WO2022166097A1 - Side-scan sonar-based multi-mode imaging method for underwater target - Google Patents

Side-scan sonar-based multi-mode imaging method for underwater target Download PDF

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WO2022166097A1
WO2022166097A1 PCT/CN2021/104223 CN2021104223W WO2022166097A1 WO 2022166097 A1 WO2022166097 A1 WO 2022166097A1 CN 2021104223 W CN2021104223 W CN 2021104223W WO 2022166097 A1 WO2022166097 A1 WO 2022166097A1
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scan sonar
signal
receiving array
imaging
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刘佳
许枫
苏仁聪
安旭东
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中国科学院声学研究所
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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
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems

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Abstract

A side-scan sonar-based multi-mode imaging method for an underwater target, comprising: dividing a side-scan sonar receiving array into a plurality of primitives, each primitive receiving a single-beam signal; during navigation of a ship, aligning a side-scan sonar to a certain sea area for scanning to transmit multi-beam signals of different angles; when the ship is in a low-speed navigation mode, processing the single-beam signals received by all the primitives in the side-scan sonar receiving array by using a single-beam imaging mode to obtain a single-beam imaging sound map; when the ship is in a high-speed navigation mode, processing the single-beam signals received by all the primitives in the side-scan sonar receiving array by using a parallel-beam imaging mode to obtain a parallel-beam imaging sound map; and during the navigation of the ship, processing the single-beam signals received by all the primitives in the side-scan sonar receiving array by using a fan-shaped beam imaging mode all the time to obtain a fan-shaped beam imaging sound map.

Description

一种侧扫声呐的水下目标多模式成像方法A multi-mode imaging method for underwater targets based on side-scan sonar
相关申请的交叉参考CROSS-REFERENCE TO RELATED APPLICATIONS
该申请要求2021年2月8日提交的中国专利申请号为2021101805737的专利申请的优先权，上述专利申请在此被完全引入作为参考。This application claims priority to Chinese Patent Application No. 2021101805737 filed on February 8, 2021, which is fully incorporated herein by reference.
技术领域technical field
本发明属于水下目标探测与定位技术领域，具体地说，涉及一种侧扫声呐的水下目标多模式成像方法。The invention belongs to the technical field of underwater target detection and positioning, and in particular relates to a multi-mode imaging method for underwater targets of side scan sonar.
背景技术Background technique
在专业海洋探测中，主要依赖声呐探测技术，侧扫声呐是常用设备之一，通过向海底主动发射声波信号，接收反射回来的声波信号，判断海底目标基本参数，从而绘制出海底地图。In professional ocean exploration, it mainly relies on sonar detection technology. Side scan sonar is one of the commonly used equipment. By actively transmitting sound wave signals to the seabed and receiving the reflected sound wave signals, the basic parameters of the seabed target are judged, and the seabed map is drawn.
侧扫声呐摆放有悬挂和拖曳式两种。其中，拖曳式侧扫声呐需要结合拖鱼，实施复杂且硬件成本高。同时，受船速、船向、水流速度和流向影响，这种作业方式决定了侧扫声呐的定位精度不是很高。悬挂式侧扫声呐，机械安装虽然简单，但不能根据实际情况进行调整并获取声纳准确姿态信息。因此，水下目标精确定位是目前侧扫作业中急需解决的问题，如何将清晰的水下图像与精确定位相结合是水下目标探测技术的关键。There are two types of side scan sonar placement: suspension and tow. Among them, the towed side-scan sonar needs to be combined with towed fish, which is complicated to implement and has high hardware cost. At the same time, affected by ship speed, ship direction, water speed and flow direction, this operation mode determines that the positioning accuracy of side scan sonar is not very high. Suspended side-scan sonar, although the mechanical installation is simple, it cannot be adjusted according to the actual situation and obtain the accurate attitude information of the sonar. Therefore, accurate positioning of underwater targets is an urgent problem to be solved in the current side scan operation. How to combine clear underwater images with precise positioning is the key to underwater target detection technology.
传统的基于侧扫声呐进行目标定位方法是，侧扫声纳在工作时，侧扫声纳在垂直于航向方向形成两个窄波束，通过水下目标回波强度变化，来反应海底的地貌特征；在用于水下小目标检测时，该小目标回波产生的亮点和由于遮蔽引起的声阴影是用于水下目标检测的主要特征。但是，常规侧扫声纳在扫测时，形成的声图为一过式成像，容易受载体机械运动影响，从而造成或产生了目标声图畸变，检测率识别率低、无法实现对待测目标的探测的问题。The traditional method of target positioning based on side scan sonar is that when the side scan sonar is working, the side scan sonar forms two narrow beams perpendicular to the heading direction, and reflects the topographic characteristics of the seabed through the change of the echo intensity of the underwater target. ; When used for underwater small target detection, the bright spots and acoustic shadows caused by the small target echoes are the main features for underwater target detection. However, when the conventional side-scan sonar scans, the acoustic image formed is a one-pass imaging, which is easily affected by the mechanical movement of the carrier, which causes or produces the distortion of the acoustic image of the target, and the detection rate and recognition rate are low, and the target to be tested cannot be realized. detection problem.
发明内容SUMMARY OF THE INVENTION
为解决现有技术存在的上述缺陷，本发明提出了一种侧扫声呐的水下目标多模式成像方法，该方法包括：In order to solve the above-mentioned defects existing in the prior art, the present invention proposes a multi-mode imaging method for an underwater target of a side scan sonar, the method comprising:
将侧扫声呐放置在船上，侧扫声呐接收阵设置在待测目标上；Place the side-scan sonar on the boat, and set the side-scan sonar receiving array on the target to be measured;
将侧扫声呐接收阵划分为多个基元，每个基元单独引线，形成独立基元，每 个基元接收单波束信号；在船的航行过程中，侧扫声呐对准某一海域进行扫测，发射不同角度的多波束信号；The side-scan sonar receiving array is divided into multiple primitives, each of which has a separate lead to form an independent primitive, and each primitive receives a single beam signal; during the navigation of the ship, the side-scan sonar is aimed at a certain sea area. Scanning, transmitting multi-beam signals at different angles;
当船处于低速航行模式时，采用单波束成像模式，对侧扫声呐接收阵中的所有基元接收的单波束信号进行处理，得到单波束成像声图；When the ship is in the low-speed sailing mode, the single-beam imaging mode is adopted to process the single-beam signals received by all the elements in the side-scan sonar receiving array to obtain the single-beam imaging sonogram;
当船处于高速航行模式时，采用平行波束成像模式，对侧扫声呐接收阵中的所有基元接收的单波束信号进行处理，得到平行波束成像声图；When the ship is in high-speed sailing mode, the parallel beam imaging mode is used to process the single beam signals received by all the elements in the side scan sonar receiving array to obtain the parallel beam imaging sonogram;
在船的航行过程中，始终采用扇形波束成像模式，对侧扫声呐接收阵中的所有基元接收的单波束信号进行处理，得到扇形波束成像声图。During the navigation of the ship, the fan-beam imaging mode is always used to process the single-beam signals received by all the primitives in the side-scan sonar receiving array to obtain the fan-beam imaging sonogram.
作为上述技术方案的改进之一，所述方法还包括：根据不同的船行速度，首先通过单波束成像声图或平行波束成像声图，获得观测疑似目标结果，再通过扇形波束成像声图，获得目标精细观测结果，根据获取的观测疑似目标结果和目标精细观测结果，确定待测目标在该海域中的位置，实现对待测目标的探测。As one of the improvements of the above technical solutions, the method further includes: according to different speed of the ship, firstly obtain the result of observing the suspected target through the single-beam imaging acoustic image or the parallel beam imaging acoustic image, and then obtain the result of observing the suspected target through the fan-shaped beam imaging acoustic image Target fine observation results, according to the obtained observation suspected target results and target fine observation results, determine the position of the target to be measured in the sea area, and realize the detection of the target to be measured.
作为上述技术方案的改进之一，所述采用单波束成像模式，对侧扫声呐接收阵中的所有基元接收的单波束信号进行处理，得到单波束成像声图；其具体过程为：As one of the improvements of the above technical solutions, the single-beam imaging mode is used to process the single-beam signals received by all the primitives in the side-scan sonar receiving array to obtain a single-beam imaging sonogram; the specific process is:
在侧扫声呐在船上进行几何形状的移动过程中，且船的航行速度小于4节的低速模式时，对侧扫声呐接收阵的所有基元接收到的单波束信号进行叠加和近场聚焦处理，得到波束数据Beam 0(t)： When the side-scan sonar moves geometrically on the ship, and the ship's speed is less than 4 knots in the low-speed mode, the single-beam signals received by all the elements of the side-scan sonar receiving array are superimposed and processed by near-field focusing. , the beam data Beam 0 (t) is obtained:
Figure PCTCN2021104223-appb-000001
Figure PCTCN2021104223-appb-000001
其中，i为基元序号，N为基元个数，Among them, i is the number of primitives, N is the number of primitives,
其中，s i(t)为第i个基元接收的单波束信号： Among them, s i (t) is the single beam signal received by the i-th element:
Figure PCTCN2021104223-appb-000002
Figure PCTCN2021104223-appb-000002
其中，A为第i个基元接收的单波束信号的信号幅度，f为第i个基元接收的单波束信号的信号频率，
Figure PCTCN2021104223-appb-000003
为接收信号相位； Among them, A is the signal amplitude of the single beam signal received by the ith element, f is the signal frequency of the single beam signal received by the ith element,
Figure PCTCN2021104223-appb-000003
is the received signal phase;
根据得到的Beam 0(t)，绘制单波束成像声图。 According to the obtained Beam 0 (t), draw a single-beam imaging sonogram.
作为上述技术方案的改进之一，所述采用平行波束成像模式，对侧扫声呐接收阵中的所有基元接收的单波束信号进行处理，得到平行波束成像声图；其具体过程为：As one of the improvements of the above technical solutions, the parallel beam imaging mode is used to process the single beam signals received by all the primitives in the side scan sonar receiving array to obtain a parallel beam imaging sonogram; the specific process is:
在侧扫声呐在船上进行几何形状的移动过程中，且船的航行速度在4-12节的高速模式时，对侧扫声呐接收阵的所有基元接收到的基元域信号进行处理，得到平行波束域信号模型；During the geometric movement of the side-scan sonar on the ship, and the ship's sailing speed is in the high-speed mode of 4-12 knots, the primitive domain signals received by all the primitives of the side-scan sonar receiving array are processed to obtain Parallel beam domain signal model;
X(t)＝aS(t)+N(t)            (3)X(t)=aS(t)+N(t) (3)
其中，X(t)为预成波束向量矩阵；a为侧扫声呐接收阵的所有基元组成的信号导向矢量矩阵；S(t)为侧扫声呐接收阵的所有基元组成的矩阵；N(t)为侧扫声呐接收阵的所有基元组成的噪声和干扰信号矩阵；Among them, X(t) is the pre-beam vector matrix; a is the signal steering vector matrix composed of all the elements of the side-scan sonar receiving array; S(t) is the matrix composed of all the elements of the side-scan sonar receiving array; N (t) is the noise and interference signal matrix composed of all the elements of the side-scan sonar receiving array;
其中，则信号的导向矢量
Figure PCTCN2021104223-appb-000004
where, the steering vector of the signal
Figure PCTCN2021104223-appb-000004
其中，τ N为第i个基元与参考基元之间接收信号的时延；f 0为工作频率；j为虚单位； Among them, τ N is the time delay of the received signal between the ith primitive and the reference primitive; f 0 is the operating frequency; j is the imaginary unit;
对于平行多波束导向角θ s为扇形覆盖范围内的某一角度；θ s＝ζ，ζ∈(-θ H，θ H)； For parallel multi-beam steering angle θ s is a certain angle within the sector coverage; θ s = ζ, ζ∈(-θ H , θ H );
当考虑简单的平行多波束，即每个波束的波束导向角度为0度时，且不考虑噪声和干扰信号N(t)的情况下，各个波束输出退化为若干个基元数据的累加，则公式(3)可以简化为：When considering simple parallel multi-beams, that is, when the beam steering angle of each beam is 0 degrees, and without considering the noise and interference signal N(t), the output of each beam degenerates into the accumulation of several primitive data, then Equation (3) can be simplified as:
X(t)＝aS(t)X(t)=aS(t)
其中，X(t)＝[x 1(t),x 2(t),x 3(t)...x j(t)]； Wherein, X(t)=[x 1 (t),x 2 (t),x 3 (t)...x j (t)];
Figure PCTCN2021104223-appb-000005
Figure PCTCN2021104223-appb-000005
其中，x j(t)为X(t)中的第j个预成波束向量；s i(t)为第i个基元接收的单波束信号； Wherein, x j (t) is the j-th pre-beam vector in X (t); s i (t) is the single-beam signal received by the i-th element;
根据得到的多个x j(t)，绘制平行波束成像声图。 According to the obtained multiple x j (t), the parallel beam imaging sonogram is drawn.
作为上述技术方案的改进之一，所述采用扇形波束成像模式，对侧扫声呐接收阵中的所有基元接收的信号进行处理，得到高频扇形波束数据；其具体过程为：As one of the improvements of the above technical solutions, the fan beam imaging mode is used to process the signals received by all the primitives in the side scan sonar receiving array to obtain high frequency fan beam data; the specific process is:
对侧扫声呐接收阵的所有基元接收到的基元域信号进行处理，得到扇形波束域信号模型；Process the cell-domain signals received by all cells of the side-scan sonar receiving array to obtain a fan-beam domain signal model;
X(t) 1＝a 1S(t) 1+N(t) 1              (7) X(t) 1 =a 1 S(t) 1 +N(t) 1 (7)
其中，X(t) 1为扇形波束向量矩阵；a 1为侧扫声呐接收阵的所有基元组成的扇形信号导向矢量矩阵；S(t) 1为侧扫声呐接收阵的所有基元组成的扇形矩阵，即所有基元信号的复包络，CW信号或chirp信号；N(t) 1为侧扫声呐接收阵的所有基元组成的噪声和干扰扇形信号矩阵； Among them, X(t) 1 is the sector beam vector matrix; a 1 is the sector-shaped signal steering vector matrix composed of all the elements of the side-scan sonar receiving array; S(t) 1 is composed of all the elements of the side-scan sonar receiving array Sector matrix, that is, the complex envelope of all elementary signal, CW signal or chirp signal; N(t) 1 is the noise and interference sector signal matrix composed of all elementary elements of the side-scan sonar receiving array;
其中，信号的导向矢量
Figure PCTCN2021104223-appb-000006
where the steering vector of the signal
Figure PCTCN2021104223-appb-000006
在不考虑噪声和干扰扇形信号N(t) 1的情况下，则公式(7)可以简化为： Without considering the noise and interference sector signal N(t) 1 , the formula (7) can be simplified as:
X(t) 1＝a 1S(t) 1 X(t) 1 =a 1 S(t) 1
进而简化为：which simplifies to:
Figure PCTCN2021104223-appb-000007
Figure PCTCN2021104223-appb-000007
其中，x M(t)为第M个基元的扇形波束向量； Wherein, x M (t) is the fan beam vector of the Mth primitive;
Figure PCTCN2021104223-appb-000008
Figure PCTCN2021104223-appb-000008
其中，s i(t) 1为第i个基元接收的扇形波束信号； Wherein, s i (t) 1 is the fan beam signal received by the i-th element;
根据得到的多个扇形波束向量x M(t)，绘制扇形波束成像声图。 According to the obtained multiple fan beam vectors x M (t), draw a fan beam imaging acoustic map.
本发明与现有技术相比的有益效果是：The beneficial effects of the present invention compared with the prior art are:
1、常规侧扫声纳在水平方向上实现窄波束，通过拖体或载体的机械移动实 现地貌或目标声图，容易受到机械运动的干扰，尤其在拖曳较绳短或者船载固定安装等情况下更容易受到风浪导致的晃动干扰，1. Conventional side-scan sonar achieves narrow beams in the horizontal direction, and realizes landform or target sound map through the mechanical movement of the towed body or carrier, which is easily disturbed by mechanical movement, especially when the towed rope is shorter or the ship is fixedly installed, etc. It is more likely to be disturbed by shaking caused by wind and waves,
针对现有侧扫声纳的不足，本发明通过单波束、平行多波束和扇形多波束等多模成像方式，获取更加灵活的成像方式，通过扇形多波束成像获取不受机械干扰的目标成像效果。In view of the shortcomings of the existing side scan sonar, the present invention obtains a more flexible imaging method through multi-mode imaging methods such as single beam, parallel multi-beam and fan-shaped multi-beam, and obtains the target imaging effect without mechanical interference through fan-shaped multi-beam imaging .
2、常规成像方法为一过式成像，即一次航迹只能获得目标的一幅有效声图，信息量有限，检测识别效果有限。2. The conventional imaging method is one-pass imaging, that is, only one effective sound image of the target can be obtained in one track, the amount of information is limited, and the detection and recognition effect is limited.
针对现有侧扫声纳的不足，本发明通过具备单波束、平行多波束和扇形多波束等多模成像方式可以通过多帧间成像关联，获得更多的信息量，可以在完成目标粗检测之后辅助目标识别。In view of the deficiencies of the existing side scan sonar, the present invention can obtain more information through multi-frame imaging correlation through multi-mode imaging methods such as single beam, parallel multi-beam and fan-shaped multi-beam, and can complete the rough detection of the target. Then assist target recognition.
附图说明Description of drawings
图1是本发明的一种侧扫声呐的水下目标多模式成像方法采用单波束成像模式的示意图；1 is a schematic diagram of a single-beam imaging mode used in a multi-mode imaging method for an underwater target of a side-scan sonar of the present invention;
图2是本发明的一种侧扫声呐的水下目标多模式成像方法采用平行波束成像模式的示意图；2 is a schematic diagram of a parallel beam imaging mode used in a multi-mode imaging method for an underwater target of a side-scan sonar of the present invention;
图3是本发明的一种侧扫声呐的水下目标多模式成像方法采用扇形波束成像模式的示意图；3 is a schematic diagram of a fan beam imaging mode used in a multi-mode imaging method for an underwater target of a side-scan sonar of the present invention;
图4是本发明的一种侧扫声呐的水下目标多模式成像方法的一个实施例中得到的单波束成像声图示意图；4 is a schematic diagram of a single-beam imaging acoustic image obtained in an embodiment of a side-scan sonar underwater target multi-mode imaging method of the present invention;
图5是本发明的一种侧扫声呐的水下目标多模式成像方法的一个实施例中得到的扇形波束成像声图示意图；5 is a schematic diagram of a fan beam imaging acoustic image obtained in an embodiment of a side scan sonar underwater target multi-mode imaging method of the present invention;
图6是本发明的一种侧扫声呐的水下目标多模式成像方法的流程图。FIG. 6 is a flow chart of a multi-mode imaging method for an underwater target of a side scan sonar according to the present invention.
具体实施方式Detailed ways
现结合附图对本发明作进一步的描述。The present invention will now be further described with reference to the accompanying drawings.
本发明提供了一种侧扫声呐的水下目标多模式成像方法，本发明的方法为了解决针对常规的侧扫声纳在扫测时，形成的声图为一过式成像，容易受载体机械运动影响，而且由于信息量有限，目标检测、识别能力受限的问题，采用多基元接收阵的设计，通过对各个阵元的信号充分利用，通过载体机械运动和阵列相控技术相结合，同时实现单波束成像、多平行波束成像和扇形波束成像的多模成像 模式的多模成像探测，满足高速运动下、载体姿态变化剧烈条件下的高检测、识别性能。The present invention provides a multi-mode imaging method for underwater targets of side-scan sonar. The method of the present invention aims to solve the problem that the acoustic image formed by the conventional side-scan sonar during scanning is a one-pass imaging, which is easily affected by the carrier machinery. Due to the limited amount of information and the limited ability of target detection and recognition, the design of multi-element receiving array is adopted, and the signal of each array element is fully utilized, and the mechanical movement of the carrier is combined with the array phase control technology. At the same time, multi-mode imaging detection in multi-mode imaging modes of single-beam imaging, multi-parallel beam imaging and fan-beam imaging can be realized, which can meet the high detection and recognition performance under high-speed motion and severe carrier attitude changes.
如图6所示，本发明提供了一种侧扫声呐的水下目标多模式成像方法，该方法具体包括：As shown in FIG. 6 , the present invention provides a multi-mode imaging method for an underwater target of a side scan sonar, which specifically includes:
将侧扫声呐放置在船上，侧扫声呐接收阵设置在待测目标上；Place the side-scan sonar on the boat, and set the side-scan sonar receiving array on the target to be measured;
将侧扫声呐接收阵划分为多个基元，每个基元单独引线，形成独立基元，每个基元接收单波束信号；在船的航行过程中，侧扫声呐对准某一海域进行扫测，发射不同角度的多波束信号；The side-scan sonar receiving array is divided into multiple primitives, each of which has a separate lead to form an independent primitive, and each primitive receives a single beam signal; during the navigation of the ship, the side-scan sonar is aimed at a certain sea area. Scanning, transmitting multi-beam signals at different angles;
当船处于低速航行模式时，采用单波束成像模式，对侧扫声呐接收阵中的所有基元接收的单波束信号进行处理，得到单波束成像声图；When the ship is in the low-speed sailing mode, the single-beam imaging mode is adopted to process the single-beam signals received by all the elements in the side-scan sonar receiving array to obtain the single-beam imaging sonogram;
具体地，如图1所示，在侧扫声呐在船上进行几何形状的移动过程中，且船的航行速度小于4节的低速模式时，对侧扫声呐接收阵的所有基元接收到的单波束信号进行叠加和近场聚焦处理，得到波束数据Beam 0(t)： Specifically, as shown in Fig. 1, when the side-scan sonar moves geometrically on the ship, and the ship's sailing speed is less than 4 knots in the low-speed mode, the single unit received by all the elements of the side-scan sonar receiving array The beam signals are superimposed and near-field focused to obtain the beam data Beam 0 (t):
Figure PCTCN2021104223-appb-000009
Figure PCTCN2021104223-appb-000009
其中，i为基元序号，N为基元个数，Among them, i is the number of primitives, N is the number of primitives,
其中，s i(t)为第i个基元接收的单波束信号： Among them, s i (t) is the single beam signal received by the i-th element:
Figure PCTCN2021104223-appb-000010
Figure PCTCN2021104223-appb-000010
其中，A为第i个基元接收的单波束信号的信号幅度，f为第i个基元接收的单波束信号的信号频率，
Figure PCTCN2021104223-appb-000011
为接收信号相位； Among them, A is the signal amplitude of the single beam signal received by the ith element, f is the signal frequency of the single beam signal received by the ith element,
Figure PCTCN2021104223-appb-000011
is the received signal phase;
根据得到的Beam 0(t)，绘制单波束成像声图。 According to the obtained Beam 0 (t), draw a single-beam imaging sonogram.
当船处于高速航行模式时，采用平行波束成像模式，对侧扫声呐接收阵中的所有基元接收的单波束信号进行处理，得到平行波束成像声图；When the ship is in high-speed sailing mode, the parallel beam imaging mode is used to process the single beam signals received by all the elements in the side scan sonar receiving array to obtain the parallel beam imaging sonogram;
具体地，如图2所示，在侧扫声呐在船上进行几何形状的移动过程中，且船的航行速度在4-12节的高速模式时，对侧扫声呐接收阵的所有基元接收到的基 元域信号进行处理，得到平行波束域信号模型；Specifically, as shown in Figure 2, when the side-scan sonar moves geometrically on the ship, and the ship's sailing speed is in the high-speed mode of 4-12 knots, all the primitives of the side-scan sonar receiving array receive The primitive domain signal is processed to obtain the parallel beam domain signal model;
X(t)＝aS(t)+N(t)          (3)X(t)=aS(t)+N(t) (3)
其中，X(t)为预成波束向量矩阵；a为侧扫声呐接收阵的所有基元组成的信号导向矢量矩阵；S(t)为侧扫声呐接收阵的所有基元组成的矩阵，即所有基元信号的复包络，CW信号或chirp信号；N(t)为侧扫声呐接收阵的所有基元组成的噪声和干扰信号矩阵；Among them, X(t) is the pre-beam vector matrix; a is the signal steering vector matrix composed of all the elements of the side-scan sonar receiving array; S(t) is the matrix composed of all the elements of the side-scan sonar receiving array, namely The complex envelope of all primitive signals, CW signal or chirp signal; N(t) is the noise and interference signal matrix composed of all the primitives of the side-scan sonar receiving array;
其中，侧扫声呐接收阵的所有基元组成的信号导向矢量矩阵a的推导过程如下：Among them, the derivation process of the signal steering vector matrix a composed of all the primitives of the side-scan sonar receiving array is as follows:
假设基元个数为N，N个基元均匀分布，且相邻基元之间的间距为d。It is assumed that the number of primitives is N, the N primitives are uniformly distributed, and the distance between adjacent primitives is d.
由三角形余弦定理可得，以第s个基元为参考基元，则第n个基元与待测目标之间的距离
Figure PCTCN2021104223-appb-000012
为 It can be obtained from the triangular cosine theorem, taking the s-th primitive as the reference primitive, then the distance between the n-th primitive and the target to be measured
Figure PCTCN2021104223-appb-000012
for
Figure PCTCN2021104223-appb-000013
Figure PCTCN2021104223-appb-000013
其中，θ s为平行多波束导向角；x n＝(n-1)×d，其中，n＝1,2,3,…,N，r s为第s个基元与待测目标之间的距离，则第i个基元与参考基元之间接收信号的时延为： Among them, θ s is the parallel multi-beam steering angle; x n =(n-1)×d, where n=1,2,3,...,N, rs is the distance between the sth primitive and the target to be measured distance, then the delay of the received signal between the i-th primitive and the reference primitive is:
Figure PCTCN2021104223-appb-000014
Figure PCTCN2021104223-appb-000014
其中，c为水中声速；where c is the speed of sound in water;
则信号的导向矢量
Figure PCTCN2021104223-appb-000015
then the steering vector of the signal
Figure PCTCN2021104223-appb-000015
其中，τ N为第i个基元与参考基元之间接收信号的时延；f 0为工作频率；j为虚单位。 Among them, τ N is the time delay of the received signal between the ith primitive and the reference primitive; f 0 is the working frequency; j is the imaginary unit.
对于平行多波束导向角θ s为扇形覆盖范围内的某一角度，即θ s＝ζ，ζ∈(-θ H，θ H)，参考基元根据需求的波束数量，沿接收阵平均分布；其中，每个基元的接收信号时延在计算中，需要有个统一额参考，这个参考即为参考基元。 For the parallel multi-beam steering angle θ s is a certain angle within the sector coverage, that is, θ s = ζ, ζ∈(-θ H , θ H ), the reference primitives are evenly distributed along the receiving array according to the required number of beams; Among them, in the calculation of the received signal delay of each primitive, a unified reference is required, and this reference is the reference primitive.
当考虑简单的平行多波束，即每个波束的波束导向角度为0度时，且不考虑噪声和干扰信号N(t)的情况下，各个波束输出退化为若干个基元数据的累加， 则公式(3)可以简化为：When considering simple parallel multi-beams, that is, when the beam steering angle of each beam is 0 degrees, and without considering the noise and interference signal N(t), the output of each beam degenerates into the accumulation of several primitive data, then Equation (3) can be simplified as:
X(t)＝aS(t)X(t)=aS(t)
其中，X(t)＝[x 1(t),x 2(t),x 3(t)...x j(t)]； Wherein, X(t)=[x 1 (t),x 2 (t),x 3 (t)...x j (t)];
Figure PCTCN2021104223-appb-000016
Figure PCTCN2021104223-appb-000016
其中，x j(t)为X(t)中的第j个预成波束向量；s i(t)为第i个基元接收的单波束信号； Wherein, x j (t) is the j-th pre-beam vector in X (t); s i (t) is the single-beam signal received by the i-th element;
根据得到的多个x j(t)，绘制平行波束成像声图。 According to the obtained multiple x j (t), the parallel beam imaging sonogram is drawn.
在船的航行过程中，始终采用扇形波束成像模式，对侧扫声呐接收阵中的所有基元接收的单波束信号进行处理，得到扇形波束成像声图。During the navigation of the ship, the fan-beam imaging mode is always used to process the single-beam signals received by all the primitives in the side-scan sonar receiving array to obtain the fan-beam imaging sonogram.
具体地，如图3所示，对侧扫声呐接收阵的所有基元接收到的基元域信号进行处理，得到扇形波束域信号模型；Specifically, as shown in FIG. 3 , the primitive domain signals received by all primitives of the side-scan sonar receiving array are processed to obtain a fan beam domain signal model;
X(t) 1＝a 1S(t) 1+N(t) 1           (7) X(t) 1 =a 1 S(t) 1 +N(t) 1 (7)
其中，X(t) 1为扇形波束输出向量矩阵；a 1为侧扫声呐接收阵的所有基元组成的扇形信号导向矢量矩阵；S(t) 1为侧扫声呐接收阵的所有基元组成的扇形矩阵，即所有基元信号的复包络，CW信号或chirp信号；N(t) 1为侧扫声呐接收阵的所有基元组成的噪声和干扰扇形信号矩阵； Among them, X(t) 1 is the output vector matrix of the fan beam; a 1 is the sector signal steering vector matrix composed of all the elements of the side-scan sonar receiving array; S(t) 1 is the composition of all the elements of the side-scan sonar receiving array N(t) 1 is the noise and interference sector signal matrix composed of all the elements of the side-scan sonar receiving array;
其中，侧扫声呐接收阵的所有基元组成的扇形信号导向矢量矩阵a 1的推导过程如下： Among them, the derivation process of the sector-shaped signal steering vector matrix a 1 composed of all the primitives of the side-scan sonar receiving array is as follows:
假设基元个数为N，N个基元均匀分布，且相邻基元之间的间距为d；Assuming that the number of primitives is N, the N primitives are uniformly distributed, and the distance between adjacent primitives is d;
由三角形余弦定理可得，以第s1个基元为参考基元，则第n个基元与待测目标之间的距离
Figure PCTCN2021104223-appb-000017
为 It can be obtained from the triangular cosine theorem, taking the s1th primitive as the reference primitive, then the distance between the nth primitive and the target to be measured
Figure PCTCN2021104223-appb-000017
for
Figure PCTCN2021104223-appb-000018
Figure PCTCN2021104223-appb-000018
其中，θ s1为扇形多波束导向角；x 1n＝(n-1)×d；其中，n＝1,2,3,…,N；r s1为第s1个基元与待测目标之间的距离，则第n个基元与参考基元之间接收信号 的时延为： Among them, θ s1 is the steering angle of the fan-shaped multi-beam; x 1n =(n-1)×d; among them, n=1,2,3,...,N; rs1 is the distance between the s1th primitive and the target to be measured distance, then the delay of the received signal between the nth primitive and the reference primitive is:
Figure PCTCN2021104223-appb-000019
Figure PCTCN2021104223-appb-000019
其中，c为水中声速；where c is the speed of sound in water;
则信号的导向矢量
Figure PCTCN2021104223-appb-000020
then the steering vector of the signal
Figure PCTCN2021104223-appb-000020
其中，τ N为第n个基元与参考基元之间接收信号的时延；f 0为工作频率；j为虚单位。 Among them, τ N is the time delay of the received signal between the nth primitive and the reference primitive; f 0 is the working frequency; j is the imaginary unit.
例如，当考虑扇形波束开角为[-10°,10°]，波束开角为1°，扇形波束导向角θ s1＝-10°,-9°,-8°,…10°。 For example, when considering that the fan beam opening angle is [-10°, 10°], the beam opening angle is 1°, and the fan beam steering angle θ s1 = -10°, -9°, -8°, . . . 10°.
在不考虑噪声和干扰扇形信号N(t) 1的情况下，则公式(7)可以简化为： Without considering the noise and interference sector signal N(t) 1 , the formula (7) can be simplified as:
X(t) 1＝a 1S(t) 1 X(t) 1 =a 1 S(t) 1
进而简化为：which simplifies to:
Figure PCTCN2021104223-appb-000021
Figure PCTCN2021104223-appb-000021
其中，x M(t)为第M个基元的扇形波束向量； Wherein, x M (t) is the fan beam vector of the Mth primitive;
Figure PCTCN2021104223-appb-000022
Figure PCTCN2021104223-appb-000022
其中，s i(t) 1为第i个基元接收的扇形波束信号； Wherein, s i (t) 1 is the fan beam signal received by the i-th element;
根据得到的多个扇形波束向量x M(t)，绘制扇形波束成像声图。 According to the obtained multiple fan beam vectors x M (t), draw a fan beam imaging acoustic map.
其中，所述方法还包括：根据不同的船行速度，首先通过单波束成像声图或平行波束成像声图，获得观测疑似目标结果，再通过扇形波束成像声图，获得目标精细观测结果，根据获取的观测疑似目标结果和目标精细观测结果，确定待测目标在该海域中的位置，实现对待测目标的探测。Wherein, the method further includes: according to different speed of the ship, first obtain the result of observing the suspected target through the single-beam imaging acoustic image or the parallel beam imaging acoustic image, and then obtain the fine observation result of the target through the fan-shaped beam imaging acoustic image, according to the obtained It can determine the position of the target to be measured in the sea area and realize the detection of the target to be measured.
实施例1.Example 1.
本发明给出了一个具体的实施例，侧扫声纳基阵长度0.6m，基元数量36个，工作频率600kHz，探测范围130m，航速小于4节，波束覆盖开角设计为-4度～4度。因为航速较小，根据船的航行速度为低速模式，则采用单波束成像模式和扇形多波束成像模式。The present invention provides a specific embodiment, the length of the side scan sonar array is 0.6m, the number of primitives is 36, the working frequency is 600kHz, the detection range is 130m, the speed is less than 4 knots, and the beam coverage opening angle is designed to be -4 degrees ~ 4 degrees. Because the speed is small, the single beam imaging mode and the fan-shaped multi-beam imaging mode are adopted according to the low speed mode of the ship.
其中，单波束采用基于近场聚焦的波束形成技术，波束导向角为0度；扇形多波束采用近场聚焦波束形成技术，波束导向角为-4度～4度，波束间隔0.2度。Among them, the single beam adopts the beamforming technology based on near-field focusing, and the beam steering angle is 0 degrees; the fan-shaped multi-beam adopts the near-field focusing beamforming technology, the beam steering angle is -4 degrees to 4 degrees, and the beam spacing is 0.2 degrees.
如图4所示，对于单波束成像模式，随着侧扫声纳的移动，在每个收发周期内，侧扫声纳接收阵获取一个单波束声纳波束域回波信号，将多帧获取的波束数据以瀑布图的形成显示在电脑屏幕上，就形成了单波束成像声图，并从该图上获取D、E、F三个点作为观测疑似目标。As shown in Figure 4, for the single-beam imaging mode, with the movement of the side-scan sonar, in each transceiver cycle, the side-scan sonar receiving array acquires a single-beam sonar beam domain echo signal, and acquires multiple frames of echo signals. The beam data is displayed on the computer screen in the form of a waterfall chart, and a single beam imaging sound chart is formed, and three points D, E, and F are obtained from the chart as the suspected target for observation.
如图5所示。对于扇形多波束成像模式，将每帧获取的扇形多波束的波束数据显示在电脑屏幕上，就形成了扇形波束成像声图，并从该图上获取A、B、C三个点作为精细观测目标。As shown in Figure 5. For the fan-shaped multi-beam imaging mode, the beam data of the fan-shaped multi-beam acquired in each frame is displayed on the computer screen to form a fan-beam imaging acoustic image, and three points A, B, and C are obtained from the image as fine observations. Target.
根据在声图上的亮点的强度，可以确定A和D为强度最亮的点，且位于相同位置，则将该位置对应的电作为待测目标，实现对待测目标的探测。采用本发明的探测方法后，获得了待测目标的多模成像模式，兼具机械运动带来的高分辨特性和扇形波束的灵活性，可以为后续检测识别降低虚惊率提供帮组。According to the intensity of the bright spots on the acoustic image, it can be determined that A and D are the brightest spots, and they are located in the same position. After adopting the detection method of the present invention, a multi-mode imaging mode of the target to be detected is obtained, which has both high-resolution characteristics brought by mechanical motion and flexibility of fan beams, which can provide help for subsequent detection and identification to reduce false alarm rate.
最后所应说明的是，以上实施例仅用以说明本发明的技术方案而非限制。尽管参照实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，对本发明的技术方案进行修改或者等同替换，都不脱离本发明技术方案的精神和范围，其均应涵盖在本发明的权利要求范围当中。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that any modification or equivalent replacement of the technical solutions of the present invention will not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the present invention. within the scope of the claims.

Claims (5)

  1. 一种侧扫声呐的水下目标多模式成像方法，该方法包括：A multi-mode imaging method for underwater targets of side scan sonar, the method comprising:
    将侧扫声呐放置在船上，侧扫声呐接收阵设置在待测目标上；Place the side-scan sonar on the boat, and set the side-scan sonar receiving array on the target to be measured;
    将侧扫声呐接收阵划分为多个基元，每个基元单独引线，形成独立基元，每个基元接收单波束信号；在船的航行过程中，侧扫声呐对准某一海域进行扫测，发射不同角度的多波束信号；The side-scan sonar receiving array is divided into multiple primitives, each of which has a separate lead to form an independent primitive, and each primitive receives a single beam signal; during the navigation of the ship, the side-scan sonar is aimed at a certain sea area. Scanning, transmitting multi-beam signals at different angles;
    当船处于低速航行模式时，采用单波束成像模式，对侧扫声呐接收阵中的所有基元接收的单波束信号进行处理，得到单波束成像声图；When the ship is in the low-speed sailing mode, the single-beam imaging mode is adopted to process the single-beam signals received by all the elements in the side-scan sonar receiving array to obtain the single-beam imaging sonogram;
    当船处于高速航行模式时，采用平行波束成像模式，对侧扫声呐接收阵中的所有基元接收的单波束信号进行处理，得到平行波束成像声图；When the ship is in high-speed sailing mode, the parallel beam imaging mode is used to process the single beam signals received by all the elements in the side scan sonar receiving array to obtain the parallel beam imaging sonogram;
    在船的航行过程中，始终采用扇形波束成像模式，对侧扫声呐接收阵中的所有基元接收的单波束信号进行处理，得到扇形波束成像声图。During the navigation of the ship, the fan-beam imaging mode is always used to process the single-beam signals received by all the primitives in the side-scan sonar receiving array to obtain the fan-beam imaging sonogram.
  2. 根据权利要求1所述的侧扫声呐的水下目标多模式成像方法，其特征在于，所述方法还包括：根据不同的船行速度，首先通过单波束成像声图或平行波束成像声图，获得观测疑似目标结果，再通过扇形波束成像声图，获得目标精细观测结果，根据获取的观测疑似目标结果和目标精细观测结果，确定待测目标在该海域中的位置，实现对待测目标的探测。The multi-mode imaging method for underwater targets of side-scan sonar according to claim 1, wherein the method further comprises: according to different ship speed, first obtain a single-beam imaging acoustic image or a parallel-beam imaging acoustic image. Observing the results of the suspected target, and then obtaining the fine target observation results through the fan beam imaging sound image. According to the obtained observation results of the suspected target and the fine target observation results, the position of the target to be measured in the sea area is determined to realize the detection of the target to be measured.
  3. 根据权利要求1所述的侧扫声呐的水下目标多模式成像方法，其特征在于，所述采用单波束成像模式，对侧扫声呐接收阵中的所有基元接收的单波束信号进行处理，得到单波束成像声图；其具体过程为：The multi-mode imaging method for an underwater target of a side-scan sonar according to claim 1, wherein the single-beam imaging mode is used to process the single-beam signals received by all the elements in the side-scan sonar receiving array, A single-beam imaging acoustic image is obtained; the specific process is as follows:
    在侧扫声呐在船上进行几何形状的移动过程中，且船的航行速度小于4节的低速模式时，对侧扫声呐接收阵的所有基元接收到的单波束信号进行叠加和近场聚焦处理，得到波束数据Beam 0(t)： When the side-scan sonar moves geometrically on the ship, and the ship's speed is less than 4 knots in the low-speed mode, the single-beam signals received by all the elements of the side-scan sonar receiving array are superimposed and processed by near-field focusing. , the beam data Beam 0 (t) is obtained:
    Figure PCTCN2021104223-appb-100001
    Figure PCTCN2021104223-appb-100001
    其中，i为基元序号，N为基元个数，Among them, i is the number of primitives, N is the number of primitives,
    其中，s i(t)为第i个基元接收的单波束信号： Among them, s i (t) is the single beam signal received by the i-th element:
    Figure PCTCN2021104223-appb-100002
    Figure PCTCN2021104223-appb-100002
    其中，A为第i个基元接收的单波束信号的信号幅度，f为第i个基元接收的单波束信号的信号频率，
    Figure PCTCN2021104223-appb-100003
    为接收信号相位；     Among them, A is the signal amplitude of the single beam signal received by the ith element, f is the signal frequency of the single beam signal received by the ith element,
    Figure PCTCN2021104223-appb-100003
    is the received signal phase;
    根据得到的Beam 0(t)，绘制单波束成像声图。 According to the obtained Beam 0 (t), draw a single-beam imaging sonogram.
  4. 根据权利要求1所述的侧扫声呐的水下目标多模式成像方法，其特征在于，所述采用平行波束成像模式，对侧扫声呐接收阵中的所有基元接收的单波束信号进行处理，得到平行波束成像声图；其具体过程为：The multi-mode imaging method for an underwater target of a side-scan sonar according to claim 1, wherein the parallel beam imaging mode is used to process the single-beam signals received by all the elements in the side-scan sonar receiving array, The parallel beam imaging acoustic image is obtained; the specific process is as follows:
    在侧扫声呐在船上进行几何形状的移动过程中，且船的航行速度在4-12节的高速模式时，对侧扫声呐接收阵的所有基元接收到的基元域信号进行处理，得到平行波束域信号模型；During the geometric movement of the side-scan sonar on the ship, and the ship's sailing speed is in the high-speed mode of 4-12 knots, the primitive domain signals received by all the primitives of the side-scan sonar receiving array are processed to obtain Parallel beam domain signal model;
    X(t)＝aS(t)+N(t)  (3)X(t)=aS(t)+N(t) (3)
    其中，X(t)为预成波束向量矩阵；a为侧扫声呐接收阵的所有基元组成的信号导向矢量矩阵；S(t)为侧扫声呐接收阵的所有基元组成的矩阵；N(t)为侧扫声呐接收阵的所有基元组成的噪声和干扰信号矩阵；Among them, X(t) is the pre-beam vector matrix; a is the signal steering vector matrix composed of all the elements of the side-scan sonar receiving array; S(t) is the matrix composed of all the elements of the side-scan sonar receiving array; N (t) is the noise and interference signal matrix composed of all the elements of the side-scan sonar receiving array;
    其中，则信号的导向矢量
    Figure PCTCN2021104223-appb-100004
    where, the steering vector of the signal
    Figure PCTCN2021104223-appb-100004
    其中，τ N为第i个基元与参考基元之间接收信号的时延；f 0为工作频率；j为虚单位； Among them, τ N is the time delay of the received signal between the ith primitive and the reference primitive; f 0 is the operating frequency; j is the imaginary unit;
    对于平行多波束导向角θ s为扇形覆盖范围内的某一角度；θ s＝ζ，ζ∈(-θ H，θ H)； For parallel multi-beam steering angle θ s is a certain angle within the sector coverage; θ s = ζ, ζ∈(-θ H , θ H );
    当考虑简单的平行多波束，即每个波束的波束导向角度为0度时，且不考虑噪声和干扰信号N(t)的情况下，各个波束输出退化为若干个基元数据的累加，则公式(3)可以简化为：When considering simple parallel multi-beams, that is, when the beam steering angle of each beam is 0 degrees, and without considering the noise and interference signal N(t), the output of each beam degenerates into the accumulation of several primitive data, then Equation (3) can be simplified as:
    X(t)＝aS(t)X(t)=aS(t)
    其中，X(t)＝[x 1(t),x 2(t),x 3(t)...x j(t)]； Wherein, X(t)=[x 1 (t),x 2 (t),x 3 (t)...x j (t)];
    Figure PCTCN2021104223-appb-100005
    Figure PCTCN2021104223-appb-100005
    其中，x j(t)为X(t)中的第j个预成波束向量；s i(t)为第i个基元接收的单波束信号； Wherein, x j (t) is the j-th pre-beam vector in X (t); s i (t) is the single-beam signal received by the i-th element;
    根据得到的多个x j(t)，绘制平行波束成像声图。 According to the obtained multiple x j (t), the parallel beam imaging sonogram is drawn.
  5. 根据权利要求1所述的侧扫声呐的水下目标多模式成像方法，其特征在于，所述采用扇形波束成像模式，对侧扫声呐接收阵中的所有基元接收的信号进行处理，得到高频扇形波束数据；其具体过程为：The multi-mode imaging method for underwater targets of side-scan sonar according to claim 1, wherein the fan-shaped beam imaging mode is used to process the signals received by all the elements in the side-scan sonar receiving array to obtain high frequency sector beam data; the specific process is:
    对侧扫声呐接收阵的所有基元接收到的基元域信号进行处理，得到扇形波束域信号模型；Process the cell-domain signals received by all cells of the side-scan sonar receiving array to obtain a fan-beam domain signal model;
    X(t) 1＝a 1S(t) 1+N(t) 1  (7) X(t) 1 =a 1 S(t) 1 +N(t) 1 (7)
    其中，X(t) 1为扇形波束向量矩阵；a 1为侧扫声呐接收阵的所有基元组成的扇形信号导向矢量矩阵；S(t) 1为侧扫声呐接收阵的所有基元组成的扇形矩阵，即所有基元信号的复包络，CW信号或chirp信号；N(t) 1为侧扫声呐接收阵的所有基元组成的噪声和干扰扇形信号矩阵； Among them, X(t) 1 is the sector beam vector matrix; a 1 is the sector-shaped signal steering vector matrix composed of all the elements of the side-scan sonar receiving array; S(t) 1 is composed of all the elements of the side-scan sonar receiving array Sector matrix, that is, the complex envelope of all elementary signal, CW signal or chirp signal; N(t) 1 is the noise and interference sector signal matrix composed of all elementary elements of the side-scan sonar receiving array;
    其中，信号的导向矢量
    Figure PCTCN2021104223-appb-100006
    where the steering vector of the signal
    Figure PCTCN2021104223-appb-100006
    在不考虑噪声和干扰扇形信号N(t) 1的情况下，则公式(7)可以简化为： Without considering the noise and interference sector signal N(t) 1 , the formula (7) can be simplified as:
    X(t) 1＝a 1S(t) 1 X(t) 1 =a 1 S(t) 1
    进而简化为：which simplifies to:
    Figure PCTCN2021104223-appb-100007
    Figure PCTCN2021104223-appb-100007
    其中，x M(t)为第M个基元的扇形波束向量； Wherein, x M (t) is the fan beam vector of the Mth primitive;
    Figure PCTCN2021104223-appb-100008
    Figure PCTCN2021104223-appb-100008
    其中，s i(t) 1为第i个基元接收的扇形波束信号； Wherein, s i (t) 1 is the fan beam signal received by the i-th element;
    根据得到的多个扇形波束向量x M(t)，绘制扇形波束成像声图。 According to the obtained multiple fan beam vectors x M (t), draw a fan beam imaging acoustic map.
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