基于侧扫声呐的深海广域复杂地形快速搜探声图优化方法
Acoustic Image Optimization Method for Quick Exploration of Deep Sea Wide Area Complex Terrain Based on Side Scan Sonar
岳成海 1徐会希 1李良 1王旭 1朱宝彤 1尹忠勋1
作者信息
- 1. 中国科学院沈阳自动化研究所 机器人学国家重点实验室,辽宁 沈阳 110016;辽宁省水下机器人重点实验室,辽宁 沈阳 110169
- 折叠
摘要
针对海底复杂地形地貌场景,以及自主水下潜器(Autonomous Underwater Vehicle,AUV)航行时存在扰动,搭载大量程侧扫声呐设备进行广域快速搜探时,采集的侧扫声呐数据在生成图像时,存在严重的瀑布图畸变、增益失衡、亮暗不均的问题,难以直观呈现海底地形地貌.结合侧扫声呐成像原理、侧扫声呐设备特点、AUV运动传感信息、图像处理方法,提出融合运动特性与海底基线提取的畸变校正方法、融合侧扫声呐设备特性的垂向增益校正方法、自适应直方图均衡的亮度校正方法.实验表明,所述方法可清晰呈现地形地貌信息.
Abstract
Due to the complex terrain and landforms of the seabed,as well as the disturbance during autonomous underwater vehicle(AUV)navigation,when AUV carrying a large range side scan sonar for wide-area rapid exploration,waterfall distortion,gain imbalance,and uneven brightness make it difficult to visually present the seabed terrain and landforms.Based on imaging principle of side scan sonar,characteristics of side scan sonar equipment,AUV motion sensing information and image processing method,an acoustic image optimization method is proposed.It integrates motion characteristics with seabed baseline extraction for distortion correction,uses characteristics of side scan sonar equipment for vertical gain correction,and adapts histogram equalization for brightness correction.Experiment shows that the method proposed in this article can clearly present terrain and geomorphic information.
关键词
侧扫声呐/瀑布图畸变/增益失衡/亮度校正/AUVKey words
side scan sonar/waterfall distortion/gain imbalance/brightness correction/AUV引用本文复制引用
基金项目
国家重点研发计划(2021YFC2800100)
出版年
2024
国家科技期刊平台
NSTL
万方数据