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CN103592650A - Three-dimensional sonar imaging system based on graph processor and three-dimensional image method thereof - Google Patents

Three-dimensional sonar imaging system based on graph processor and three-dimensional image method thereof Download PDF

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Publication number
CN103592650A
CN103592650A CN201310597887.2A CN201310597887A CN103592650A CN 103592650 A CN103592650 A CN 103592650A CN 201310597887 A CN201310597887 A CN 201310597887A CN 103592650 A CN103592650 A CN 103592650A
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module
process unit
graphic process
signal
dimensional
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CN103592650B (en
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印明明
刘平香
刘珏
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No726 Research Institute Of China Shipbuilding Industry Corp
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No726 Research Institute Of China Shipbuilding Industry Corp
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S15/00Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88Sonar systems specially adapted for specific applications
    • G01S15/89Sonar systems specially adapted for specific applications for mapping or imaging
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/56Display arrangements
    • G01S7/62Cathode-ray tube displays
    • G01S7/6245Stereoscopic displays; Three-dimensional displays; Pseudo-three dimensional displays

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention discloses a three-dimensional sonar imaging system based on a graph processor and a three-dimensional image method thereof. The three-dimensional sonar imaging system comprises a signal down-sampling module and the like which are sequentially connected. The signal down-sampling module is used for transferring an underwater acoustic signal received by an underwater acoustic sensor from high frequency to low frequency and converting the underwater acoustic signal into a digital signal convenient to process by a computer. A high-speed buffer module is used for storing multi-channel sampling data received from the signal down-sampling module. A parallel beam forming module based on an image processor reads multi-channel echo data from the high-speed buffer module. A wideband pulse compression module based on the image processor processes frequency domain signals output by the parallel beam forming module in different spatial angle directions. A three-dimensional display module receives output information of a beam forming module based on the image processor and output information of the wideband pulse compression module based on the image processor. The system and the method have the advantages of being low in cost, high in performance, strong in expansibility and the like.

Description

Three-dimensional sonar imaging system and three-D imaging method thereof based on graphic process unit
Technical field
The invention belongs to Underwater Detection field, particularly relate to a kind of three-dimensional sonar imaging system and three-D imaging method thereof based on graphic process unit (Graphics Processing Unit, GPU).
Background technology
Sonar is the equipment that utilizes underwater sound wave that target is surveyed and located.The major function of at present general sonar system is the two-dimensional localization in orientation, distance to the detection of submarine target and target.Along with the development of ocean development and Military Application demand, as for marine engineering enforcement, Technique of Subsea Pipeline Inspection, frogman's detection, submarine navigation device navigation etc., submarine target has been proposed to the requirement of three-dimensional localization, three-dimensional sonar is born thus.
Three-dimensional sonar generally adopts two-dimensional array to receive sound wave, thereby makes it in level, vertical and 3 directions of distance, directly obtain resolution characteristic.Echo Processing, normally along time slice, is first formed to two-dimensional image sequence, recycling computing machine compositing 3 d images.
The imaging device of existing three-dimensional sonar adopts multiple FPGA (Field-Programmable Gate Array, i.e. field programmable gate array) to realize, and hardware configuration is complicated, and development difficulty is large and cost is high.The graphic process unit of high speed development (Graphics Processing Unit, GPU) is processed the novel calculate platform with development prospect is provided for signal in recent years.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of three-dimensional sonar imaging system and three-D imaging method thereof based on graphic process unit, and it has the features such as low cost, high-performance, extendability be strong.(there is the features such as low cost, high-performance, extendability are strong why, incorporated by reference to modules, describe)
The present invention solves above-mentioned technical matters by following technical proposals: a kind of three-dimensional sonar imaging system based on graphic process unit, it is characterized in that, it comprises the down-sampled module of signal connecting successively, cache module, parallel beam based on graphic process unit forms module, wideband pulse compression module based on graphic process unit, 3-D display module, the down-sampled module of described signal is moved low frequency for the underwater sound signal that underwater sound sensor is received from high frequency, and changed into and be convenient to the digital signal that computing machine is processed, described digital signal is multi-channel sampling data, described cache module is for preserving the multi-channel sampling data that receive from the down-sampled module of signal, the described parallel beam based on graphic process unit forms module and from cache module, reads multi-channel back wave data, for calculating different spaces angle direction frequency-region signal, the parallel beam that the described wideband pulse compression module based on graphic process unit is processed based on graphic process unit forms the different spaces angle direction frequency-region signal that module is exported, for calculating the distance of target, the wave beam that described 3-D display module receives based on graphic process unit forms the output information of module and the output information of the wideband pulse compression module based on graphic process unit, for the target detecting is shown at three dimensions.
The present invention also provides a kind of three-D imaging method of the three-dimensional sonar imaging system based on graphic process unit, it is characterized in that, it comprises the following steps:
Step 1: it is down-sampled that the down-sampled module of signal is carried out quadrature to the data from underwater sound sensor, the numeral after quadrature is down-sampled is resolved signal storage to cache module;
Step 2: cache module receives after frame data according to the detection range of setting, transfers data to the global storage that parallel beam based on graphic process unit forms module;
Step 3: the parallel beam based on graphic process unit forms module the array data in global storage is processed, the orientation angles of solving target and luffing angle;
Step 4: the result that the wideband pulse compression module based on graphic process unit forms module to the parallel beam based on graphic process unit is carried out process of pulse-compression, obtains the range information of target, and result is outputed to 3-D display module;
Step 5: the Output rusults of the wideband pulse compression module of 3-D display module scanning based on graphic process unit, according to the threshold value of setting, Output rusults is carried out to color coding, in default three-dimensional sample space, show.
Preferably, the described parallel beam based on graphic process unit forms module the horizontal direction of space exploration and vertical direction is carried out to two-dimentional wave beam formation.
Preferably, described 3-D display module is divided into a horizontal direction M wave beam by space exploration, vertical direction N wave beam, and a range direction P interval, remembers M * N * P spatial sampling point altogether, M, N, P are natural numbers.
Preferably, the value at a described range direction P interval is compressed and is calculated by wideband pulse.
Positive progressive effect of the present invention is: the present invention is to realize by wideband pulse compression module to obtaining of target range information, there is higher processing gain, the feature such as the present invention also has low cost, high-performance in addition, extendability is strong, simple in structure, development difficulty is low.Three-dimensional sonar generally adopts two-dimensional array to receive sound wave, in level, vertical direction, target is surveyed, and this process relates to huge calculated amount.Existing three-dimensional sonar generally adopts DSP array or FPGA array to realize, and such system architecture is complicated, and the construction cycle is long, difficulty is large, cost is high, and upgrade, upgrading need to redesign hardware.A kind of three-dimensional sonar imaging system based on graphic process unit of the present invention, the wave beam of its core forms module and utilizes the Floating-point Computation ability that graphic process unit is powerful, reaches the three-dimensional sonar imaging system identical function of existing employing DSP array or FPGA array.A kind of three-dimensional sonar imaging system based on graphic process unit of the present invention is upgraded upgrading only needs to change corresponding graphic process unit, without redesigning hardware.Current graphic process unit performance is more and more stronger, and price is more and more lower, so the present invention has very high cost performance.
Accompanying drawing explanation
Fig. 1 is the theory diagram that the present invention is based on the three-dimensional sonar imaging system of graphic process unit.
Embodiment
Below in conjunction with accompanying drawing, provide preferred embodiment of the present invention, to describe technical scheme of the present invention in detail.
As shown in Figure 1, the three-dimensional sonar imaging system that the present invention is based on graphic process unit comprises that the down-sampled module of signal, cache module, the parallel beam based on graphic process unit that connect successively form module, the wideband pulse compression module based on graphic process unit, 3-D display module, the down-sampled module of described signal is moved low frequency for the underwater sound signal that underwater sound sensor (such as sensor array etc.) is received from high frequency, and being changed into the digital signal of being convenient to computing machine processing, described digital signal is multi-channel sampling data; Described cache module is for preserving the multi-channel sampling data that receive from the down-sampled module of signal; The described parallel beam based on graphic process unit forms module and from cache module, reads multi-channel back wave data, for calculating different spaces angle direction frequency-region signal; The parallel beam that the described wideband pulse compression module based on graphic process unit is processed based on graphic process unit forms the different spaces angle direction frequency-region signal that module is exported, for calculating the distance of target; The wave beam that described 3-D display module receives based on graphic process unit forms the output information (output information comprises different spaces angle direction frequency-region signal etc.) of module and the output information (output information comprises the distance of target etc.) of the wideband pulse compression module based on graphic process unit, for the target detecting is shown at three dimensions.
The three-D imaging method that the present invention is based on the three-dimensional sonar imaging system of graphic process unit comprises the following steps:
Step 1: it is down-sampled that the down-sampled module of signal is carried out quadrature to the data from underwater sound sensor, the numeral after quadrature is down-sampled is resolved signal storage to cache module;
Step 2: cache module receives after frame data according to the detection range of setting, transfers data to the global storage that parallel beam based on graphic process unit forms module;
Step 3: the parallel beam based on graphic process unit forms module the array data in global storage is processed, the orientation angles of solving target and luffing angle;
Step 4: the result that the wideband pulse compression module based on graphic process unit forms module to the parallel beam based on graphic process unit is carried out process of pulse-compression, obtains the range information of target, and result is outputed to 3-D display module.
Step 5: the Output rusults of the wideband pulse compression module of 3-D display module scanning based on graphic process unit, according to the threshold value of setting, Output rusults is carried out to color coding, in default three-dimensional sample space, show.
The object lesson of three-D imaging method of three-dimensional sonar imaging system that the present invention is based on graphic process unit is as follows, adopts following steps:
Step 1: the down-sampled module of signal is exported and carried out frequency spectrum shift each passage of sensor array, signal frequency fc is moved to lower frequency (fc-fd), after low passband ripple, with fs >=2 (fc-fd), carry out, after digital sample, array data being stored in to cache module A by passage order.Wherein, fc is the centre frequency of the detectable signal of system transmitting, and fd is the frequency, demodulation frequency of the down-sampled use of quadrature, and fs is the frequency that system is carried out digital sample.
Step 2: according to the detection range of setting, cache module is received after a complete frame echo data, copies data to immediately the first global storage B of the parallel beam formation module based on graphic process unit.
Step 3: the parallel beam based on graphic process unit forms module reading out data from the first global storage B and processes, the horizontal direction of space exploration and vertical direction are carried out to two-dimentional wave beam formation, calculate position angle and the angle of pitch that echo reaches, and result is kept to the second global storage C of the parallel beam formation module based on graphic process unit.
Step 4: the wideband pulse compression module based on graphic process unit carries out process of pulse-compression to the data in the second global storage C, obtains the range information of target, and result is outputed in the storer D of 3-D display module.
Step 5: 3-D display module is according to the beam configuration of system and detection range and signal sampling frequency, space exploration is divided into a horizontal direction M wave beam, vertical direction N wave beam, a range direction P interval, remember altogether M * N * P spatial sampling point, M, N, P are natural numbers.Each spatial sampling point coordinate (x, y, z) is by unique wave beam number and distance numbers index.Result in 3-D display module swept memory D, rejecting is less than the value of detection threshold, the value of reservation is pressed to wave beam number and distance numbers, according to energy size, be mapped as different colours at three dimensions (x, y, z) locate picture point and show, numerous such spatial sampling points can form shape or the distribution of the detection of a target, complete the 3-D display to target.
The above specific embodiment; the technical matters of solution of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.

Claims (5)

1. the three-dimensional sonar imaging system based on graphic process unit, it is characterized in that, it comprises that the down-sampled module of signal, cache module, the parallel beam based on graphic process unit that connect successively form module, the wideband pulse compression module based on graphic process unit, 3-D display module, the down-sampled module of described signal is moved low frequency for the underwater sound signal that underwater sound sensor is received from high frequency, and being changed into the digital signal of being convenient to computing machine processing, described digital signal is multi-channel sampling data; Described cache module is for preserving the multi-channel sampling data that receive from the down-sampled module of signal; The described parallel beam based on graphic process unit forms module and from cache module, reads multi-channel back wave data, for calculating different spaces angle direction frequency-region signal; The parallel beam that the described wideband pulse compression module based on graphic process unit is processed based on graphic process unit forms the different spaces angle direction frequency-region signal that module is exported, for calculating the distance of target; The wave beam that described 3-D display module receives based on graphic process unit forms the output information of module and the output information of the wideband pulse compression module based on graphic process unit, for the target detecting is shown at three dimensions.
2. a three-D imaging method for the three-dimensional sonar imaging system based on graphic process unit, is characterized in that, it comprises the following steps:
Step 1: it is down-sampled that the down-sampled module of signal is carried out quadrature to the data from underwater sound sensor, the numeral after quadrature is down-sampled is resolved signal storage to cache module;
Step 2: cache module receives after frame data according to the detection range of setting, transfers data to the global storage that parallel beam based on graphic process unit forms module;
Step 3: the parallel beam based on graphic process unit forms module the array data in global storage is processed, the orientation angles of solving target and luffing angle;
Step 4: the result that the wideband pulse compression module based on graphic process unit forms module to the parallel beam based on graphic process unit is carried out process of pulse-compression, obtains the range information of target, and result is outputed to 3-D display module;
Step 5: the Output rusults of the wideband pulse compression module of 3-D display module scanning based on graphic process unit, according to the threshold value of setting, Output rusults is carried out to color coding, in default three-dimensional sample space, show.
3. the three-D imaging method of the three-dimensional sonar imaging system based on graphic process unit as claimed in claim 2, it is characterized in that, the described parallel beam based on graphic process unit forms module the horizontal direction of space exploration and vertical direction is carried out to two-dimentional wave beam formation.
4. the three-D imaging method of the three-dimensional sonar imaging system based on graphic process unit as claimed in claim 3, it is characterized in that, described 3-D display module is divided into a horizontal direction M wave beam by space exploration, vertical direction N wave beam, a range direction P interval, remember altogether M * N * P spatial sampling point, M, N, P are natural numbers.
5. the three-D imaging method of the three-dimensional sonar imaging system based on graphic process unit as claimed in claim 4, is characterized in that, the value at a described range direction P interval is compressed and calculated by wideband pulse.
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CN105043225A (en) * 2015-04-24 2015-11-11 中国海洋石油总公司 Three-dimensional measuring equipment for submarine pipelines
CN106980112A (en) * 2017-05-09 2017-07-25 成都泰声科技有限公司 Sonar array signal processing platform
CN106990406A (en) * 2017-03-01 2017-07-28 浙江大学 A kind of three-dimensional acoustics imaging real time signal processing device based on embeded processor
CN109186752A (en) * 2018-09-22 2019-01-11 天津大学 Underwater sound signal acquisition, transmission and detection system based on graphics processor
CN111239745A (en) * 2019-12-31 2020-06-05 飞依诺科技(苏州)有限公司 Beam synthesis processing method, beam synthesis processing device, computer equipment and storage medium
CN112904348A (en) * 2021-01-22 2021-06-04 中铁第四勘察设计院集团有限公司 Three-dimensional detection method, device, equipment and storage medium
CN113687364A (en) * 2021-07-13 2021-11-23 中国船舶重工集团公司第七一五研究所 Method for inhibiting false bottom of three-dimensional imaging sonar image
CN114442871A (en) * 2021-12-29 2022-05-06 中国船舶重工集团公司第七一五研究所 Passive sonar broadband alert long-history display method and device
CN114879205A (en) * 2022-04-06 2022-08-09 上海船舶电子设备研究所(中国船舶重工集团公司第七二六研究所) Target three-dimensional imaging method and system based on vertical wide-beam image sonar

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105043225A (en) * 2015-04-24 2015-11-11 中国海洋石油总公司 Three-dimensional measuring equipment for submarine pipelines
CN106990406A (en) * 2017-03-01 2017-07-28 浙江大学 A kind of three-dimensional acoustics imaging real time signal processing device based on embeded processor
CN106990406B (en) * 2017-03-01 2019-06-25 浙江大学 A kind of three-dimensional acoustics imaging real time signal processing device based on embeded processor
CN106980112A (en) * 2017-05-09 2017-07-25 成都泰声科技有限公司 Sonar array signal processing platform
CN109186752A (en) * 2018-09-22 2019-01-11 天津大学 Underwater sound signal acquisition, transmission and detection system based on graphics processor
CN111239745A (en) * 2019-12-31 2020-06-05 飞依诺科技(苏州)有限公司 Beam synthesis processing method, beam synthesis processing device, computer equipment and storage medium
CN112904348A (en) * 2021-01-22 2021-06-04 中铁第四勘察设计院集团有限公司 Three-dimensional detection method, device, equipment and storage medium
CN112904348B (en) * 2021-01-22 2023-10-03 中铁第四勘察设计院集团有限公司 Three-dimensional detection method, device, equipment and storage medium
CN113687364A (en) * 2021-07-13 2021-11-23 中国船舶重工集团公司第七一五研究所 Method for inhibiting false bottom of three-dimensional imaging sonar image
CN113687364B (en) * 2021-07-13 2024-03-19 中国船舶重工集团公司第七一五研究所 Method for inhibiting false bottom of three-dimensional imaging sonar image
CN114442871A (en) * 2021-12-29 2022-05-06 中国船舶重工集团公司第七一五研究所 Passive sonar broadband alert long-history display method and device
CN114879205A (en) * 2022-04-06 2022-08-09 上海船舶电子设备研究所(中国船舶重工集团公司第七二六研究所) Target three-dimensional imaging method and system based on vertical wide-beam image sonar

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