of the sonar detection range in one embodiment of the present invention includes:
the memory is used for storing the program codes of the visualization method processing procedures of the sonar detection range in the embodiment;
and the processor is used for executing the program codes of the processing procedures of the visualization method of the sonar detection range in the embodiment.
The Processor may be a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), an MCU (micro Controller Unit) system board, an SoC (system on a chip) system board, or a PLC (Programmable Logic Controller) minimum system including I/O.
A visualization apparatus of a sonar detection range according to an embodiment of the present invention is shown in fig. 4. In fig. 4, the present embodiment includes:
the signal sampling module 10 is used for acquiring sonar detection data;
the model establishing module 20 is used for establishing a visual prefabricated body representing the dimensional characteristics of sonar detection data;
and the model application module 30 is used for adapting the visual prefabricated body and sonar detection data to form a visual model of a sonar detection range.
As shown in FIG. 4, in one embodiment of the present invention, the signal sampling module 10 includes a circuit for sampling a signal
The first signal forming unit 11 is used for establishing signal time sequence characteristic data according to the real sonar detection signals;
the second signal forming unit 12 is used for establishing signal emission characteristic data according to the real sonar detection signals;
the third signal forming unit 13 is used for establishing signal reflection characteristic data according to the real sonar detection signals;
and the detection data fusion unit 14 is used for discretely sampling time sequence characteristic data, emission characteristic data and reflection characteristic data and then performing characteristic association through a data acquisition structure to form sonar detection data in an underwater sound space.
As shown in FIG. 4, in one embodiment of the present invention, model building module 20 includes software for
A scale quantization unit 21 for quantizing the axial height characterizing the relative depth and the radial length characterizing the relative distance in different scales.
As shown in FIG. 4, in an embodiment of the present invention, the model building module 20 further includes a module for generating a model
And the opening angle presetting unit 22 is used for forming three visual preforms with opening angles of 1 degree, 2 degrees and 5 degrees for representing relative coverage angles.
As shown in FIG. 4, in an embodiment of the present invention, the model building module 20 further includes a module for generating a model
A coloring setting unit 23 for adjusting the transparency of the visual preform according to the setting depth of the visual preform.
As shown in FIG. 4, in one embodiment of the present invention, the model application module 30 includes a module for applying a model to a target object
And a reference forming unit 31 for determining the detection origin of the visualization model according to the sonar detection data.
And the sequence forming unit 32 is used for determining a detection depth step according to the detection origin and determining a corresponding sonar detection data set according to the detection depth step.
And the data adapting unit 33 is used for determining the radial length and the opening angle of the visualization prefabricated bodies arranged along the circumferential direction according to the sonar detection data set.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A method for visualizing a sonar detection range, comprising:
acquire sonar detection data, include:
establishing signal time sequence characteristic data according to the real sonar detection signals;
establishing signal emission characteristic data according to the real sonar detection signals;
establishing signal reflection characteristic data according to the real sonar detection signals;
discretely sampling time sequence characteristic data, emission characteristic data and reflection characteristic data, and performing characteristic association through a data acquisition structure to form sonar detection data in an underwater sound space;
establish the visual prefabricated body of sign sonar detection dimension characteristic, include:
adjusting the transparency of the visual prefabricated part according to the setting depth of the visual prefabricated part;
forming a fan-shaped upright post as the visual prefabricated body, wherein the radial direction of the fan-shaped upright post represents the detection distance, the open angle of the fan-shaped upright post represents the detection angle, and the axial height of the fan-shaped upright post represents the relative detection depth;
quantizing the radial length and the axial height of the fan-shaped upright column in different proportions;
and matching the visual prefabricated part with the sonar detection data to form a visual model of a sonar detection range, which comprises the following steps:
determining a detection origin of the visual model according to the sonar detection data by taking the vibration source position of the sonar equipment as a reference;
determining a detection depth step length according to the detection origin, and determining a corresponding sonar detection data set according to the detection depth step length;
and determining the radial length and the opening angle of the visualization prefabricated bodies arranged along the circumferential direction according to the sonar detection data set.
2. The method of visualizing the sonar detection range of claim 1, wherein forming the fan-shaped pillar comprises:
three fan-shaped upright columns with the opening angles of 1 degree, 2 degrees and 5 degrees are formed.
3. The method for visualizing the sonar detection range according to claim 1, wherein the fitting the visualization preform to the sonar detection data to form a visualization model of the sonar detection range comprises:
determining a proportionality coefficient between the probing depth step and the scale of the radial length as:
(actual radial length/number of radial pixels): (actual depth length/number of depth pixels) is 0.05 to 0.001.
4. A device for visualizing a sonar detection range, comprising:
a memory for storing program code during processing of a method of visualizing the detection range of a sonar according to any one of claims 1 to 3;
a processor for executing the program code.
5. A device for visualizing a detection range of sonar, comprising:
signal sampling module for acquire sonar detection data, signal sampling module includes:
the first signal forming unit is used for establishing signal time sequence characteristic data according to the real sonar detection signals;
the second signal forming unit is used for establishing signal emission characteristic data according to the real sonar detection signals;
the third signal forming unit is used for establishing signal reflection characteristic data according to the real sonar detection signals;
the detection data fusion unit is used for discretely sampling time sequence characteristic data, emission characteristic data and reflection characteristic data and then performing characteristic association through a data acquisition structure to form sonar detection data in an underwater sound space;
the model building module is used for building a visual prefabricated body for representing the dimensional characteristics of sonar detection data, the visual prefabricated body is formed by a fan-shaped upright post, the radial direction of the fan-shaped upright post represents the detection distance, the open angle of the fan-shaped upright post represents the detection angle, and the axial height of the fan-shaped upright post represents the relative detection depth; the model building module comprises:
a coloring setting unit for adjusting the transparency of the visual preform according to the setting depth of the visual preform;
a scale quantization unit for quantizing an axial height characterizing a relative depth and a radial length characterizing a relative distance in different scales;
the model application module is used for adapting the visual prefabricated body and sonar detection data to form a visual model of a sonar detection range; the model application module comprises:
the reference forming unit is used for determining a detection origin of the visual model according to sonar detection data by taking the vibration source position of the sonar equipment as a reference;
the sequence forming unit is used for determining a detection depth step according to the detection origin and determining a corresponding sonar detection data set according to the detection depth step;
and the data adaptation unit is used for determining the radial length and the opening angle of the visualization prefabricated bodies arranged along the circumferential direction according to the sonar detection data set.
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| US3555499A (en) * | 1968-05-24 | 1971-01-12 | Texas Instruments Inc | Method and system for determining reflectivity of the ocean bottom |
| JPS5519393B2 (en) * | 1973-08-22 | 1980-05-26 | ||
| US6449215B1 (en) * | 2001-10-09 | 2002-09-10 | The United States Of America As Represented By The Secretary Of The Navy | Three-dimensional imaging system for sonar system |
| JP2006162480A (en) * | 2004-12-08 | 2006-06-22 | Furuno Electric Co Ltd | Underwater detection system |
| US9182486B2 (en) * | 2011-12-07 | 2015-11-10 | Navico Holding As | Sonar rendering systems and associated methods |
| US20170069108A1 (en) * | 2015-04-23 | 2017-03-09 | Sungwook Su | Optimal 3d depth scanning and post processing |
| US20170031023A1 (en) * | 2015-07-29 | 2017-02-02 | Olexandr Ivanov | Forward Scanning Sonar System and Method with Angled Fan Beams |
| US20190057606A1 (en) * | 2017-08-15 | 2019-02-21 | Continental Automotive Systems, Inc. | Warning to vulnerable users in dangerous situation |
| DE102017130138A1 (en) * | 2017-12-15 | 2019-06-19 | Endress+Hauser SE+Co. KG | Method for simplified commissioning of a field device |
| CN110109087B (en) * | 2019-05-07 | 2021-02-02 | 中国科学院声学研究所 | Sonar irregular detection range display method and system |
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