CN208432731U - One kind is lower to integrate underwater panorama three-dimensional imaging sonar depending on multi-beam with lower depending on three-dimensional - Google Patents
One kind is lower to integrate underwater panorama three-dimensional imaging sonar depending on multi-beam with lower depending on three-dimensional Download PDFInfo
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- CN208432731U CN208432731U CN201821038655.8U CN201821038655U CN208432731U CN 208432731 U CN208432731 U CN 208432731U CN 201821038655 U CN201821038655 U CN 201821038655U CN 208432731 U CN208432731 U CN 208432731U
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Abstract
The utility model discloses integrate underwater panorama three-dimensional imaging sonar, including lower view multibeam sonar, lower view three-dimensional sonar, subsea control modules, towed body frame depending on multi-beam with lower depending on three-dimensional under one kind；The towed body frame is whole pancake framework, and the towed body base of frame is equipped with lower view three-dimensional sonar and receives basic matrix, and top front and back is equipped with lower view multibeam sonar transmitter and lower view multibeam sonar receiver；Middle position is equipped with lower view multibeam sonar transmitting basic matrix in front of the towed body frame and lower view multibeam sonar receives basic matrix；The towed body frame rear portion is equipped with lower view three-dimensional sonar transmitting basic matrix, subsea control modules, lower view three-dimensional sonar transmitter and lower view three-dimensional sonar receiver；It is additionally provided with transmitting in the towed body frame and receives electronic compartment；The utility model is integrated using lower view multibeam sonar and lower view three-dimensional sonar, and panorama three-dimensional detection buries object, simultaneously seabed three-dimensional imaging in real time and sea-floor relief imaging, improves equipment and detects ability and detection efficient.
Description
Technical field
The present invention relates to ocean engineering technology apparatus field is related to, in particular to a kind of lower view three-dimensional and lower view multi-beam collection
At underwater panorama three-dimensional imaging sonar.
Background technique
With ocean science, the deep development of marine economy, the cognition and exploitation to ocean are throughout each area of ocean
Domain, it is higher and higher to the ability need for detecting equipment, it is desirable that the detectivity for detecting equipment is extended to middle off-lying sea from coastal waters, from water
Middle suspension, bottom target expand to the following geological stratification in seabed or bury object.Therefore, to it is detectable suspend, sink to the bottom and bury mesh
The demand of target ocean panorama three-dimensional investigation system is more more and more urgent.
In all kinds of Small objects are detected, buries physical prospecting and look into the technical problem that always submarine target is detected.It is current main
It wants there are two types of solutions: acoustic sounding and magnetic spy.Wherein, magnetic spy technical role distance is close, and resolution ratio is low, and detectivity is limited
(cannot such as detect nonmetallic target), false alarm rate is high, and has harsh requirement (such as demagnetization) to carrier, and application range is opposite
It is limited.The detection method of acoustics is the preferred of underwater burial object.
In the prior art, traditional acoustic sounding means are mainly sub-bottom profiler, lack and hidden show themselves in that 1, shallow stratum
Section plotter detection efficient is low, resolution ratio is low, is generally only used for detecting thicker pipeline target or large range of geologic section,
Be not suitable for being used to detect lesser burial target；2, shallow stratum is two-dimensional imaging, can only obtain the profile image below equipment；3,
Detection since the range that people set foot in ocean increased dramatically, to all kinds of detections in seabed (such as small target detection, terrain detection)
Efficiency requirements also increase sharply, and on the one hand require the detection efficient of list portion sonar to be promoted, are on the other hand required to using multi-section
The mode that sonar works at the same time, to obtain the detection efficient of multiplication.
Summary of the invention
In order to solve the above technical problems, the present invention provides integrate underwater panorama three depending on multi-beam with lower depending on three-dimensional under one kind
Imaging sonar is tieed up, aiming at the shortcomings in the prior art, the present invention, which uses, regards three-dimensional sonar and lower view multibeam sonar under seabed
Integrated installation can work at the same time in real time, to realize seabed three-dimensional imaging and sea-floor relief imaging, improve equipment to ocean
Detect ability and detection efficient.
In order to achieve the above objectives, technical scheme is as follows: the lower view of one kind is three-dimensional integrated underwater with lower view multi-beam
Panorama three-dimensional imaging sonar, including lower view multibeam sonar transmitting basic matrix, lower view multibeam sonar receive basic matrix, covering, lower view
It is more that three-dimensional sonar emits basic matrix, transmitting battle array cover board, lower view three-dimensional sonar reception basic matrix, lower view multibeam sonar transmitter, lower view
Wave beam sonar receiver, it is lower depending on three-dimensional sonar transmitter, it is lower depending on three-dimensional sonar receiver, subsea control modules, towed body frame, drag
Drag frame, it is characterised in that:
The towed body frame is the pancake framework of integrated symmetric, is vertically fixedly installed towing frame, rear portion two among it
Side fixing assembling has two pieces of rear-fin stabilizers, and two groups of tail vanes are provided between the rear-fin stabilizer；The towed body base of frame setting
There is lower view three-dimensional sonar to receive basic matrix, it is more to be fixedly installed lower view side by side before and after the lower top for receiving basic matrix depending on three-dimensional sonar
Wave beam sonar transmitter and lower view multibeam sonar receiver；Middle position is provided with lower view multi-beam in front of the towed body frame
Sonar emits basic matrix, and the lower rear portion towed body frame mid portion position depending on multibeam sonar transmitting basic matrix is provided with lower view multi-beam
Sonar receives basic matrix；Towed body frame rear portion middle position is provided with lower view three-dimensional sonar transmitting basic matrix, and the lower view is three-dimensional
Sonar transmitting basic matrix side be fixedly installed subsea control modules, the other side be arranged side by side have lower view three-dimensional sonar transmitter and
Lower view three-dimensional sonar receiver；It is described lower depending on being provided with transmitting battle array cover board above three-dimensional sonar transmitting basic matrix；The towed body frame
Bosom position is additionally provided with launching electronics cabin and receives electronic compartment, and towed body frame external mounting has covering, drags to constitute
Body, and connect by interconnecting cable with lash ship；
The lower view three-dimensional sonar transmitter, lower view three-dimensional sonar receiver, lower view three-dimensional sonar transmitting basic matrix, lower view three
Dimension sonar receives basic matrix co-ordination and constitutes lower view three-dimensional sonar, and the lower three-dimensional sonar reception basic matrix that regards is matched as three-dimensional planar array type
Set, and by Wave beam forming processing on vertical using matched filtering, path in elevation on direction for multi-beam, on course made good
Synthetic aperture processing, detection obtains seabed and suspends, sinks to the bottom, burying the 3-D image of target；
The lower view multibeam sonar transmitter, lower view multibeam sonar receiver, lower view multibeam sonar transmitting basic matrix,
Lower view multibeam sonar receives basic matrix co-ordination and constitutes lower view multibeam sonar, and the lower view multibeam sonar utilizes multichannel
Extensive beamforming algorithm, obtains bottom relief map in real time.
Two sonar extension set joints of the lower view three-dimensional sonar and lower view multibeam sonar, so that lower view three-dimensional sonar emits
The frequency for the transmitting-receiving sound wave that basic matrix, lower view three-dimensional sonar receive basic matrix reduces, and centre frequency 10kHz improves sound wave
Penetrability realizes the detection imaging that big depth buries target；Meanwhile using " the improvement pulse based on power spectral density distribution
Compression method ", " the underface bottom reverberation suppression method based on intensity profile ", " the adaptive resolution amendment based on bottom tracking
Method " carries out signal processing and high resolution processing technology, improves the signal-to-noise ratio for burying target, improves imaging resolution.
The lower view multibeam sonar receives and dispatches sound wave using high frequency sonar array, and by " being based on energy method and phase method
United bottom tracking ", " time domain and frequency-domain combined Beamforming Method " signal processing technology, realize sea-floor relief high score
Distinguish real-time detection.
The lower view three-dimensional sonar and lower view multibeam sonar use two ways processing sound compatible design, to avoid sound wave
Mutual crosstalk seriously affects image quality；First way is the design in frequency, fully considers frequency band distribution, the three-dimensional
It is lower to be set within 30kHz depending on sonar working band, and the lower working band depending on multibeam sonar is set to 200kHz or more；Two
The frequency band difference of person is larger, can be filtered out the frequency component of non-sonar extension set using bandpass filter；The second way be
Temporal design, that is, synchronize design, each electronic system of this sonar subordinate is carried out by unified external sync module
It is synchronous, it can further improve the sound compatibility feature of two kinds of sonars.
Through the above technical solutions, the beneficial effect of technical solution of the present invention is: using view three-dimensional sonar under seabed under
It depending on the integrated installation of multibeam sonar, can work at the same time, to realize seabed three-dimensional imaging and sea-floor relief imaging, mention in real time
High equipment detects ability and detection efficient to ocean；Effectively detection obtains seabed and suspends, sinks to the bottom, burying the three-dimensional figure of target
Picture；It effectively obtains all kinds of suspensions in seabed and sinks to the bottom the high-resolution imaging result of Small object and submarine geomorphy；The lower more waves of view
Beam sonar and it is lower used simultaneously depending on three-dimensional sonar, can make up for it respective defect；Plate towed body structure has been used, has simplified and drags
Body structure, the weight for reducing towed body and size improve towing attitude stability and improve sonar and sweep survey effect to seabed
Rate.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in embodiment or description of the prior art
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the invention
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is to integrate underwater panorama three-dimensional imaging depending on multi-beam with lower depending on three-dimensional under one kind disclosed in the embodiment of the present invention
Sonar solid shaft side figure schematic diagram；
Fig. 2 is to integrate underwater panorama three-dimensional imaging depending on multi-beam with lower depending on three-dimensional under one kind disclosed in the embodiment of the present invention
Sonar top view illustration；
Fig. 3 is to integrate underwater panorama three-dimensional imaging depending on multi-beam with lower depending on three-dimensional under one kind disclosed in the embodiment of the present invention
Sonar front view schematic diagram.
Number and corresponding component title represented by letter in figure:
1. the lower lower view multibeam sonar of view multibeam sonar transmitting basic matrix 2. receives basic matrix
3. the lower view three-dimensional sonar of covering 4. emits basic matrix
5. emitting the lower view three-dimensional sonar of battle array cover board 6. receives basic matrix
7. lower view multibeam sonar transmitter 8. is lower to regard multibeam sonar receiver
9. lower view three-dimensional sonar transmitter 10. is lower to regard three-dimensional sonar receiver
11. 12. towed body frame of subsea control modules
13. pulling frame
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
According to Fig. 1, Fig. 2 and Fig. 3, the present invention provides integrate underwater panorama three-dimensional depending on multi-beam with lower depending on three-dimensional under one kind
Imaging sonar, including lower view multibeam sonar transmitting basic matrix 1, lower view multibeam sonar receive basic matrix 2, covering 3, lower view three dimensional sound
Emit basic matrix 4, transmitting battle array cover board 5, lower view three-dimensional sonar and receives basic matrix 6, lower view multibeam sonar transmitter 7, the lower more waves of view
Beam sonar receiver 8, lower view three-dimensional sonar transmitter 9, lower view three-dimensional sonar receiver 10, subsea control modules 11, towed body frame
Frame 12, towing frame 13, it is characterised in that:
The towed body frame 12 be integrated symmetric pancake framework, be vertically fixedly installed among it towing frame 13, after
Portion two sides fixing assembling has two pieces of rear-fin stabilizers, and two groups of tail vanes are provided between the rear-fin stabilizer；12 bottom of towed body frame
Portion is provided with lower view three-dimensional sonar and receives basic matrix 6, is fixedly installed side by side before and after the lower top for receiving basic matrix 6 depending on three-dimensional sonar
There are lower view multibeam sonar transmitter 7 and lower view multibeam sonar receiver 8；12 front middle position of the towed body frame setting
There are lower view multibeam sonar transmitting basic matrix 1,12 medium position of rear portion towed body frame of the lower view multibeam sonar transmitting basic matrix 1
It is provided with lower view multibeam sonar and receives basic matrix 2；The 12 rear portion middle position of towed body frame is provided with lower view three-dimensional sonar hair
Basic matrix 4 is penetrated, the lower side depending on three-dimensional sonar transmitting basic matrix 4 is fixedly installed subsea control modules 11, the other side and sets side by side
It is equipped with lower view three-dimensional sonar transmitter 9 and lower view three-dimensional sonar receiver 10；It is described lower depending on being set above three-dimensional sonar transmitting basic matrix 1
It is equipped with transmitting battle array cover board 5；The 12 bosom position of towed body frame is additionally provided with launching electronics cabin and receives electronic compartment, towed body
12 external mounting of frame has covering, to constitute towed body, and connect with lash ship by interconnecting cable；
The lower view three-dimensional sonar transmitter 9, lower view three-dimensional sonar receiver 10, lower view three-dimensional sonar transmitting basic matrix 4, under
6 co-ordination of basic matrix is received depending on three-dimensional sonar and constitutes lower view three-dimensional sonar, and the lower three-dimensional sonar that regards receives basic matrix 6 as three-dimensional surface
Configuration configuration, and by being handled on vertical, being navigated for the Wave beam forming of multi-beam on direction using matched filtering, path in elevation
The upward synthetic aperture processing of mark, detection obtain seabed and suspend, sink to the bottom, burying the 3-D image of target；
The lower view multibeam sonar transmitter 7, lower view multibeam sonar receiver 8, lower view multibeam sonar emit base
Battle array 1, lower view multibeam sonar receive 2 co-ordination of basic matrix and constitute lower view multibeam sonar, and the lower view multibeam sonar utilizes
The extensive beamforming algorithm of multichannel, obtains bottom relief map in real time.
Two sonar extension set joints of the lower view three-dimensional sonar and lower view multibeam sonar, so that lower view three-dimensional sonar emits
The frequency for the transmitting-receiving sound wave that basic matrix 4, lower view three-dimensional sonar receive basic matrix 6 reduces, and centre frequency 10kHz improves sound wave
Penetrability, realize the detection imaging that big depth buries target；Meanwhile using " the improvement arteries and veins based on power spectral density distribution
Rush compression method ", " the underface bottom reverberation suppression method based on intensity profile ", " based on bottom tracking adaptive resolution repair
Correction method " carries out signal processing and high resolution processing technology, improves the signal-to-noise ratio for burying target, improves imaging resolution.
The lower view multibeam sonar receives and dispatches sound wave using high frequency sonar array, and by " being based on energy method and phase method
United bottom tracking ", " time domain and frequency-domain combined Beamforming Method " signal processing technology, realize sea-floor relief high score
Distinguish real-time detection.
The lower view three-dimensional sonar and lower view multibeam sonar use two ways processing sound compatible design, to avoid sound wave
Mutual crosstalk seriously affects image quality；First way is the design in frequency, fully considers frequency band distribution, the three-dimensional
It is lower to be set within 30kHz depending on sonar working band, and the lower working band depending on multibeam sonar is set to 200kHz or more；Two
The frequency band difference of person is larger, can be filtered out the frequency component of non-sonar extension set using bandpass filter；The second way be
Temporal design, that is, synchronize design, each electronic system of this sonar subordinate is carried out by unified external sync module
It is synchronous, it can further improve the sound compatibility feature of two kinds of sonars.
The improvement impulse compression method based on power spectral density distribution: traditional pulse compression method is adjusted based on linear
Spectrum density distribution of the frequency signal in frequency band be constant it is assumed that but in practice transmitter in design it is difficult to ensure that it is linear
Degree, this external signal is after water body is propagated, since absorption coefficient of the water body to different frequency is different, even if fairly linear
FM signal after transmission and acquisition, low frequency part absorb it is less, echo power spectrum density is larger, high band then on the contrary,
Echo power spectrum density is lower；After this method carries out power spectrumanalysis to echo data, it is fitted with interior power spectral distribution curve, and
The curve being fitted according to this compensates on pulse reference compression signal；
The underface bottom reverberation suppression method based on intensity profile: sub-sea floor targets scattering strength is influenced by incident angle
Larger, underface incident angle is minimum, and reflection echo is significantly stronger；In wave beam numeric field data, chosen on path in elevation direction
The echo of same distance counts its intensity profile, and the intensity profile of multiple distances is averaged, and is fitted intensity profile curve, utilizes
The curve compensates beam data, inhibits bottom reverberation immediately below sonar；
The adaptive resolution modification method based on bottom tracking: Wave beam forming data operation quantity is larger, and a large amount of
The data of water body part have no practical significance, propose the method for automatic range gate and auto resolution thus；Utilize adjacent data
Previous frame survey bear building-up fruit is applied to this frame Wave beam forming and surveyed in bottom, the bottom of near by the characteristic that the survey bottom of frame will not be mutated
Data carry out High-resolution Processing, and the area data bottom of far from carries out low resolution processing, survey bottom precision to improve, protect simultaneously
Demonstrate,prove operation efficiency；Compared with the same resolution ratio Wave beam forming of full depth, it can guarantee that detection burying depth is bigger, valid data
Resolution ratio is higher, to solve the contradiction visited between burying depth and resolution ratio；
The time domain and frequency-domain combined Beamforming Method: Time domain beamforming accuracy is high, and operation efficiency is low, frequency domain
Wave beam forming operation efficiency is high, but arithmetic eror is larger under Near Field, uses Time domain beamforming using near field thus,
The time-frequency combination multichannel large-scale parallel Wave beam forming of frequency-domain beamforming is used under far field condition, when processing makes full use of existing
The characteristics of for computer multicore, carries out parallel processing, improves operation efficiency.
By above-mentioned specific embodiment, the beneficial effects of the present invention are: using three-dimensional sonar and the lower more waves of view is regarded under seabed
The integrated installation of beam sonar can work at the same time in real time, to realize seabed three-dimensional imaging and sea-floor relief imaging, improve and set
It is standby that ability and detection efficient are detected to ocean；Effectively detection obtains seabed and suspends, sinks to the bottom, burying the 3-D image of target；Have
Effect ground obtains all kinds of suspensions in seabed and sinks to the bottom the high-resolution imaging result of Small object and submarine geomorphy；Lower view multibeam sonar
It is used simultaneously with lower depending on three-dimensional sonar, can make up for it respective defect；Plate towed body structure has been used, towed body knot is simplified
Structure, the weight for reducing towed body and size improve towing attitude stability and improve sonar and sweep survey efficiency to seabed.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (3)
1. one kind is lower to integrate underwater panorama three-dimensional imaging sonar depending on multi-beam with lower depending on three-dimensional, which is characterized in that more including lower view
Wave beam sonar emit basic matrix, lower view multibeam sonar receive basic matrix, covering, lower view three-dimensional sonar emit basic matrix, emit battle array cover board,
Lower view three-dimensional sonar receives basic matrix, lower view multibeam sonar transmitter, lower view multibeam sonar receiver, lower view three-dimensional sonar hair
Penetrate machine, lower view three-dimensional sonar receiver, subsea control modules, towed body frame, towing frame；The towed body frame is integrated symmetric
Pancake framework is vertically fixedly installed towing frame among it, rear portion two sides fixing assembling has two pieces of rear-fin stabilizers, the stabilization
Two groups of tail vanes are provided between empennage；The towed body base of frame is provided with lower view three-dimensional sonar and receives basic matrix, the lower view three
Dimension sonar is received to be fixedly installed side by side before and after the top of basic matrix and lower lower be connect depending on multibeam sonar transmitter and depending on multibeam sonar
Receipts machine；Middle position is provided with lower view multibeam sonar transmitting basic matrix, the lower view multibeam sonar in front of the towed body frame
The rear portion towed body frame mid portion position of transmitting basic matrix is provided with lower view multibeam sonar and receives basic matrix；In the towed body frame rear portion
Meta position, which installs, is equipped with lower view three-dimensional sonar transmitting basic matrix, and the lower side depending on three-dimensional sonar transmitting basic matrix is fixedly installed under water
Control module, the other side be arranged side by side have lower view three-dimensional sonar transmitter and lower view three-dimensional sonar receiver；The lower view is three-dimensional
Transmitting battle array cover board is provided with above sonar transmitting basic matrix；Towed body lower portion middle position be additionally provided with launching electronics cabin and
Electronic compartment is received, towed body frame external mounting has covering, to constitute towed body, and connect with lash ship by interconnecting cable；
The lower view three-dimensional sonar transmitter, lower view three-dimensional sonar receiver, lower view three-dimensional sonar emit basic matrix, lower view three dimensional sound
The lower view three-dimensional sonar of basic matrix co-ordination composition is received, the lower three-dimensional sonar reception basic matrix that regards configures as three-dimensional planar array type,
Seabed is obtained to suspend, sink to the bottom, burying the 3-D image of target；
The lower view multibeam sonar transmitter, lower view multibeam sonar receiver, lower view multibeam sonar emit basic matrix, lower view
Multibeam sonar receives basic matrix co-ordination and constitutes lower view multibeam sonar, obtains bottom relief map in real time.
2. one kind according to claim 1 is lower to integrate underwater panorama three-dimensional imaging sonar depending on multi-beam with lower depending on three-dimensional,
It is characterized in that, two sonar extension set joints of the lower view three-dimensional sonar and lower view multibeam sonar, so that lower view three-dimensional sonar is sent out
The frequency reduction for receiving and dispatching sound wave of basic matrix, lower view three-dimensional sonar reception basic matrix is penetrated, centre frequency 10kHz improves sound wave
Penetrability, realize the detection imaging that big depth buries target, improve imaging resolution.
3. one kind according to claim 1 is lower to integrate underwater panorama three-dimensional imaging sonar depending on multi-beam with lower depending on three-dimensional,
It is characterized in that, the lower view three-dimensional sonar and lower view multibeam sonar use two ways processing sound compatible design, to avoid sound
The mutual crosstalk of wave seriously affects image quality；First way is the design in frequency, frequency band distribution is fully considered, under described
It is set within 30kHz depending on three-dimensional sonar working band, and the lower working band depending on multibeam sonar is set to 200kHz or more；
The frequency band difference of the two is larger, can be filtered out the frequency component of non-sonar extension set using bandpass filter；The second way is
Design in time, that is, synchronize design, each electronic system of this sonar subordinate by unified external sync module into
Row synchronizes, and can further improve the sound compatibility feature of two kinds of sonars.
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| CN201821038655.8U CN208432731U (en) | 2018-07-02 | 2018-07-02 | One kind is lower to integrate underwater panorama three-dimensional imaging sonar depending on multi-beam with lower depending on three-dimensional |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108469616A (en) * | 2018-07-02 | 2018-08-31 | 中科探海(苏州)海洋科技有限责任公司 | One kind is lower to integrate underwater panorama three-dimensional imaging sonar with lower depending on three-dimensional depending on multi-beam |
| CN110412587A (en) * | 2019-07-19 | 2019-11-05 | 中国科学院声学研究所 | A kind of lower view synthetic aperture three-D imaging method and system based on deconvolution |
-
2018
- 2018-07-02 CN CN201821038655.8U patent/CN208432731U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108469616A (en) * | 2018-07-02 | 2018-08-31 | 中科探海(苏州)海洋科技有限责任公司 | One kind is lower to integrate underwater panorama three-dimensional imaging sonar with lower depending on three-dimensional depending on multi-beam |
| CN108469616B (en) * | 2018-07-02 | 2024-03-22 | 中科探海(苏州)海洋科技有限责任公司 | Down-looking three-dimensional and down-looking multi-beam integrated underwater panoramic three-dimensional imaging sonar |
| CN110412587A (en) * | 2019-07-19 | 2019-11-05 | 中国科学院声学研究所 | A kind of lower view synthetic aperture three-D imaging method and system based on deconvolution |
| CN110412587B (en) * | 2019-07-19 | 2021-04-09 | 中国科学院声学研究所 | Deconvolution-based downward-looking synthetic aperture three-dimensional imaging method and system |
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