CN206546434U - A kind of multidimensional acoustic imaging system under water - Google Patents
A kind of multidimensional acoustic imaging system under water Download PDFInfo
- Publication number
- CN206546434U CN206546434U CN201620962458.XU CN201620962458U CN206546434U CN 206546434 U CN206546434 U CN 206546434U CN 201620962458 U CN201620962458 U CN 201620962458U CN 206546434 U CN206546434 U CN 206546434U
- Authority
- CN
- China
- Prior art keywords
- array
- imaging
- basic matrix
- multidimensional
- underwater
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model discloses a kind of multidimensional acoustic imaging system under water, the system is based on underwater two-dimension receives basic matrix array, while two and three dimensions image is obtained, compatible several work pattern, the environmental suitability of system greatly improved, the system includes such as lower unit：By receiving the reception basic matrix array that submatrix is constituted more；The transmitting basic matrix that battle array or multi-emitting battle array are constituted is penetrated by single-shot；Emitter, for driving transmitting basic matrix transmitting underwater signal；Receiver, the acoustical signal for being received to receiving submatrix is amplified, and filtering simultaneously digitizes analog acoustic signal；And imaging module, imaging module is for calculating multidimensional acoustic imaging system under water.The utility model can obtain underwater two-dimension and 3-D view simultaneously, and adapt to high speed and two kinds of different work patterns of low speed.
Description
Technical field
The utility model is related to underwater sound imaging applications field, more particularly to a kind of multidimensional acoustic imaging system under water.
Background technology
Light wave loses larger in water transmission, and propagation loss of the sound wave in water is smaller, therefore, and acoustic equipment is visited under water
Look into application very wide.Existing underwater sound imaging system mainly has two classes, and a class is the X-Y scheme for obtaining underwater scene
Picture, such as side scan sonar, forward sight multibeam sonar；One class be obtain underwater scene 3-D view, as follows regarding multibeam sonar,
Depth measurement side scan sonar etc..What above-mentioned two classes system was completed is single two dimensional image or three single bit images, and can not be
The imaging of two peacekeeping three is completed in same system simultaneously, cause above-mentioned two classes system to sweep survey efficiency comparison low.
Utility model content
To solve problem present in above-mentioned background technology, the purpose of this utility model is to provide a kind of multidimensional sound under water
Imaging system is learned, makes it while obtaining underwater two-dimension image and 3-D view to reach, the purpose for surveying efficiency is swept in raising.
To reach above-mentioned purpose, the technical solution of the utility model is as follows：
A kind of multidimensional acoustic imaging system under water, the system handles virtual with two-dimensional array using the real aperture of two-dimensional array
Aperture processing completes two dimension or three-dimensional Underwater Imaging, and it includes
Some two dimensions for receiving submatrix composition receive basic matrix array, some yardstick, phase and performances for receiving submatrix
It is consistent；
Single-shot penetrates the transmitting basic matrix array of battle array or multi-emitting battle array composition；
Multidimensional acoustics imaging emitter, for driving the transmitting basic matrix array emitter underwater signal；
Multidimensional acoustics imaging receiver, the acoustical signal that submatrix is received respectively is received for receiving basic matrix array to the two dimension
It is amplified, filters, while analog acoustic signal is digitized；
Imaging module, for handling the acoustical signal received, complete underwater scene it is two-dimentional or three-dimensional into
Picture；
Control centre, is connected with the multidimensional acoustics imaging emitter and multidimensional acoustics imaging receiver respectively；
The point midway that some reception submatrixs penetrate battle array or multi-emitting battle array with single-shot is displaced phase center, forms one
The sonar transducer array virtual array put is closed in transmitting-receiving.
It is preferred that, some reception submatrixs are arranged in the way of uniform two-dimensional grid or non-homogeneous two-dimensional grid.
It is preferred that, the imaging module uses digital signal processing chip, general processor or FPGA.
The multidimensional acoustic imaging system under water provided by above-mentioned technical proposal, the utility model, is received with underwater two-dimension
It is comprehensive that underwater two-dimension and 3-D view can be obtained simultaneously using real aperture technique and bore diameter synthesizing technology based on basic matrix array,
And undersea detection efficiency can be greatly improved；Real aperture technique is applied to the faster situation of the speed of a ship or plane, and bore diameter synthesizing technology is applicable
In the relatively low situation of the speed of a ship or plane, during high speed operation, complete quickly to sweep survey using real aperture technique, be easy to quickly determine suspected target；
During lowsteaming, high accuracy is completed using virtual aperture technology and sweeps survey, is easy to confirm target and recognized；Using same
System, compatible several work pattern, greatly improved the environmental suitability of system, while the resolution of imaging also greatly improved
Rate.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described.
Fig. 1 is a kind of structured flowchart of acoustic imaging system of multidimensional under water disclosed in the utility model embodiment；
Fig. 2 is a kind of flow chart of acoustics imaging method of multidimensional under water disclosed in the utility model embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe.
A kind of multidimensional acoustic imaging system under water that the utility model is provided, as shown in figure 1, the system uses two-dimensional array
Real aperture processing and the virtual aperture processing of two-dimensional array complete two dimension or three-dimensional Underwater Imaging, and it includes
Some two dimensions for receiving submatrix composition receive basic matrix array, and yardstick, phase and the performance of some reception submatrixs are protected
Hold consistent；Avoid impacting imaging results because the performance of each reception submatrix is inconsistent, be especially to ensure that multiple connect
Receive the phase equalization of submatrix；If multiple phase equalizations for receiving submatrix have differences, it should be entered by appropriate method
Rower is fixed and is compensated in data processing module；Some reception submatrixs are with the side of uniform two-dimensional grid or non-homogeneous two-dimensional grid
Formula is arranged；
Single-shot penetrates the transmitting basic matrix array of battle array or multi-emitting battle array composition；
Multidimensional acoustics imaging emitter, for driving transmitting basic matrix array emitter underwater signal；The shape of underwater signal
Formula can be set according to system requirements, and linear FM signal is used in the present embodiment；
Multidimensional acoustics imaging receiver, the acoustical signal progress that submatrix is received respectively is received for receiving basic matrix array to two dimension
Amplification, filtering, while analog acoustic signal is digitized；
Imaging module, for handling the acoustical signal received, complete underwater scene it is two-dimentional or three-dimensional into
Picture；Imaging module uses digital signal processing chip, general processor or FPGA；
Control centre, is connected with multidimensional acoustics imaging emitter and multidimensional acoustics imaging receiver respectively；
The point midway that some reception submatrixs penetrate battle array or multi-emitting battle array with single-shot is displaced phase center, forms one and receives and dispatches
Close the sonar transducer array virtual array put.
A kind of multidimensional acoustics imaging method under water, as shown in Fig. 2 entering by taking 600kHz multidimensional underwater sound imaging systems as an example
Row explanation, comprises the following steps：
1) initialization system parameter in transmitters, systematic parameter includes transmission signal centre frequency 600kHz, signal bandwidth
60kHz, signal form be linear FM signal, pulse width be dur, pulse repetition period be that prt, minimum sampled distance are
rmin, sample rate be fs, sampling number be NR, transmitting battle array width be DT, transmitting battle array angle of release be θT, basic matrix array received submatrix number
N number of, reception submatrix position, reception submatrix width are DR, receiving battle array can be numbered with random order, and transmission signal uses CW arteries and veins
Punching, the signal form of LFM pulses, the expression formula of transmission signal is represented using p (t), launches the position position vector of battle arrayRepresent；
2) each submatrix single screen raw radar data of two-dimensional array is obtained, the n-th i-th of screen receives m-th original time of submatrix
Wave number strong point is expressed as sn,i(m), the position position vector of i-th of submatrixTo represent, j-th
The position position vector of target pointTo represent；
Wherein,
Wherein C is the velocity of sound
T is the time, and t=m Δ t, Δ t are the sampling interval
3) to the n-th screen echo data sn,i(t) pre-processed, it is different according to signal form, different pretreatments are carried out,
Its process step is as follows：
31) Fourier transformation is carried out to signal
Wherein,For wave number, ω is angular frequency, and C is the velocity of sound
32) matching treatment is carried out to signal
33) inverse Fourier transform is carried out to signal
en,i(t)=IFFT [En,i(ω)]
Wherein IFFT represents that inverse Fourier transform is operated
According to the change of signal form, Signal Pretreatment mode is adjusted, the form of pretreatment includes demodulation, envelope
Processing, pulse compression, matched filtering, the change of preprocess form, the processing for not influenceing its follow-up；
4) to the n-th screen preprocessed data en,i(m) imaging is carried out, underwater 3 D image is calculated；
Set underwater 3 D image a certain pixel pj coordinate asThen pixel pj
It is as follows into figure step：
41) basic matrix array submatrix i is received to any, calculates the echo of the corresponding pj pixels of reception basic matrix array submatrix
For en,i(tpij), wherein
Then the pixel value of pj pixels is：
Repeat the above steps and calculate the pixel value of all pixels in space, complete space three-dimensional imaging；
According to the geographical coordinate and pixel value of pj pixels, reconstruction attractor 3-D view, the 3-D view after reconstruct is：
Ip(xpj,ypj,zpj)=Ip(j)
It is extensive to coordinate system progress, the validity of above-mentioned process step is not influenceed, finally obtains space three-dimensional image Ip(x,
Y, z), wherein x, y, z is space and geographical coordinate；
5) underwater two-dimension image is calculated
Due to the sound ray occlusion effect in space, and in space the features such as target finite, step 4) the middle three-dimensional calculated
There is bulk information redundancy in image, in order to reduce information redundancy, or for the ease of display, it is necessary to be carried out to space three-dimensional image
Optimization, and underwater two-dimension image is calculated, optimization process is as follows：
51) space target position and underwater two-dimension perspective plane are determined
For the ease of description, versatility is not influenceed, origin O is chosen, it is general to choose the geometric center point origin for launching basic matrix,
Choose the two-dimensional projection face of plane or curved surface under water, the direction vector of transmitting basic matrix to target pointVector in the direction
Scan for, with distance description searching process, select the position for target point at the position of image pixel maximum, setting should
The distance of position isThen the spatial position vector of target point is：
Repeat said process, it may be determined that the locus of all targets, under water two are constituted by the locus of all targets
Curved projection surfaces are tieed up, due toFor spatial discrete points, and it is limited on a certain curved surface in space, by its extensive table
After showing, the underwater two-dimension image I (x, y, z) that can be formed on space curved surface；
6) imaging resolution is improved by virtual aperture technology
By virtual aperture technology, the information of same target point multi-angle echo is made full use of, imaging can be greatly improved
Signal to noise ratio and imaging resolution, in order to reach this purpose, it is necessary to by step 41) in the 3-D view that is formed be overlapped, improve
Imaging resolution and signal to noise ratio；
For the ease of description, by step 41) in 3-D view again use In(x, y, z) is represented, virtual aperture into
The process of picture is listed below：
61) position range of virtual aperture array element is calculated
It is to position vectorSpace pixel for, it is assumed that transmitting paroxysm penetrate sound wave angle of release be θ,
The position for then meeting following conditions is the active position of virtual aperture array element,
β ＜ θ/2, wherein：
Launch the position vector of battle array for the n-th screen
For transmitting tactical deployment of troops line vector
Acos represents cos inverse function
It is assumed that the screen indexed set for meeting above-mentioned condition volume Virtual array is combined into Ψ
62) calculated hole diameters compositing 3 d images
A kind of multidimensional acoustic imaging system and method under water, basic matrix array is received with underwater two-dimension disclosed in the utility model
Based on, it is comprehensive using real aperture technique and bore diameter synthesizing technology, it can obtain underwater two-dimension and 3-D view simultaneously, and can be with
Greatly improve undersea detection efficiency；Real aperture technique be applied to the faster situation of the speed of a ship or plane, bore diameter synthesizing technology be applied to the speed of a ship or plane compared with
Low situation, during high speed operation, is completed quickly to sweep survey using real aperture technique, is easy to quickly determine suspected target；Lowsteaming
When, high accuracy is completed using virtual aperture technology and sweeps survey, is easy to confirm target and recognized；It is simultaneous using same system
Hold several work pattern, the environmental suitability of system greatly improved, while the resolution ratio of imaging also greatly improved.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or new using this practicality
Type.A variety of modifications to these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can in other embodiments be realized in the case where not departing from spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (1)
1. a kind of multidimensional acoustic imaging system under water, it is characterised in that the system is using the real aperture processing of two-dimensional array and two dimension
The virtual aperture processing of array completes two dimension or three-dimensional Underwater Imaging, and it includes
Some two dimensions for receiving submatrix composition receive basic matrix array, and some yardstick, phase and performances for receiving submatrix are protected
Hold consistent, some reception submatrixs are arranged in the way of uniform two-dimensional grid or non-homogeneous two-dimensional grid；
Single-shot penetrates the transmitting basic matrix array of battle array or multi-emitting battle array composition；
Multidimensional acoustics imaging emitter, for driving the transmitting basic matrix array emitter underwater signal；
Multidimensional acoustics imaging receiver, the acoustical signal progress that submatrix is received respectively is received for receiving basic matrix array to the two dimension
Amplification, filtering, while analog acoustic signal is digitized；
Imaging module, for handling the acoustical signal received, completes two dimension or the three-dimensional imaging of underwater scene, institute
Imaging module is stated using digital signal processing chip, general processor or FPGA；
Control centre, is connected with the multidimensional acoustics imaging emitter and multidimensional acoustics imaging receiver respectively；
The point midway that some reception submatrixs penetrate battle array or multi-emitting battle array with single-shot is displaced phase center, forms one and receives and dispatches
Close the sonar transducer array virtual array put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620962458.XU CN206546434U (en) | 2016-08-29 | 2016-08-29 | A kind of multidimensional acoustic imaging system under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620962458.XU CN206546434U (en) | 2016-08-29 | 2016-08-29 | A kind of multidimensional acoustic imaging system under water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206546434U true CN206546434U (en) | 2017-10-10 |
Family
ID=59993347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620962458.XU Active CN206546434U (en) | 2016-08-29 | 2016-08-29 | A kind of multidimensional acoustic imaging system under water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206546434U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108845326A (en) * | 2018-07-02 | 2018-11-20 | 中科探海(苏州)海洋科技有限责任公司 | One kind is lower depending on integrating underwater panorama three-dimensional imaging sonar with side view |
| CN110456362A (en) * | 2019-07-17 | 2019-11-15 | 北京大学 | A kind of target acoustic imaging and speed-measuring method and system based on pulse pair transmitting |
| CN113030984A (en) * | 2021-03-08 | 2021-06-25 | 云南保利天同水下装备科技有限公司 | 3D image reconstruction method applied to multi-beam sonar target recognition |
-
2016
- 2016-08-29 CN CN201620962458.XU patent/CN206546434U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108845326A (en) * | 2018-07-02 | 2018-11-20 | 中科探海(苏州)海洋科技有限责任公司 | One kind is lower depending on integrating underwater panorama three-dimensional imaging sonar with side view |
| CN110456362A (en) * | 2019-07-17 | 2019-11-15 | 北京大学 | A kind of target acoustic imaging and speed-measuring method and system based on pulse pair transmitting |
| CN110456362B (en) * | 2019-07-17 | 2021-07-06 | 北京大学 | Target acoustic imaging and speed measuring method and system based on pulse pair emission |
| CN113030984A (en) * | 2021-03-08 | 2021-06-25 | 云南保利天同水下装备科技有限公司 | 3D image reconstruction method applied to multi-beam sonar target recognition |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3144700B1 (en) | Adaptive beamformer for sonar imaging | |
| CN112444811B (en) | Target detection and imaging method for comprehensive MIMO radar and ISAR | |
| CN106125078B (en) | A kind of underwater multidimensional acoustic imaging system and method | |
| CN108181626B (en) | High-resolution three-dimensional acoustic imaging system | |
| CN107272005B (en) | Active positioning method based on target echo arrival time delay and arrival angle under reliable acoustic path | |
| CN109765562A (en) | A kind of three-dimensional looking forward sound sonar system and method | |
| CN110412587B (en) | Deconvolution-based downward-looking synthetic aperture three-dimensional imaging method and system | |
| CN206546434U (en) | A kind of multidimensional acoustic imaging system under water | |
| JP7340868B2 (en) | Ultrasonic method and equipment | |
| CN109581388B (en) | Near-field wide-view-angle beam forming method of real-time three-dimensional imaging sonar | |
| CN109375179A (en) | A kind of strong clutter suppression method of airborne radar short range based on rarefaction representation | |
| US20220026570A1 (en) | Techniques for sonar data processing | |
| US9857465B2 (en) | System and method for target detection | |
| Han et al. | A real-time 3-D underwater acoustical imaging system | |
| WO2023213052A1 (en) | Deep-sea sound source localization method, computer device and storage medium | |
| CN102697524A (en) | Full-focus ultrasonic imaging method and application of method in blood flow imaging | |
| CN104166134A (en) | Real beam foresight scanning radar target two-dimension locating method | |
| CN110346798A (en) | A kind of biradical efficient image processing method of synthetic aperture radar wave-number domain | |
| CN104215937A (en) | Airborne radar space time adaptation processing method based on environment dynamic perception | |
| CN110907938B (en) | Near-field rapid downward-looking synthetic aperture three-dimensional imaging method | |
| CN107132524A (en) | Submarine target locus computational methods based on two identification sonars | |
| CN107132525A (en) | Submarine target locus computational methods based on two vertically arranged identification sonars | |
| CN110879391A (en) | Radar image data set manufacturing method based on electromagnetic simulation and missile-borne echo simulation | |
| CN111580112B (en) | Underwater sonar sensor array imaging method based on plane waves | |
| CN105974421A (en) | Method utilizing orthogonal array to form unmanned ship monitoring area supersonic wave three-dimensional image |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 1, Xingyuan Road, Nanfeng Town, Zhangjiagang City, Suzhou, Jiangsu Patentee after: Zhongke marine (Suzhou) Marine Technology Co., Ltd. Address before: Zhangjiagang Nanfeng town Suzhou city Jiangsu province 215000 Hing Road No. 6 building C Nanfeng wisdom Center Patentee before: Suzhou ocean science and Technology Co., Ltd. |