CN114019519B - Track recording method and equipment of leveling ranging fish finder - Google Patents
Track recording method and equipment of leveling ranging fish finder Download PDFInfo
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- CN114019519B CN114019519B CN202210002748.XA CN202210002748A CN114019519B CN 114019519 B CN114019519 B CN 114019519B CN 202210002748 A CN202210002748 A CN 202210002748A CN 114019519 B CN114019519 B CN 114019519B
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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
- G01S15/96—Sonar systems specially adapted for specific applications for locating fish
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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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
Abstract
The invention provides a track recording method and equipment of a leveling ranging fish finder, which are applied to the technical field of detection; recording a real-time fish school activity track for a first horizontal position based on a leveling center, setting the real-time fish school activity track as a second horizontal position, measuring the distance between the first horizontal position and the second horizontal position, recording the measured distance as a first horizontal distance, calculating the distance between the first horizontal position and the second horizontal position by adopting an Euclidean distance method according to the first horizontal distance, recording the recorded distance as a second horizontal distance, comparing the first horizontal distance with the second horizontal distance, screening and recording the same horizontal distance data to obtain leveling ranging track data; the invention adopts the Euclidean distance method to accurately measure the distance between the fish finder and the fish school, thereby effectively improving the fault-tolerant rate of the fish finder; the invention effectively reduces the error generated during distance measurement by adopting the Fraeman chain code method to extract the characteristics of the horizontal distance.
Description
Technical Field
The invention relates to the technical field of detection, in particular to a track recording method and track recording equipment of a leveling ranging fish finder.
Background
Usually, a fish finder consists of a receiver and a transmitter, wherein the transmitter floats on the water surface and sends out sonar signals to the underwater, and the sonar technology is based on the sound wave transmission principle. The underwater state, the contour and the composition can be detected, and the fish finder measures the distance by depending on the time of the sound wave returning when touching the object after sending. Meanwhile, the fish finder can recognize the position, size and composition of an object through the reflected sound wave signals. The sonar signals capture the information of the fish and then are transmitted to the host, and the host judges and generates the image of the fish according to the sonar signals. The fish finder can detect underwater information such as water depth, water temperature, fish/fish school depth, underwater environment and the like, and has a plurality of types and various functions in the current market, and a plurality of types are provided according to the working principle.
One type of fish finder in the prior art uses an underwater camera shooting principle, mainly comprises a waterproof camera and an over-water display, is connected by a cable or a wireless network, observes the underwater condition through display equipment, and utilizes the transmission and reflection characteristics of sound waves in water to perform navigation and distance measurement through electroacoustic conversion and information processing, so that fishes are found, and the fish finder has two types, namely an active type and a passive type.
However, the fish finder cannot accurately achieve the real distance between the fish finder and fish in water, and has subtle influence on the fish finding process.
In view of the above, the present invention provides a track recording method for a leveling ranging fish finder and an apparatus thereof, so as to solve the problem that the actual distance between the fish and the fish cannot be accurately measured in water in the conventional fish finder.
Disclosure of Invention
The invention aims to solve the problem that the fish finder accurately measures the real distance between the fish finder and fish in water, and provides a track recording method and equipment of a leveling ranging fish finder.
The invention provides a track recording method of a leveling ranging fish finder, which comprises the following steps:
recording the real-time activity track of the fish school for a first horizontal position based on the level center;
setting the moving track of the real-time fish school as a second horizontal position, measuring the distance between the first horizontal position and the second horizontal position, recording the measured distance as a first horizontal distance;
calculating the distance between the first horizontal position and the second horizontal position by adopting an Euclidean distance method according to the first horizontal distance, and recording the distance as the second horizontal distance;
and comparing the first horizontal distance with the second horizontal distance, screening and recording the same horizontal distance data to obtain the leveling ranging track data.
Further, the step of recording the activity track of the real-time fish school based on the level center further comprises the following steps:
according to the geographical position of a water area preset by the terminal, the position of the fish school which can be detected is called, and the position is set as a level position;
correcting the level azimuth, accurately adjusting the level azimuth including longitude and latitude and underwater depth, and setting the obtained accurately finished level azimuth as a level center;
based on a sonar preset by the level center to the surrounding scattering fish finder, orientation data fed back by the sonar is called, and the orientation fed back by the sonar is set as a track recording orientation of the real-time activity of the fish school.
Further, the step of recording the activity track of the real-time fish school based on the level center comprises:
observing the moving track of the fish school by using a preset probe, wherein the moving track comprises the temperature, the density and the sound velocity mapped for the fish school;
calculating the temperature, density and sound velocity staying time of the fish shoal mapping based on the wind waves, swell waves and near-shore waves accompanied by the water depth of a preset level center;
and acquiring the real-time moving track of the fish school according to the temperature, the density and the sound velocity staying time mapped by the fish school.
Further, before the step of measuring the first horizontal position and the second horizontal position, the method further comprises:
using a preset underwater distance meter, and acquiring the level azimuth of a second horizontal position by adopting an angle intersection method on the basis of the azimuth of the first horizontal position, wherein the level azimuth comprises the longitude and the latitude and the underwater depth of the second horizontal position;
calibrating the accurate azimuth of the second horizontal position according to the acquired level azimuth data of the second horizontal position;
and focusing the first horizontal position and the second horizontal position by using preset laser based on the accurately calibrated first horizontal position and second horizontal position.
Further, the step of measuring the first horizontal position and the second horizontal position comprises:
according to the illumination density of the laser focusing scattered at the first horizontal position and the second horizontal position, modulating the angle optical signal wavelength of the first horizontal position or the second horizontal position;
observing the optical speed and the optical frequency attached to the distributed refractive index by looking at the distributed refractive index caused by the wavelength of the optical signal;
and calculating the distance measurement precision of the first horizontal position and the second horizontal position according to the optical speed and the optical frequency attached to the distribution refractive index.
Further, the step of calculating the second horizontal distance by using the euclidean distance method according to the first horizontal distance includes:
establishing an Euclidean distance between the first horizontal position and the second horizontal position, setting two points of the first horizontal position and the second horizontal position on a horizontal plane as a point a and a point b, and setting the Euclidean distance as a (x 1, y 1) and b (x 2, y 2);
performing thinning on the Euclidean distances of a (x 1, y 1) and b (x 2, y 2) according to a preset Euclidean distance threshold;
and obtaining an extreme value of the azimuth distance in the Euclidean distance from the rarefaction result, and substituting the extreme value into the first horizontal distance to obtain the second horizontal distance.
Further, the step of comparing the first horizontal distance and the second horizontal distance comprises:
setting the distance from the first horizontal position as A Haili by taking the first horizontal distance as a starting point, and substituting a Frahman chain code method into the first horizontal distance to perform feature extraction to obtain a first extraction feature;
setting the distance from the second horizontal position as Bhai by taking the second horizontal distance as a starting point, and substituting the second horizontal distance by a Frahman chain code method to perform feature extraction to obtain a second extraction feature;
and carrying out quantitative feature normalization processing on the first extraction features and the second extraction features, screening out quantitative features with similar weight values, and evaluating similarity of the quantitative features with similar weight values.
The invention also provides a track device of the leveling ranging fish finder, which comprises:
the measuring module is used for recording the activity track of the real-time fish school for a first horizontal position based on the level center; setting the moving track of the real-time fish school as a second horizontal position, measuring the distance between the moving track and the first horizontal position, recording the measured distance as a first horizontal distance;
the comparison module is used for calculating the distance between the first horizontal position and the second horizontal position by adopting an Euclidean distance method according to the first horizontal distance, and recording the distance as a second horizontal distance; and comparing the first horizontal distance with the second horizontal distance, screening and recording the same horizontal distance data.
Further, the measurement module further comprises:
the recording submodule is used for recording the activity track of the real-time fish school for a first horizontal position based on the level center;
and the measuring submodule is used for setting the activity track of the real-time fish school as a second horizontal position, measuring the distance between the real-time fish school and the first horizontal position, recording the measured distance as a first horizontal distance.
Further, the alignment module further comprises:
the calculation submodule is used for calculating the distance between the first horizontal position and the second horizontal position by adopting an Euclidean distance method according to the first horizontal distance, and recording the distance as the second horizontal distance;
and the comparison submodule is used for comparing the first horizontal distance with the second horizontal distance, screening and recording the same horizontal distance data.
The invention provides a track recording method and equipment of a leveling ranging fish finder, which have the following beneficial effects:
1. the invention adopts the Euclidean distance method to accurately measure the distance between the fish finder and the fish school, thereby effectively improving the fault-tolerant rate of the fish finder;
2. the invention effectively reduces the error generated during distance measurement by adopting the Fraeman chain code method to extract the characteristics of the horizontal distance.
Drawings
FIG. 1 is a flowchart illustrating the overall steps of an embodiment of a track recording method for a horizontal ranging fish finder according to the present invention;
FIG. 2 is a flowchart illustrating the operation steps of an embodiment of the track recording apparatus of the horizontal ranging fish finder of the present invention;
the implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a method for recording a track of a leveling ranging fish finder according to an embodiment of the present invention includes:
recording the activity track of the fish school in real time for a first horizontal position based on the level center;
setting the moving track of the real-time fish school as a second horizontal position, measuring the distance between the first horizontal position and the second horizontal position, recording the measured distance as a first horizontal distance;
calculating the distance between the first horizontal position and the second horizontal position by adopting an Euclidean distance method according to the first horizontal distance, and recording the distance as the second horizontal distance;
and comparing the first horizontal distance with the second horizontal distance, screening and recording the same horizontal distance data to obtain the leveling ranging track data.
In a specific embodiment: according to the geographic position of a water area preset by a terminal, the position of a fish school which can be detected is called, the position is set as a level position, the level position is corrected, the level position is accurately adjusted to comprise longitude and latitude and underwater depth, the accurately finished level position is obtained and set as a level center, a sonar preset by a fish finder is scattered to the periphery based on the level center, the position data fed back by the sonar is called, and the position fed back by the sonar is set as a track recording position of real-time activity of the fish school; observing the moving track of the fish school by using a preset probe, wherein the moving track comprises the temperature, the density and the sound velocity mapped for the fish school, calculating the temperature, the density and the sound velocity staying time mapped for the fish school based on the wind wave, the surge and the near-shore wave accompanied by the water depth of a preset level center, and acquiring the real-time moving track of the fish school according to the temperature, the density and the sound velocity staying time mapped for the fish school; setting the moving track of the real-time fish school as a second horizontal position, and acquiring the level orientation of the second horizontal position by using a preset underwater distance meter on the basis of the orientation of the first horizontal position by adopting an angle intersection method, wherein the level orientation comprises longitude and latitude and underwater depth of the second horizontal position; calibrating the accurate azimuth of the second horizontal position according to the acquired level azimuth data of the second horizontal position; focusing the first horizontal position and the second horizontal position by using preset laser based on the first horizontal position and the second horizontal position which are accurately calibrated; according to the illumination density of laser focusing scattering of the first horizontal position and the second horizontal position, modulating the angle optical signal wavelength of the first horizontal position or the second horizontal position, observing the distribution refractive index caused by the optical signal wavelength, observing the optical speed and the optical frequency attached to the distribution refractive index, calculating the distance measurement precision of the first horizontal position and the second horizontal position according to the optical speed and the optical frequency attached to the distribution refractive index, recording the measurement distance and recording the measurement distance as a first horizontal distance; establishing a Euclidean distance between a first horizontal position and a second horizontal position, setting two points of the first horizontal position and the second horizontal position on a horizontal plane as a point a and a point b, setting Euclidean distances as a (x 1, y 1) and b (x 2, y 2), performing thinning on the Euclidean distances as a (x 1, y 1) and b (x 2, y 2) according to a preset Euclidean distance threshold value, acquiring an extreme value of an azimuth distance in the Euclidean distances from a results of thinning, and substituting the extreme value into the first horizontal distance to obtain a second horizontal distance; recording the recording distance as a second horizontal distance; the method comprises the steps of taking a first horizontal distance as a starting point, setting the distance between the first horizontal distance and the first horizontal position as A nautical miles, substituting a Fraeman chain code method into the first horizontal distance for feature extraction to obtain a first extracted feature, taking a second horizontal distance as a starting point, setting the distance between the second horizontal distance and the second horizontal position as B nautical miles, substituting the Fraeman chain code method into the second horizontal distance for feature extraction to obtain a second extracted feature, carrying out quantitative feature normalization processing on the first extracted feature and the second extracted feature, screening quantitative features with similar weight values, evaluating the similarity of the quantitative features with similar weight values, screening and recording the same horizontal distance data to obtain leveling ranging track data.
In one embodiment: the method also comprises the following steps of recording the activity track of the real-time fish school based on the level center:
according to the geographical position of a water area preset by the terminal, the position of the fish school which can be detected is called, and the position is set as a level position;
correcting the level azimuth, accurately adjusting the level azimuth including longitude and latitude and underwater depth, and setting the obtained accurately finished level azimuth as a level center;
based on a sonar preset by the level center to the surrounding scattering fish finder, orientation data fed back by the sonar is called, and the orientation fed back by the sonar is set as a track recording orientation of the real-time activity of the fish school.
In a specific embodiment: when the geographical position of the water area corresponding to the identification of the terminal is confirmed, the average longitude and latitude information can be further taken from the corresponding position maximum cluster,
acquiring original data of the latitude and longitude information and a water area geographical position mark thereof, wherein the original data comprises latitude and longitude density data and/or a latitude and longitude label, acquiring the water area geographical position mark and latitude and longitude information corresponding to the water area geographical position,
based on the corresponding relation between the latitude and longitude original data and the geographical position mark of the water area, the latitude and longitude data corresponding to the latitude and longitude original data are used as the latitude and longitude data corresponding to the position mark, so as to further improve the definition of the position mark and the latitude and longitude data thereof,
converting the position identification and the longitude and latitude data thereof through a coordinate system to obtain an average longitude and latitude value as final longitude and latitude information corresponding to the water area geographic position identification;
obtaining corresponding positions through image processing according to the final longitude and latitude information, continuously optimizing by using a genetic algorithm by taking the deviation as an optimization target and the parameter to be calibrated as a variable to be optimized in an initial state, enabling the model parameter to be close to an accurate value, reducing the deviation between the predicted position and the real position, carrying out iterative computation of a plurality of rounds to obtain a water level computation value which is obtained based on coordinate processing and is the underwater depth,
and acquiring a level center according to the final longitude and latitude information and the water level calculation value.
In one embodiment: the step of recording the activity track of the real-time fish school based on the level center comprises the following steps:
observing the moving track of the fish school by using a preset probe, wherein the moving track comprises the temperature, the density and the sound velocity mapped for the fish school;
calculating the temperature, density and sound velocity staying time of the fish shoal mapping based on the wind waves, swell waves and near-shore waves accompanied by the water depth of a preset level center;
and acquiring the real-time moving track of the fish school according to the temperature, the density and the sound velocity staying time mapped by the fish school.
In a specific embodiment: for the temperature, the density and the sound velocity staying time to be calculated, the temperature, the density and the sound velocity staying time to be calculated are measured under different depths and water pressures and are used as basic data, and simultaneously three groups of data are necessary to be input, so that the problems that the error of the calculation result is overlarge and the precision requirement cannot be met are avoided, more input data is helpful for improving the precision of the calculation result,
since the sound velocity is determined by the temperature, the pressure and the components, if three groups of data are input, the real-time activity track of the fish school can be roughly inferred, but the error is large, the practical application has no great significance,
if component data with relatively high precision is to be acquired, generally at least ten groups of data are input, the precision of the data can be better than 1%, more input data can further improve the accuracy of a calculation result, and errors are reduced according to different conditions of repeated calculation;
in order to verify the uncertainty of the result, a plurality of permutation combinations are generated, ten groups of components are calculated for each group, sound velocity is used as an input value under different temperatures and pressures, the components and corresponding time are calculated, and then the components and corresponding time are compared with standard requirements to calculate an error value;
in one embodiment: before the step of measuring the first horizontal position and the second horizontal position, the method further comprises the following steps:
using a preset underwater distance meter, and acquiring the level azimuth of a second horizontal position by adopting an angle intersection method on the basis of the azimuth of the first horizontal position, wherein the level azimuth comprises the longitude and the latitude and the underwater depth of the second horizontal position;
calibrating the accurate azimuth of the second horizontal position according to the acquired level azimuth data of the second horizontal position;
and focusing the first horizontal position and the second horizontal position by using preset laser based on the accurately calibrated first horizontal position and second horizontal position.
In a specific embodiment: the underwater distance measuring instrument is taken as a first measuring point, the first horizontal position is taken as a second measuring point, the first measuring point is taken as a rear view point, the directions of the first measuring point and the second measuring point can be determined by measuring the horizontal angle beta 1 of the second horizontal position, and in the same way, the second measuring point is taken as a rear view point, the directions of the second measuring point and the second measuring point beta 2 can be determined by measuring the horizontal angle beta 2 of the second horizontal position, and the plane position of the second horizontal position can be determined,
marking the plane position of the second horizontal position, measuring and setting in the opposite direction according to two horizontal angles beta 1 and beta 2, and obtaining the longitude and latitude and the underwater depth of the second horizontal position by a measuring and setting station;
focusing the first horizontal position and the second horizontal position by using the laser, assuming that the emitting position of the light is c, the receiving positions of the light are T1 and T2, the distance between the distance meter and the target object is W, the change of the phase is G, and the propagation time of the light is T, the relationship between the phase G and the time T is:
where Δ φ is the number of entire wavelengths, λ is the phase within one wavelength.
In one embodiment: the step of measuring the first and second horizontal positions comprises:
according to the illumination density of the laser focusing scattered at the first horizontal position and the second horizontal position, modulating the angle optical signal wavelength of the first horizontal position or the second horizontal position;
observing the optical speed and the optical frequency attached to the distributed refractive index by looking at the distributed refractive index caused by the wavelength of the optical signal;
and calculating the distance measurement precision of the first horizontal position and the second horizontal position according to the optical speed and the optical frequency attached to the distribution refractive index.
In a specific embodiment: the refractive index of water changes, i.e. the refractive index of light in water is different from the refractive index of light in vacuum. c is the speed of light, gamma is the frequency of laser light, which is determined by the oscillation characteristics of the light source, and gamma does not change with the change of the refractive index of the medium;
the refractive index of water determines the wavelength of light, density, temperature, and pressure of the water. Meanwhile, the salinity, temperature, pressure and velocity distribution of water causes non-uniform distribution of refractive index, which greatly affects the results of the laser distance meter. The absorption loss of light results in a reduction in the energy of the light beam and also in a reduction in the transmission distance. The scattering effect of light can affect the direction of the light beam and greatly reduce the distance measurement precision;
after propagating a length L in water, the change of the optical energy of the laser can be represented by the following formula:
where I is the energy of the laser after propagation distance, I0 is the initial energy, L is the propagation distance, and θ (λ) and ψ (λ) are the loss coefficients of absorption and scattering, respectively, which are light with the wavelength of the laser.
In one embodiment: the step of calculating the second horizontal distance by the Euclidean distance method according to the first horizontal distance comprises the following steps:
establishing an Euclidean distance between the first horizontal position and the second horizontal position, setting two points of the first horizontal position and the second horizontal position on a horizontal plane as a point a and a point b, and setting the Euclidean distance as a (x 1, y 1) and b (x 2, y 2);
performing thinning on the Euclidean distances of a (x 1, y 1) and b (x 2, y 2) according to a preset Euclidean distance threshold;
and obtaining an extreme value of the azimuth distance in the Euclidean distance from the rarefaction result, and substituting the extreme value into the first horizontal distance to obtain the second horizontal distance.
In a specific embodiment: establishing a two-dimensional plane based on the first horizontal position and the second horizontal position, wherein two points on the two-dimensional plane are a point a and a point b, and setting an Euclidean distance formula between the two points as follows:
changing the initial positions of the point a and the point b, adopting different Euclidean distance thresholds to perform two times of thinning on the Euclidean distance between the point a and the point b, comparing the mean square deviations of the two times of thinning, judging the extreme value accurate index of the azimuth distance through the mean square deviations, and determining the extreme value on the premise of ensuring the accuracy;
performing first thinning, adjusting Euclidean distance threshold value to (0.5 x Euclidean distance) to perform thinning on the azimuth distance, substituting azimuth coordinates (x, y) obtained by thinning into an expression to obtain a predicted value z based on an optimal azimuth distance trend surface,
second thinning, adjusting the euclidean distance threshold to (0.7 x euclidean distance) to thin the azimuth distance, substituting the azimuth coordinates (x, y) obtained from thinning into the expression, obtaining the predicted value z based on the optimal azimuth distance departure surface,
taking 1 as a mean square error tolerance, and when the mean square error tolerance is greater than 1, optimizing the accurate index of the azimuth distance; when the mean square error tolerance is less than 1, the accurate value table of the azimuth distance is reduced, the Euclidean distance threshold value can be correspondingly improved, and the integrity of the azimuth distance trend surface is ensured.
In one embodiment: the step of comparing the first horizontal distance to the second horizontal distance comprises:
setting the distance from the first horizontal position as A Haili by taking the first horizontal distance as a starting point, and substituting a Frahman chain code method into the first horizontal distance to perform feature extraction to obtain a first extraction feature;
setting the distance from the second horizontal position as Bhai by taking the second horizontal distance as a starting point, and substituting the second horizontal distance by a Frahman chain code method to perform feature extraction to obtain a second extraction feature;
and carrying out quantitative feature normalization processing on the first extraction features and the second extraction features, screening out quantitative features with similar weight values, and evaluating similarity of the quantitative features with similar weight values.
In a specific embodiment: the common friemann chain codes are divided into 4-connected chain codes and 8-connected chain codes according to the number of the adjacent directions of the central pixel points. The 4 adjacent points of the 4 connected chain codes are respectively arranged at the upper part, the lower part, the left part and the right part of the central point. The 8 connected chain codes are increased by 4 oblique directions compared with the 4 connected chain codes, because 8 adjacent points are arranged around any pixel, and the 8 connected chain codes just conform to the actual situation of the pixel points, the information of the central pixel point and the adjacent points can be accurately described;
in the horizontal, vertical and two diagonal directions of the second horizontal distance, 8 direction symbols may be defined for two adjacent pixel points: 1. 2, 3, 4, 5, 6, 7, 8,
setting 8 survey points based on 8 direction symbols, wherein each survey point is 1/8 nautical miles apart, connecting the 8 survey points through line segments to form a group of Fraeman number series codes,
obtaining different chain code representations according to the arrangement directions of 8 different measuring points, optionally selecting one point to obtain an original chain code, regarding the chain code as an n-bit natural number formed by all direction numbers, circulating the code according to one direction to ensure that the n-bit natural number formed by the code is minimum, and forming the chain code with a unique starting point at the moment, wherein the chain code is the extracted characteristic;
giving a chain code obtained from any point, and regarding the chain code as a natural number consisting of all direction numbers; circulating the direction numbers in one direction to minimize the value of natural numbers formed by the direction numbers, expressing the boundary of the target by using a series of connected straight line segments with specific length and direction, taking the chain code starting point corresponding to the conversion as the starting point of the normalization chain code of the boundary, rotationally normalizing the chain code, expressing the boundary of the given target by using the chain code, screening the quantitative characteristics that the chain code and the chain code number of the boundary are similar,
and evaluating the weight value of the chain code number through normalization, wherein the chain code obtained through normalization does not have rotation invariance, so that the normalized chain code is similar to the chain code and has translation invariance and unique quantitative characteristics.
Claims (8)
1. A track recording method of a leveling ranging fish finder is characterized by comprising the following steps:
according to the geographical position of a water area preset by the terminal, the position of the fish school which can be detected is called, and the position is set as a level position;
correcting the level azimuth, accurately adjusting the level azimuth including longitude and latitude and underwater depth, and setting the obtained accurately finished level azimuth as a level center;
based on a sonar preset by the scattering fish finder from the leveling center to the periphery, orientation data fed back by the sonar is called, and the orientation fed back by the sonar is set as a track recording orientation of the real-time activity of the fish school;
recording the activity track of the fish school in real time for a first horizontal position based on the level center;
observing the moving track of the fish school by using a preset probe, wherein the moving track comprises the temperature, the density and the sound velocity mapped for the fish school;
calculating the temperature, density and sound velocity staying time of the fish shoal mapping based on the wind waves, swell waves and near-shore waves accompanied by the water depth of a preset level center;
acquiring a real-time moving track of the fish school according to the temperature, the density and the sound velocity staying time mapped by the fish school;
setting the moving track of the fish school as a second horizontal position, measuring the distance between the first horizontal position and the second horizontal position, recording the measured distance as a first horizontal distance;
calculating the distance between the first horizontal position and the second horizontal position by adopting an Euclidean distance method according to the first horizontal distance, and recording the distance as the second horizontal distance;
and comparing the first horizontal distance with the second horizontal distance, screening and recording the same horizontal distance data to obtain the leveling ranging track data.
2. The method of claim 1, wherein the step of measuring the distance between the first horizontal position and the second horizontal position further comprises:
using a preset underwater distance meter, and acquiring the level azimuth of a second horizontal position by adopting an angle intersection method on the basis of the azimuth of the first horizontal position, wherein the level azimuth comprises the longitude and the latitude and the underwater depth of the second horizontal position;
calibrating the accurate azimuth of the second horizontal position according to the acquired level azimuth data of the second horizontal position;
and focusing the first horizontal position and the second horizontal position by using preset laser based on the accurately calibrated first horizontal position and second horizontal position.
3. The method of claim 2, wherein the step of measuring the distance between the first and second horizontal positions comprises:
according to the illumination density of the laser focusing scattered at the first horizontal position and the second horizontal position, modulating the angle optical signal wavelength of the first horizontal position or the second horizontal position;
observing the optical speed and the optical frequency attached to the distributed refractive index by looking at the distributed refractive index caused by the wavelength of the optical signal;
and calculating the distance measurement precision of the first horizontal position and the second horizontal position according to the optical speed and the optical frequency attached to the distribution refractive index.
4. The trajectory recording method of the horizontal ranging fish finder as claimed in claim 1, wherein the step of calculating the distance between the first horizontal position and the second horizontal position by using the euclidean distance method according to the first horizontal distance comprises:
establishing an Euclidean distance between the first horizontal position and the second horizontal position, setting two points of the first horizontal position and the second horizontal position on a horizontal plane as a point a and a point b, and setting the Euclidean distance as a (x 1, y 1) and b (x 2, y 2);
performing thinning on the Euclidean distances of a (x 1, y 1) and b (x 2, y 2) according to a preset Euclidean distance threshold;
and obtaining an extreme value of the azimuth distance in the Euclidean distance from the rarefaction result, and substituting the extreme value into the first horizontal distance to obtain the second horizontal distance.
5. The trajectory recording method of the leveling ranging fish finder as claimed in claim 1, wherein the step of comparing the first horizontal distance and the second horizontal distance comprises:
setting the distance from the first horizontal position as A Haili by taking the first horizontal distance as a starting point, and substituting a Frahman chain code method into the first horizontal distance to perform feature extraction to obtain a first extraction feature;
setting the distance from the second horizontal position as Bhai by taking the second horizontal distance as a starting point, and substituting the second horizontal distance by a Frahman chain code method to perform feature extraction to obtain a second extraction feature;
and carrying out quantitative feature normalization processing on the first extraction features and the second extraction features, screening out quantitative features with similar weight values, and evaluating similarity of the quantitative features with similar weight values.
6. A trajectory recording device of a leveling fish finder, which is implemented by using the trajectory recording party of the leveling fish finder as claimed in any one of claims 1 to 5, comprising:
the measuring module is used for recording the activity track of the real-time fish school for a first horizontal position based on the level center; setting the moving track of the real-time fish school as a second horizontal position, measuring the distance between the moving track and the first horizontal position, recording the measured distance as a first horizontal distance;
the comparison module is used for calculating the distance between the first horizontal position and the second horizontal position by adopting an Euclidean distance method according to the first horizontal distance, and recording the distance as a second horizontal distance; and comparing the first horizontal distance with the second horizontal distance, screening and recording the same horizontal distance data.
7. The trajectory recording device of the level ranging fish finder of claim 6, wherein the measuring module further comprises:
the recording submodule is used for recording the activity track of the real-time fish school for a first horizontal position based on the level center;
and the measuring submodule is used for setting the activity track of the real-time fish school as a second horizontal position, measuring the distance between the real-time fish school and the first horizontal position, recording the measured distance as a first horizontal distance.
8. The trajectory recording device of the level ranging fish finder of claim 6, wherein the comparison module further comprises:
the calculation submodule is used for calculating the distance between the first horizontal position and the second horizontal position by adopting an Euclidean distance method according to the first horizontal distance, and recording the distance as the second horizontal distance;
and the comparison submodule is used for comparing the first horizontal distance with the second horizontal distance, screening and recording the same horizontal distance data.
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| GB1011509A (en) * | 1962-12-05 | 1965-12-01 | Smith & Sons Ltd S | Fish detection sonar apparatus |
| JP4106124B2 (en) * | 1998-05-06 | 2008-06-25 | 古野電気株式会社 | Automatic fish tracking tracking sonar |
| CN104808211A (en) * | 2014-12-12 | 2015-07-29 | 南阳理工学院 | Detector for measuring swimming path of fishes |
| CN104463250B (en) * | 2014-12-12 | 2017-10-27 | 广东工业大学 | A kind of Sign Language Recognition interpretation method based on Davinci technology |
| CN105572676A (en) * | 2015-12-16 | 2016-05-11 | 浙江大学 | Seine object fish shoal tracking method based on horizontal fishgraph images |
| CN107561545B (en) * | 2017-08-24 | 2020-02-28 | 北京臻迪科技股份有限公司 | Fish shoal detection method and device and detector |
| CN110244715B (en) * | 2019-05-23 | 2022-09-30 | 西安理工大学 | Multi-mobile-robot high-precision cooperative tracking method based on ultra wide band technology |
| CN112817943B (en) * | 2021-02-26 | 2023-05-30 | 上海海事大学 | Multi-threshold ship track simplification method based on dead reckoning method |
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