CN113447932A - Underwater obstacle target detection and tracking method for collision-prevention sonar - Google Patents

Underwater obstacle target detection and tracking method for collision-prevention sonar Download PDF

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CN113447932A
CN113447932A CN202110572977.0A CN202110572977A CN113447932A CN 113447932 A CN113447932 A CN 113447932A CN 202110572977 A CN202110572977 A CN 202110572977A CN 113447932 A CN113447932 A CN 113447932A
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蒋立军
刘佳
张谦
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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
    • G01S15/66—Sonar tracking systems
    • 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
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract

The invention belongs to the technical field of underwater acoustic signal processing, and particularly relates to an underwater obstacle target detection and tracking method for collision-prevention sonar, which comprises the following steps: after the underwater vehicle drives into a certain target water area, a hydrophone array arranged on the underwater vehicle emits a plurality of acoustic signals to detect a plurality of underwater obstacle targets in the target water area; each underwater suspected target generates an echo under the excitation of the acoustic signal to obtain a plurality of underwater suspected targets and echo signals; collecting echo signals of each underwater suspected target by a collision-preventing sonar arranged on the underwater vehicle, and detecting and processing each echo signal to obtain N targets and corresponding echo signals; and acquiring the speed and direction of each target through the acoustic image, judging the speed and direction of each target, traversing each target in the N targets, repeating the process, deleting the interference targets, acquiring a plurality of effective targets and the speed and direction of the effective targets, and completing the detection and tracking of the underwater obstacle target.

Description

Underwater obstacle target detection and tracking method for collision-prevention sonar
Technical Field
The invention belongs to the technical field of underwater acoustic signal processing, and particularly relates to an underwater obstacle target detection and tracking method for collision-prevention sonar.
Background
An Unmanned Underwater Vehicle (UUV) is used as an important load platform for Underwater target detection, has the advantages of high intelligent degree, good maneuverability, high concealment and the like, and is a key for promoting the development of future intelligent Underwater sound detection technology. The current acoustic detection technology based on the UUV platform is widely applied to the fields of marine resource exploration, coast guard, frogman detection, mine sweeping and explosion elimination and the like.
In the field of underwater acoustic detection, the underwater unmanned underwater vehicle faces safety threats such as underwater navigation obstacles and underwater mountains during underwater navigation, and a special collision-preventing sonar is required to be equipped for ensuring the safe navigation of the underwater vehicle.
However, the existing collision-prevention sonar does not have autonomous detection capability, and the conventional forward-looking collision-prevention sonar is used for tracking detection, so that the false alarm rate is high easily, the unmanned underwater vehicle needs to perform collision-prevention tasks at a reduced speed for many times, and the operation efficiency of the unmanned underwater vehicle is reduced.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an underwater obstacle target detection and tracking method for collision-prevention sonar, which fully utilizes the motion information of an unmanned underwater vehicle on the basis of target tracking detection of conventional forward-looking collision-prevention sonar, takes multi-beam collision-prevention sonar as a basis, and fully utilizes the geometric characteristics and relative motion characteristics of a target through an array signal processing technology to realize autonomous detection, tracking and identification of underwater target obstacles, complete autonomous detection and tracking of the obstacles and provide information of the targets, the quantity, the scale and the like of the obstacles for realizing a collision-prevention task of an underwater vehicle navigation system.
The invention also provides a method for detecting and tracking the underwater obstacle target by using the collision-prevention sonar, which comprises the following steps:
after the underwater vehicle drives into a certain target water area, a hydrophone array arranged on the underwater vehicle emits a plurality of acoustic signals to detect a plurality of underwater obstacle targets in the target water area;
each underwater suspected target generates an echo under the excitation of the acoustic signal to obtain a plurality of underwater suspected targets and echo signals;
collecting echo signals of each underwater suspected target by a collision-preventing sonar arranged on the underwater vehicle, and detecting and processing each echo signal to obtain N targets and corresponding echo signals;
and acquiring the speed and direction of each target through the acoustic image, judging the speed and direction of each target, traversing each target in the N targets, repeating the process, deleting the interference targets, acquiring a plurality of effective targets and the speed and direction of the effective targets, and completing the detection and tracking of the underwater obstacle target.
As one improvement of the above technical solution, the collision-prevention sonar arranged on the underwater vehicle collects an echo signal of each underwater suspected target, and performs detection processing on each echo signal to obtain N targets and corresponding echo signals; the method specifically comprises the following steps:
the collision-prevention sonar arranged on the underwater vehicle collects an echo signal of the ith underwater suspected target, wherein the echo signal is an echo signal in a sector coverage opening angle of [ -theta, theta ], and the echo signal of the ith underwater suspected target;
the collision-preventing sonar collects the echo duration t ═ t of the ith underwater suspected target2-t1；
Wherein, t1The starting time of the echo of the ith underwater suspected target is; t is t2The termination time of the echo of the ith underwater suspected target is;
judging the echo intensity and the echo duration of the ith underwater suspected target:
if the echo intensity of the ith underwater suspected target is greater than the preset echo intensity T, and the echo duration of the ith underwater suspected target is greater than the preset echo duration T0If so, the ith underwater suspected target is regarded as a target, and the number of the targets is counted to obtainN targets and corresponding echo signals thereof;
if the echo intensity of the ith underwater suspected target is less than or equal to the preset echo intensity T, or the echo duration of the ith underwater suspected target is less than or equal to the preset echo duration T0If so, the ith underwater suspected target is regarded as an invalid target and is deleted;
wherein the content of the first and second substances,
Figure BDA0003083254560000021
wherein τ is the pulse width of the emitted acoustic signal; l is a target scale; c is the speed of sound; theta0Is the angle of incidence of the transmitted sound wave on the target.
The preset echo intensity T is determined according to a theoretical value or an actual measurement empirical value of the target echo intensity.
As one improvement of the above technical solution, the speed and direction of each target are obtained through the acoustic image, the speed and direction of each target are determined, each target in the N targets is traversed, the above process is repeated, the interfering target is deleted, a plurality of effective targets and the speed and direction of the effective target are obtained, and the detection and tracking of the underwater obstacle target are completed; the method specifically comprises the following steps:
obtaining the ith target Ai at t through an acoustic diagramiTarget position of time (R)i，θi) And ith target Ai at ti+1Target position of time (R)i+1，θi+1) To thereby obtain the speed V of the ith targetiAnd angle of direction Δ θ:
Figure BDA0003083254560000031
Δθ＝θi+1-θi
wherein R isiIn order that the ith target Ai is at t under the pre-established polar coordinate systemiThe distance from the moment to the origin; thetaiFor the ith target under a pre-established polar coordinate systemAi is at tiAn azimuth of time; ri+1In order that the ith target Ai is at t under the pre-established polar coordinate systemi+1The distance from the moment to the origin; thetai+1In order that the ith target Ai is at t under the pre-established polar coordinate systemi+1An azimuth of time;
traversing each target according to the obtained N targets to obtain the speed and direction angle of each target;
and deleting randomly occurring interference targets which do not regularly move by combining the motion information of the unmanned underwater vehicle according to the speed and direction angle of each target, obtaining a plurality of effective targets and the speed and direction of the effective targets, and completing the detection and tracking of the underwater obstacle target.
Compared with the prior art, the invention has the beneficial effects that:
the method only utilizes signal processing of echo signals, utilizes the characteristics of target intensity and target duration of target echoes and relative motion characteristics to realize the tracking and detection of the underwater obstacle target, and has the characteristics of small operand, high detection rate and low false alarm rate.
Drawings
Fig. 1 is a flowchart of an underwater obstacle target detection tracking method for collision-preventing sonar according to the present invention;
fig. 2 is a schematic diagram of an embodiment of the underwater obstacle target detection and tracking method for collision-preventing sonar according to the present invention.
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
As shown in fig. 1, the invention provides a method for detecting and tracking an underwater obstacle target by using collision-prevention sonar, which is required to automatically detect and identify the underwater obstacle target in order to ensure the navigation safety of an underwater unmanned underwater vehicle. Aiming at the requirement of safe navigation of an underwater unmanned underwater vehicle, the tracking and detection of an underwater obstacle target are realized by signal processing of collision-preventing sonar and by using echo intensity information and scale information, the tracking and identification of the underwater obstacle target are realized by using motion characteristics, and finally, a tracking identification result is reported to an external information comprehensive processing system to provide information for a navigation system to realize a task of avoiding.
The method comprises the following steps:
after the underwater vehicle drives into a certain target water area, a hydrophone array arranged on the underwater vehicle emits a plurality of acoustic signals to detect a plurality of underwater obstacle targets in the target water area;
each underwater suspected target generates an echo under the excitation of the acoustic signal to obtain a plurality of underwater suspected targets and echo signals;
collecting echo signals of each underwater suspected target by a collision-preventing sonar arranged on the underwater vehicle, and detecting and processing each echo signal to obtain N targets and corresponding echo signals;
specifically, a collision-prevention sonar arranged on a submarine vehicle collects an echo signal of the ith underwater suspected target, wherein the echo signal is a sector coverage [ -theta, theta]The echo signal within the open angle, the echo signal of the ith underwater suspected target, is denoted as p (t, theta)i) Is denoted by pi；
The collision-preventing sonar collects the echo duration t ═ t of the ith underwater suspected target2-t1；
Wherein, t1The starting time of the echo of the ith underwater suspected target is; t is t2The termination time of the echo of the ith underwater suspected target is;
judging the echo intensity and the echo duration of the ith underwater suspected target:
if the echo intensity of the ith underwater suspected target is greater than the preset echo intensity T, and the echo duration of the ith underwater suspected target is greater than the preset echo duration T0If so, regarding the ith underwater suspected target as a target, and counting the number of the targets to obtain N targets and corresponding echo signals thereof;
if the echo intensity of the ith underwater suspected target is less than or equal to the preset echo intensity T, or the echo duration of the ith underwater suspected target is less than or equal to the preset echo duration T0Then it is considered asThe ith underwater suspected target is an invalid target and is deleted;
wherein the content of the first and second substances,
Figure BDA0003083254560000041
wherein τ is the pulse width of the emitted acoustic signal; l is a target scale; c is the speed of sound; theta0Is the angle of incidence of the transmitted sound wave on the target.
The preset echo intensity T is determined according to a theoretical value or an actual measurement empirical value of the target echo intensity.
And acquiring the speed and direction of each target through the acoustic image, judging the speed and direction of each target, traversing each target in the N targets, repeating the process, deleting the interference targets, acquiring a plurality of effective targets and the speed and direction of the effective targets, and completing the detection and tracking of the underwater obstacle target.
Specifically, the ith target Ai at t is obtained through an acoustic mapiTarget position of time (R)i，θi) And ith target Ai at ti+1Target position of time (R)i+1，θi+1) To thereby obtain the speed V of the ith targetiAnd angle of direction Δ θ:
Figure BDA0003083254560000051
Δθ＝θi+1-θi
wherein R isiIn order that the ith target Ai is at t under the pre-established polar coordinate systemiThe distance from the moment to the origin; thetaiIn order that the ith target Ai is at t under the pre-established polar coordinate systemiAn azimuth of time; ri+1In order that the ith target Ai is at t under the pre-established polar coordinate systemi+1The distance from the moment to the origin; thetai+1In order that the ith target Ai is at t under the pre-established polar coordinate systemi+1An azimuth of time;
traversing each target according to the obtained N targets to obtain the speed and direction angle of each target;
because the underwater obstacle target is a static target or a regularly moving target, according to the speed and direction angle of each target and the motion information of the unmanned underwater vehicle, the randomly occurring interference target which does not regularly move is deleted, the speed and direction of a plurality of effective targets and the effective targets are obtained, the detection and tracking of the underwater obstacle target are completed, and the false alarm rate is reduced.
Example 1.
As shown in fig. 2, the present invention provides an underwater obstacle target detection and tracking method for collision avoidance sonar, the method comprising:
after the underwater vehicle drives into a certain target water area, a hydrophone array arranged on the underwater vehicle emits a plurality of acoustic signals to detect a plurality of underwater obstacle targets in the target water area;
each underwater suspected target generates an echo under the excitation of the acoustic signal to obtain a plurality of underwater suspected targets and echo signals;
collecting echo signals of each underwater suspected target by a collision-preventing sonar arranged on the underwater vehicle, and detecting and processing each echo signal to obtain N targets and corresponding echo signals;
specifically, a collision-prevention sonar arranged on an underwater vehicle collects echo signals of the ith underwater suspected target, the echo signals are echo signals in a sector coverage opening angle of [ -45 degrees, 45 degrees ], the interval between the echo signals is 1 degree, and the speed of the underwater vehicle is 2 m/s;
judging the echo intensity and the echo duration of the ith underwater suspected target:
if the echo intensity of the ith underwater suspected target is greater than the preset echo intensity T, and the echo duration of the ith underwater suspected target is greater than the preset echo duration T0If so, regarding the ith underwater suspected target as a target, and counting the number of the targets to obtain N targets and corresponding echo signals thereof;
if the echo intensity of the ith underwater suspected target is less than or equal to the preset echo intensity T, or the ith waterThe echo duration of the lower suspected target is less than or equal to the preset echo duration T0If so, the ith underwater suspected target is regarded as an invalid target and is deleted;
wherein the content of the first and second substances,
Figure BDA0003083254560000061
wherein τ is the pulse width of the emitted acoustic signal; l is a target scale; c is the speed of sound; theta0Is the angle of incidence of the transmitted sound wave on the target.
The preset echo intensity T is determined according to a theoretical value or an actual measurement empirical value of the target echo intensity.
And acquiring the speed and direction of each target through the acoustic image, judging the speed and direction of each target, traversing each target in the N targets, repeating the process, deleting the interference targets, acquiring a plurality of effective targets and the speed and direction of the effective targets, and completing the detection and tracking of the underwater obstacle target.
Specifically, the ith target Ai at t is obtained through an acoustic mapiTarget position of time (R)i，θi) And ith target Ai at ti+1Target position of time (R)i+1，θi+1) To thereby obtain the speed V of the ith targetiAnd angle of direction Δ θ:
Figure BDA0003083254560000062
Δθ＝θi+1-θi
wherein R isiIn order that the ith target Ai is at t under the pre-established polar coordinate systemiThe distance from the moment to the origin; thetaiIn order that the ith target Ai is at t under the pre-established polar coordinate systemiAn azimuth of time; ri+1In order that the ith target Ai is at t under the pre-established polar coordinate systemi+1The distance from the moment to the origin; thetai+1In order that the ith target Ai is at t under the pre-established polar coordinate systemi+1An azimuth of time;
traversing each target according to the obtained N targets to obtain the speed and direction angle of each target;
because the underwater obstacle target is a static target or a regularly moving target, according to the speed and direction angle of each target and the motion information of the unmanned underwater vehicle, the randomly occurring interference target which does not regularly move is deleted, the speed and direction of a plurality of effective targets and the effective targets are obtained, the detection and tracking of the underwater obstacle target are completed, and the false alarm rate is reduced. As shown in fig. 2, the thick white line in the figure is the obtained tracking result, i.e., a plurality of valid targets.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (3)

1. An underwater obstacle target detection and tracking method for a collision-preventing sonar, the method comprising:
after the underwater vehicle drives into a certain target water area, a hydrophone array arranged on the underwater vehicle emits a plurality of acoustic signals to detect a plurality of underwater obstacle targets in the target water area;
each underwater suspected target generates an echo under the excitation of the acoustic signal to obtain a plurality of underwater suspected targets and echo signals;
collecting echo signals of each underwater suspected target by a collision-preventing sonar arranged on the underwater vehicle, and detecting and processing each echo signal to obtain N targets and corresponding echo signals;
and acquiring the speed and direction of each target through the acoustic image, judging the speed and direction of each target, traversing each target in the N targets, repeating the process, deleting the interference targets, acquiring a plurality of effective targets and the speed and direction of the effective targets, and completing the detection and tracking of the underwater obstacle target.
2. The underwater obstacle target detection and tracking method for collision-avoidance sonar according to claim 1, wherein the collision-avoidance sonar provided on the underwater vehicle collects an echo signal of each underwater suspected target, and performs detection processing on each echo signal to obtain N targets and corresponding echo signals; the method specifically comprises the following steps:
the collision-prevention sonar arranged on the underwater vehicle collects an echo signal of the ith underwater suspected target, wherein the echo signal is an echo signal in a sector coverage opening angle of [ -theta, theta ], and the echo signal of the ith underwater suspected target;
the collision-preventing sonar collects the echo duration t ═ t of the ith underwater suspected target2-t1；
Wherein, t1The starting time of the echo of the ith underwater suspected target is; t is t2The termination time of the echo of the ith underwater suspected target is;
judging the echo intensity and the echo duration of the ith underwater suspected target:
if the echo intensity of the ith underwater suspected target is greater than the preset echo intensity T, and the echo duration of the ith underwater suspected target is greater than the preset echo duration T0If so, regarding the ith underwater suspected target as a target, and counting the number of the targets to obtain N targets and corresponding echo signals thereof;
if the echo intensity of the ith underwater suspected target is less than or equal to the preset echo intensity T, or the echo duration of the ith underwater suspected target is less than or equal to the preset echo duration T0If so, the ith underwater suspected target is regarded as an invalid target and is deleted;
wherein the content of the first and second substances,
Figure FDA0003083254550000011
wherein τ is emissiveThe acoustic signal pulse width; l is a target scale; c is the speed of sound; theta0Is the incident angle of the transmitted sound wave to the target;
the preset echo intensity T is determined according to a theoretical value or an actual measurement empirical value of the target echo intensity.
3. The underwater obstacle target detection and tracking method for collision-avoidance sonar according to claim 1, wherein the speed and direction of each target are obtained through a sound map, speed and direction determination is performed on each target, each target of N targets is traversed, the above process is repeated, the interfering target is deleted, a plurality of effective targets and the speed and direction of the effective targets are obtained, and detection and tracking of the underwater obstacle target are completed; the method specifically comprises the following steps:
obtaining the ith target Ai at t through an acoustic diagramiTarget position of time (R)i，θi) And ith target Ai at ti+1Target position of time (R)i+1，θi+1) To thereby obtain the speed V of the ith targetiAnd angle of direction Δ θ:
Figure FDA0003083254550000021
Δθ＝θi+1-θi
wherein R isiIn order that the ith target Ai is at t under the pre-established polar coordinate systemiThe distance from the moment to the origin; thetaiIn order that the ith target Ai is at t under the pre-established polar coordinate systemiAn azimuth of time; ri+1In order that the ith target Ai is at t under the pre-established polar coordinate systemi+1The distance from the moment to the origin; thetai+1In order that the ith target Ai is at t under the pre-established polar coordinate systemi+1An azimuth of time;
traversing each target according to the obtained N targets to obtain the speed and direction angle of each target;
and deleting randomly occurring interference targets which do not regularly move by combining the motion information of the unmanned underwater vehicle according to the speed and direction angle of each target, obtaining a plurality of effective targets and the speed and direction of the effective targets, and completing the detection and tracking of the underwater obstacle target.
CN202110572977.0A 2021-05-25 2021-05-25 Underwater obstacle target detection and tracking method for collision-prevention sonar Pending CN113447932A (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5930200A (en) * 1998-05-08 1999-07-27 Garmin Corporation Depth sounder with object identification feature
CN103033817A (en) * 2012-11-25 2013-04-10 中国船舶重工集团公司第七一○研究所 Obstruction automatic recognition system for collision preventing of large-scale autonomous underwater vehicle (AUV)

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5930200A (en) * 1998-05-08 1999-07-27 Garmin Corporation Depth sounder with object identification feature
CN103033817A (en) * 2012-11-25 2013-04-10 中国船舶重工集团公司第七一○研究所 Obstruction automatic recognition system for collision preventing of large-scale autonomous underwater vehicle (AUV)

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
禹建: "水下目标回声信号的相关特性", 《声学与电子工程》 *

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