CN108181626A - A kind of high-resolution three-dimensional acoustics imaging system - Google Patents
A kind of high-resolution three-dimensional acoustics imaging system Download PDFInfo
- Publication number
- CN108181626A CN108181626A CN201711481720.4A CN201711481720A CN108181626A CN 108181626 A CN108181626 A CN 108181626A CN 201711481720 A CN201711481720 A CN 201711481720A CN 108181626 A CN108181626 A CN 108181626A
- Authority
- CN
- China
- Prior art keywords
- array
- vertical
- horizontal
- receiving
- transmitting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003384 imaging method Methods 0.000 title claims abstract description 85
- 239000011159 matrix material Substances 0.000 claims abstract description 43
- 238000003491 array Methods 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 22
- 238000012545 processing Methods 0.000 claims description 22
- 238000000034 method Methods 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000000926 separation method Methods 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000007796 conventional method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
本发明提供一种高分辨三维声学成像系统，包括：水平成像模块和垂直成像模块；水平成像模块与垂直成像模块交叉放置，呈十字形；该水平成像模块包括：水平接收基阵(5)、第一发射阵(1)和第二发射阵(2)；水平接收基阵(5)的两端布放第一发射阵(1)和第二发射阵(2)；该垂直成像模块包括：垂直接收基阵(6)、第三发射阵(3)和第四发射阵(4)；垂直接收基阵(6)的两端布放第三发射基阵(3)和第四发射基阵(4)；四个发射阵同时发射正交信号，水平接收基阵(5)和垂直接收基阵(6)接收正交信号，获得水下目标的水平、垂直和距离向的三维信息，重构出水下目标的三维声学图像。
The invention provides a high-resolution three-dimensional acoustic imaging system, comprising: a horizontal imaging module and a vertical imaging module; the horizontal imaging module and the vertical imaging module are intersected in a cross shape; the horizontal imaging module includes: a horizontal receiving array (5), The first emission array (1) and the second emission array (2); the first emission array (1) and the second emission array (2) are arranged at the two ends of the horizontal receiving array (5); the vertical imaging module includes: Vertical receiving matrix (6), the third transmitting matrix (3) and the fourth transmitting matrix (4); the two ends of the vertical receiving matrix (6) are arranged with the third transmitting matrix (3) and the fourth transmitting matrix (4); four transmitting arrays transmit orthogonal signals simultaneously, and the horizontal receiving base array (5) and the vertical receiving base array (6) receive the orthogonal signals to obtain the three-dimensional information of the horizontal, vertical and distance directions of the underwater target, and re- A three-dimensional acoustic image of an underwater target is constructed.
Description
技术领域technical field
本发明涉及水声信号处理技术领域，特别涉及一种高分辨三维声学成像系统。The invention relates to the technical field of underwater acoustic signal processing, in particular to a high-resolution three-dimensional acoustic imaging system.
背景技术Background technique
近些年，随着海洋领域产业的发展，水声探测和识别技术得到了迅速提高，使得水下探测和识别技术在海底地貌测绘、水中目标探测、石油管道检测、水下航行器避碰等众多军事及国民经济领域得到了广泛的应用。三维成像声呐是一种新型的水下三维声学成像设备，其能够在俯仰向、水平向和距离向对水中目标分辨，呈现三维立体像。In recent years, with the development of marine industry, underwater acoustic detection and recognition technology has been rapidly improved, making underwater detection and recognition technology widely used in seabed landform surveying and mapping, underwater target detection, oil pipeline detection, underwater vehicle collision avoidance, etc. It has been widely used in many military and national economic fields. Three-dimensional imaging sonar is a new type of underwater three-dimensional acoustic imaging equipment, which can distinguish underwater targets in the pitch direction, horizontal direction and distance direction, and present a three-dimensional stereoscopic image.
三维成像声呐大多是采用平面换能器接收基阵，为达到较高的分辨率，平面阵列一般由成千上万个换能器阵元组成，并且需要采用波束形成技术，处理上万个波束信号，才能实现对水下探测目标进行多视角和实时的三维成像。但是，大型的平面换能器阵列造成硬件系统复杂，计算量庞大和设备成本昂贵。Most 3D imaging sonars use planar transducers to receive arrays. In order to achieve higher resolution, planar arrays are generally composed of thousands of transducer elements, and beamforming technology is required to process tens of thousands of beams. In order to achieve multi-view and real-time three-dimensional imaging of underwater detection targets. However, the large planar transducer array causes complex hardware system, huge calculation and expensive equipment cost.
发明内容Contents of the invention
本发明的目的在于，为解决现有的三维声学成像系统存在上述的缺陷，本发明提供了一种高分辨三维声学成像系统，该系统基于十字形扩展基阵，能够实时获得水下目标的水平方向、垂直方向和距离向的三维信息，进而重构出水下目标的高分辨率的三维声学图像。该系统能够在保证设备指标性能的前提下，大大的减少了换能器阵元个数，减少了计算量，降低了硬件复杂程度，节约了设备成本，易于工程实现。The purpose of the present invention is to solve the above-mentioned defects in the existing three-dimensional acoustic imaging system. The present invention provides a high-resolution three-dimensional acoustic imaging system. The three-dimensional information in the direction, vertical direction and distance direction can be used to reconstruct the high-resolution three-dimensional acoustic image of the underwater target. Under the premise of ensuring the performance of equipment indicators, the system can greatly reduce the number of transducer array elements, reduce the amount of calculation, reduce the complexity of hardware, save equipment costs, and is easy to implement in engineering.
为了实现上述目的，本发明提供了一种高分辨三维声学成像系统，该系统包括：水平成像模块和垂直成像模块；水平成像模块与垂直成像模块各自独立工作，水平成像模块与垂直成像模块交叉放置，且相互垂直，且呈十字形；In order to achieve the above object, the present invention provides a high-resolution three-dimensional acoustic imaging system, the system includes: a horizontal imaging module and a vertical imaging module; the horizontal imaging module and the vertical imaging module work independently, and the horizontal imaging module and the vertical imaging module are intersected , and are perpendicular to each other, and are in the shape of a cross;
所述水平成像模块包括：水平接收基阵、第一发射阵和第二发射阵；水平接收基阵的两端布放第一发射阵和第二发射阵，且二者位于水平接收基阵的同一侧；The horizontal imaging module includes: a horizontal receiving array, a first emitting array and a second emitting array; the first emitting array and the second emitting array are arranged at both ends of the horizontal receiving array, and both are located at the ends of the horizontal receiving array same side;
所述垂直成像模块包括：垂直接收基阵、第三发射阵和第四发射阵；垂直接收基阵的两端布放第三发射基阵和第四发射基阵，且二者位于垂直接收基阵的同一侧；The vertical imaging module includes: a vertical receiving array, a third emitting array and a fourth emitting array; the third emitting array and the fourth emitting array are arranged at both ends of the vertical receiving array, and both are located at the vertical receiving base the same side of the array;
第一发射阵、第二发射阵、第三发射阵、第四发射阵同时发射正交信号，水平接收基阵和垂直接收基阵接收正交信号，并对水下目标进行监测和处理，根据水平成像模块获得的水平向和距离向的声学图像信息与垂直成像模块获得的垂直向和距离向的声学图像信息的交叉和重叠，获得水下目标的水平方向、垂直方向和距离向的三维信息，进而重构出水下目标的高分辨率的三维声学图像。The first launch array, the second launch array, the third launch array, and the fourth launch array simultaneously transmit orthogonal signals, and the horizontal receiving base array and the vertical receiving base array receive orthogonal signals, and monitor and process underwater targets, according to Intersection and overlapping of the horizontal and distance acoustic image information obtained by the horizontal imaging module and the vertical and distance acoustic image information obtained by the vertical imaging module to obtain the three-dimensional information of the underwater target in the horizontal direction, vertical direction and distance direction , and then reconstruct the high-resolution 3D acoustic image of the underwater target.
优选地，水平接收基阵两端的第一发射阵和第二发射阵发射正交高频声波，水平接收基阵做水平方向多波束接收，经过波形分离和水平方向接收多波束处理，获得水平方向的角度分辨率、水平向声学图像和距离向声学图像。对水平成像模块获得的水平向声学图像和距离向声学图像进行目标检测和处理，获得水下目标的水平方位信息和距离信息。Preferably, the first transmitting array and the second transmitting array at both ends of the horizontal receiving base array emit orthogonal high-frequency sound waves, and the horizontal receiving base array performs multi-beam reception in the horizontal direction. After waveform separation and multi-beam processing in the horizontal direction, the horizontal direction Angular resolution, horizontal acoustic image and range acoustic image. Target detection and processing are performed on the horizontal acoustic image and the range acoustic image obtained by the horizontal imaging module, and the horizontal orientation information and distance information of the underwater target are obtained.
水平成像模块接收的回波信号，进行距离向、水平向波束域回波信号检测，实现单帧数据满足一定虚警概率的能量检测水下目标，并对连续多帧检测出目标的数据进行数据关联，并根据目标的时域频域目标特征进行分析，完成目标的检测处理。The echo signal received by the horizontal imaging module is used to detect the echo signal in the range and horizontal beam domains, realize the energy detection of underwater targets with single frame data meeting a certain false alarm probability, and perform data processing on the data of targets detected in consecutive frames. Correlate, and analyze according to the time-domain and frequency-domain target characteristics of the target, and complete the target detection process.
优选地，垂直接收基阵两端的第三发射阵和第四发射阵发射正交高频声波，垂直接收基阵做垂直方向多波束接收，经过波形分离和垂直方向接收多波束处理，获得垂直方向的角度分辨率、垂直向声学图像和距离向声学图像；对垂直成像模块获得的垂直向声学图像和距离向声学图像进行目标检测和处理，获得水下目标的垂直向信息和距离信息。Preferably, the third transmitting array and the fourth transmitting array at both ends of the vertical receiving base array emit orthogonal high-frequency sound waves, and the vertical receiving base array performs multi-beam reception in the vertical direction. After waveform separation and multi-beam processing in the vertical direction reception, the vertical direction Angular resolution, vertical acoustic image and range acoustic image; target detection and processing are performed on the vertical acoustic image and range acoustic image obtained by the vertical imaging module, and vertical information and distance information of underwater targets are obtained.
垂直成像模块接收的回波信号，进行距离向、垂直向波束域回波信号检测，实现单帧数据满足一定虚警概率的能量检测水下目标，并对连续多帧检测出目标的数据进行数据关联，并根据目标的时域频域目标特征进行分析，完成目标的检测处理。The echo signal received by the vertical imaging module detects the echo signal in the range direction and the vertical beam domain, realizes the energy detection of underwater targets with single frame data satisfying a certain false alarm probability, and performs data processing on the data of targets detected in consecutive multiple frames. Correlate, and analyze according to the time-domain and frequency-domain target characteristics of the target, and complete the target detection process.
优选地，水平接收基阵和垂直接收基阵采用相同的接收基阵阵型，且为均匀线阵，具有相同的空间覆盖范围。Preferably, the horizontal receiving array and the vertical receiving array adopt the same receiving array formation, are uniform linear arrays, and have the same spatial coverage.
水平接收基阵和垂直接收基阵的基阵长度相同；根据计算公式(1)和(2)，获得水平接收基阵和垂直接收基阵的基阵长度，具体如下：The base array lengths of the horizontal receiving base array and the vertical receiving base array are the same; according to calculation formulas (1) and (2), the base array lengths of the horizontal receiving base array and the vertical receiving base array are obtained, as follows:
其中，Bw为正交信号的正交波形的波束宽度，单位为度数，即角度分辨率，λ为正交信号的正交波形的波长，M为水平接收基阵5的阵元个数，d1为水平接收基阵5中的相邻阵元的间距，为波束偏置角，该方法中设定Md1为水平接收基阵5的基阵长度。其中， Wherein, Bw is the beam width of the orthogonal waveform of the orthogonal signal, and the unit is degrees, that is, the angular resolution, λ is the wavelength of the orthogonal waveform of the orthogonal signal, and M is the number of array elements of the horizontal receiving array 5, d 1 is the spacing between adjacent array elements in the horizontal receiving array 5, is the beam offset angle, in this method set Md 1 is the array length of the horizontal receiving array 5 . in,
其中，N为垂直接收基阵6的阵元个数，d2为垂直接收基阵6中的相邻阵元的间距，为波束偏置角，该方法中设定Nd2为垂直接收基阵6的基阵长度。其中， Wherein, N is the array element number of vertical receiving array 6, and d is the spacing of adjacent array elements in vertical receiving array 6, is the beam offset angle, in this method set Nd 2 is the array length of the vertical receiving array 6 . in,
根据公式(1)和(2)获得的水平接收基阵和垂直接收基阵的基阵长度，以及相邻阵元的间距d1和d2，合理设计水平接收基阵和垂直接收基阵的阵元个数M和N。另外，满足设备指标性能时，需要接收基阵的阵元数目为M×N。According to the lengths of the horizontal receiving array and the vertical receiving array obtained by formulas (1) and (2), and the distance d 1 and d 2 between adjacent array elements, the reasonable design of the horizontal receiving array and the vertical receiving array The number of array elements M and N. In addition, when the performance of the equipment index is met, the number of elements of the receiving array needs to be M×N.
优选地，第一发射阵、第二发射阵、第三发射阵、第四发射阵中的任意两个发射阵发射的正交信号需要满足公式(3)：Preferably, the orthogonal signals transmitted by any two transmitting arrays in the first transmitting array, the second transmitting array, the third transmitting array, and the fourth transmitting array need to satisfy the formula (3):
其中，s1(t)为t时刻任意一个发射阵发射信号的函数，s2(t)为t时刻的另一个任意发射阵发射信号的函数，Tp为发射信号的脉宽，发射信号的正交。Among them, s 1 (t) is the function of the signal transmitted by any transmitting array at time t, s 2 (t) is the function of the signal transmitted by another arbitrary transmitting array at the time t, T p is the pulse width of the transmitting signal, and the Orthogonal.
本发明的优点在于：The advantages of the present invention are:
本发明能够实现对水下目标的探测，实时获得水下目标的水平向三维空间、垂直向三维空间和距离向三维空间信息，进而重构水下目标的三维声学图像；另外，本发明的两个模块各自独立工作，互不干扰，同时可以获得较高的水平角度分辨率和较高的垂直角度分辨率；本发明在保证设备指标性能的前提下，大大的减少了换能器阵元数目，减少了计算量，降低了硬件复杂程度，节约了设备成本。此外，本发明采用十字形结构，且水平接收基阵的两端布设发射阵，垂直接收基阵的两端布设发射阵组成线阵扩展阵，扩展之后使得接收阵列的孔径扩大一倍，角度分辨率约提高一倍。The present invention can realize the detection of the underwater target, obtain the horizontal three-dimensional space, the vertical three-dimensional space and the distance three-dimensional space information of the underwater target in real time, and then reconstruct the three-dimensional acoustic image of the underwater target; in addition, the two methods of the present invention Each module works independently without interfering with each other, and at the same time can obtain higher horizontal angle resolution and higher vertical angle resolution; the present invention greatly reduces the number of transducer array elements under the premise of ensuring the performance of the equipment index , which reduces the amount of calculation, reduces the complexity of the hardware, and saves the equipment cost. In addition, the present invention adopts a cross-shaped structure, and the two ends of the horizontal receiving array are arranged with transmitting arrays, and the two ends of the vertical receiving array are arranged with transmitting arrays to form a linear array expansion array. After expansion, the aperture of the receiving array is doubled, and the angular resolution rate approximately doubled.
附图说明Description of drawings
图1是本发明的一种高分辨三维声学成像系统的结构示意图；Fig. 1 is a structural schematic diagram of a high-resolution three-dimensional acoustic imaging system of the present invention;
图2是本发明的一种高分辨三维声学成像系统的水平接收基阵的水平角度的波束图与现有技术的常规水平角度的波束图；Fig. 2 is the beam pattern of the horizontal angle of the horizontal receiving array of a high-resolution three-dimensional acoustic imaging system of the present invention and the beam pattern of the conventional horizontal angle of the prior art;
图3是本发明的一种高分辨三维声学成像系统的垂直接收基阵的垂直角度的波束图与现有技术的常规垂直角度的波束图；Fig. 3 is the beam pattern of the vertical angle of the vertical receiving array of a high-resolution three-dimensional acoustic imaging system of the present invention and the beam pattern of the conventional vertical angle of the prior art;
图4是水下目标在三维球坐标系中的示意图。Fig. 4 is a schematic diagram of an underwater target in a three-dimensional spherical coordinate system.
附图标记：Reference signs:
1、第一发射阵 2、第二发射阵1. The first launch array 2. The second launch array
3、第三发射阵 4、第四发射阵3. The third launch array 4. The fourth launch array
5、水平接收基阵 6、垂直接收基阵5. Horizontal receiving matrix 6. Vertical receiving matrix
具体实施方式Detailed ways
以下结合附图对本发明作进一步的详细说明。The present invention will be further described in detail below in conjunction with the accompanying drawings.
如图1所示，本发明提供了一种高分辨三维声学成像系统，该系统包括：水平成像模块和垂直成像模块；水平成像模块与垂直成像模块各自独立工作，水平成像模块与垂直成像模块交叉放置，且相互垂直，且呈十字形；As shown in Figure 1, the present invention provides a high-resolution three-dimensional acoustic imaging system, which includes: a horizontal imaging module and a vertical imaging module; the horizontal imaging module and the vertical imaging module work independently, and the horizontal imaging module and the vertical imaging module intersect placed, perpendicular to each other, and in the shape of a cross;
所述水平成像模块包括：水平接收基阵5、第一发射阵1和第二发射阵2；水平接收基阵5的两端布放第一发射阵1和第二发射阵2，且二者位于水平接收基阵5的同一侧；The horizontal imaging module includes: a horizontal receiving array 5, a first emitting array 1 and a second emitting array 2; both ends of the horizontal receiving array 5 are arranged with the first emitting array 1 and the second emitting array 2, and both Located on the same side of the horizontal receiving matrix 5;
所述垂直成像模块包括：垂直接收基阵6、第三发射阵3和第四发射阵4；垂直接收基阵6的两端布放第三发射基阵3和第四发射基阵4，且二者位于垂直接收基阵6的同一侧；The vertical imaging module includes: a vertical receiving matrix 6, a third transmitting matrix 3 and a fourth transmitting matrix 4; the two ends of the vertical receiving matrix 6 are arranged with the third transmitting matrix 3 and the fourth transmitting matrix 4, and The two are located on the same side of the vertical receiving matrix 6;
第一发射阵1、第二发射阵2、第三发射阵3、第四发射阵4同时发射正交信号，水平接收基阵5和垂直接收基阵6接收正交信号，并对水下目标进行监测和处理，根据水平成像模块获得的水平向和距离向的声学图像信息与垂直成像模块获得的垂直向和距离向的声学图像信息的交叉和重叠，获得水下目标的水平方向、垂直方向和距离向的三维信息，进而重构出水下目标的高分辨率的三维声学图像。The first transmitting array 1, the second transmitting array 2, the third transmitting array 3, and the fourth transmitting array 4 transmit orthogonal signals at the same time, and the horizontal receiving array 5 and the vertical receiving array 6 receive the orthogonal signals, and detect the underwater target Monitoring and processing, according to the intersection and overlap of the horizontal and distance acoustic image information obtained by the horizontal imaging module and the vertical and distance acoustic image information obtained by the vertical imaging module, to obtain the horizontal and vertical directions of the underwater target And the three-dimensional information of the distance direction, and then reconstruct the high-resolution three-dimensional acoustic image of the underwater target.
优选地，水平接收基阵5两端的第一发射阵1和第二发射阵2发射正交高频声波，水平接收基阵5做水平方向多波束接收，经过波形分离和水平方向接收多波束处理，获得水平方向的高角度分辨率、水平向声学图像和距离向声学图像。对水平成像模块获得的水平向声学图像和距离向声学图像进行目标检测和处理，获得水下目标的水平方位信息和距离信息。Preferably, the first transmitting array 1 and the second transmitting array 2 at both ends of the horizontal receiving array 5 emit orthogonal high-frequency sound waves, and the horizontal receiving array 5 performs multi-beam reception in the horizontal direction, and undergoes waveform separation and multi-beam processing in the horizontal direction. , to obtain high angular resolution in the horizontal direction, horizontal acoustic image and range acoustic image. Target detection and processing are performed on the horizontal acoustic image and the range acoustic image obtained by the horizontal imaging module, and the horizontal orientation information and distance information of the underwater target are obtained.
水平成像模块接收的回波信号，进行距离向、水平向波束域回波信号检测，实现单帧数据满足一定虚警概率的能量检测水下目标，并对连续多帧检测出目标的数据进行数据关联，并根据目标的时域频域目标特征进行分析，完成目标的检测处理。The echo signal received by the horizontal imaging module is used to detect the echo signal in the range and horizontal beam domains, realize the energy detection of underwater targets with single frame data meeting a certain false alarm probability, and perform data processing on the data of targets detected in consecutive frames. Correlate, and analyze according to the time-domain and frequency-domain target characteristics of the target, and complete the target detection process.
优选地，垂直接收基阵6两端的第三发射阵3和第四发射阵4发射正交高频声波，垂直接收基阵6可旋转，垂直接收基阵6做垂直方向多波束接收，经过波形分离和垂直方向接收多波束处理，获得垂直方向的高角度分辨率、垂直向声学图像和距离向声学图像；垂直成像模块采用机械旋转，完成整个三维空间的扫描，对垂直成像模块获得的垂直向声学图像和距离向声学图像进行目标检测和处理，获得水下目标的垂直向信息和距离信息。Preferably, the third transmitting array 3 and the fourth transmitting array 4 at the two ends of the vertical receiving array 6 emit orthogonal high-frequency sound waves, the vertical receiving array 6 is rotatable, and the vertical receiving array 6 performs multi-beam reception in the vertical direction. Separate and receive multi-beam processing in the vertical direction to obtain high angular resolution in the vertical direction, vertical acoustic image and range acoustic image; the vertical imaging module uses mechanical rotation to complete the scanning of the entire three-dimensional space, and the vertical imaging module obtained Acoustic images and range acoustic images are used for target detection and processing to obtain vertical information and distance information of underwater targets.
垂直成像模块接收的回波信号，进行距离向、垂直向波束域回波信号检测，实现单帧数据满足一定虚警概率的能量检测水下目标，并对连续多帧检测出目标的数据进行数据关联，并根据目标的时域频域目标特征进行分析，完成目标的检测处理。The echo signal received by the vertical imaging module detects the echo signal in the range direction and the vertical beam domain, realizes the energy detection of underwater targets with single frame data satisfying a certain false alarm probability, and performs data processing on the data of targets detected in consecutive multiple frames. Correlate, and analyze according to the time-domain and frequency-domain target characteristics of the target, and complete the target detection process.
优选地，水平接收基阵5和垂直接收基阵6采用相同的接收基阵阵型，且为均匀线阵，具有相同的空间覆盖范围。Preferably, the horizontal receiving array 5 and the vertical receiving array 6 adopt the same receiving array formation, are uniform linear arrays, and have the same spatial coverage.
水平接收基阵5和垂直接收基阵6的基阵长度相同；根据计算公式(1)和(2)，获得水平接收基阵5和垂直接收基阵6的基阵长度，具体如下：The base array length of horizontal receiving base array 5 and vertical receiving base array 6 is identical; According to calculation formula (1) and (2), obtain the base array length of horizontal receiving base array 5 and vertical receiving base array 6, specifically as follows:
其中，Bw为正交信号的正交波形的波束宽度，单位为度数，即角度分辨率，λ为正交信号的正交波形的波长，M为水平接收基阵5的阵元个数，d1为水平接收基阵5中的相邻阵元的间距，为波束偏置角，该方法中设定Md1为水平接收基阵5的基阵长度。其中， Wherein, Bw is the beam width of the orthogonal waveform of the orthogonal signal, and the unit is degrees, that is, the angular resolution, λ is the wavelength of the orthogonal waveform of the orthogonal signal, and M is the number of array elements of the horizontal receiving array 5, d 1 is the spacing between adjacent array elements in the horizontal receiving array 5, is the beam offset angle, in this method set Md 1 is the array length of the horizontal receiving array 5 . in,
其中，N为垂直接收基阵6的阵元个数，d2为垂直接收基阵6中的相邻阵元的间距，为波束偏置角，该方法中设定Nd2为垂直接收基阵6的基阵长度。其中， Wherein, N is the array element number of vertical receiving array 6, and d is the spacing of adjacent array elements in vertical receiving array 6, is the beam offset angle, in this method set Nd 2 is the array length of the vertical receiving array 6 . in,
根据公式(1)和(2)获得的水平接收基阵5和垂直接收基阵6的基阵长度，以及相邻阵元的间距d1和d2，合理设计水平接收基阵5和垂直接收基阵6的阵元个数M和N。另外，满足设备指标性能时，需要接收基阵的阵元数目为M×N。其中，在本实施例中，接收基阵的阵元数目为M+N。According to the matrix lengths of the horizontal receiving matrix 5 and the vertical receiving matrix 6 obtained by formulas (1) and (2), and the distances d 1 and d 2 between adjacent array elements, the horizontal receiving matrix 5 and the vertical receiving matrix 6 are rationally designed. The numbers M and N of array elements of the base array 6 . In addition, when the performance of the equipment index is met, the number of array elements of the receiving array needs to be M×N. Wherein, in this embodiment, the number of elements of the receiving base array is M+N.
优选地，所述第一发射阵1、第二发射阵2、第三发射阵3、第四发射阵4中的任意两个发射阵发射的正交信号需要满足公式(3)：Preferably, the orthogonal signals transmitted by any two transmitting arrays in the first transmitting array 1, the second transmitting array 2, the third transmitting array 3, and the fourth transmitting array 4 need to satisfy the formula (3):
其中，s1(t)为t时刻任意一个发射阵发射信号的函数，s2(t)为t时刻的另一个任意发射阵发射信号的函数，Tp为发射信号的脉宽，发射信号的正交。Among them, s 1 (t) is the function of the signal transmitted by any transmitting array at time t, s 2 (t) is the function of the signal transmitted by another arbitrary transmitting array at the time t, T p is the pulse width of the transmitting signal, and the Orthogonal.
实施例1.Example 1.
在本实施例中，三维成像声纳参数的实验环境具体如下：声纳的工作频率为60kHz，声速c＝1500m/s，水平向角度分辨率为2°，垂直向角度分辨率为2°，水平接收基阵的垂直波束宽度为45°，垂直接收基阵的水平波束宽度为45°。In this embodiment, the experimental environment of the three-dimensional imaging sonar parameters is as follows: the operating frequency of the sonar is 60kHz, the sound velocity c=1500m/s, the horizontal angular resolution is 2°, the vertical angular resolution is 2°, The vertical beamwidth of the horizontal receiving array is 45°, and the horizontal beamwidth of the vertical receiving array is 45°.
计算过程：calculation process:
首先根据公式(1)，计算水平接收基阵5和垂直接收基阵6的基阵长度；First, according to formula (1), calculate the matrix length of horizontal receiving matrix 5 and vertical receiving matrix 6;
通过计算，可得水平接收基阵5和垂直接收基阵6的基阵长度Md至少为0.3422米；因此，可选用基阵长度Md为0.35米。根据水平接收基阵5和垂直接收基阵6为均匀线阵，相邻阵元间距为半个波长，则水平接收基阵5和垂直接收基阵6的阵元个数均为28个。Through calculation, it can be obtained that the array length Md of the horizontal receiving array 5 and the vertical receiving array 6 is at least 0.3422 meters; therefore, the optional array length Md is 0.35 meters. According to the fact that the horizontal receiving array 5 and the vertical receiving array 6 are uniform linear arrays, and the distance between adjacent array elements is half a wavelength, the number of array elements in the horizontal receiving array 5 and the vertical receiving array 6 is 28.
如图2和3所示的仿真结果，水平向和垂直向角度分辨率均为2°，采用的水平接收基阵5和垂直接收基阵6的阵元个数均为28个，而常规方法的水平向和垂直向角度分辨率均为3.7°，常规方法的若采用常规方法，为达到角度分辨率为2°，需要采用的接收阵元个数约为52个，若采用本发明的高分辨方法，角度分辨率达到3.7°，需要采用的接收阵元个数约为16个；在满足系统指标的情况下，减少了阵元个数，获得了较高的角度分辨率，且旁瓣较低，获得较清晰的图像。As shown in the simulation results shown in Figures 2 and 3, the horizontal and vertical angular resolutions are both 2°, and the number of array elements of the horizontal receiving matrix 5 and the vertical receiving matrix 6 are both 28, while the conventional method The horizontal and vertical angular resolutions are both 3.7°, the conventional method If the conventional method is adopted, in order to achieve an angular resolution of 2°, the number of receiving array elements that need to be adopted is about 52; if the high-resolution method of the present invention is adopted, the angular resolution reaches 3.7°, and the number of receiving array elements that need to be adopted is 3.7°. The number is about 16; in the case of meeting the system index, the number of array elements is reduced, a higher angular resolution is obtained, and the side lobe is lower, and a clearer image is obtained.
对于水平成像模块，第一发射阵1和第二发射阵2，同时发射不同频率的正交信号，水平接收基阵作波形分离处理，在±22.5°水平接收多波束处理，获得水平向声学图像和距离向声学图像，检测得到水下目标的水平向信息和距离向信息。For the horizontal imaging module, the first transmitting array 1 and the second transmitting array 2 transmit orthogonal signals of different frequencies at the same time, the horizontal receiving array performs waveform separation processing, receives multi-beam processing at ±22.5° horizontally, and obtains horizontal acoustic images and range-wise acoustic images, the horizontal and range-wise information of underwater targets can be detected.
对于垂直成像模块，第三发射阵3和第四发射阵4，同时发射不同频率的正交信号，垂直接收基阵作波形分离处理，在±22.5°垂直接收多波束处理，获得垂直向声学图像和距离向声学图像，检测得到目标的垂直向信息和距离向信息。For the vertical imaging module, the third transmitting array 3 and the fourth transmitting array 4 transmit orthogonal signals of different frequencies at the same time, the vertical receiving base array performs waveform separation processing, and receives multi-beam processing vertically at ±22.5° to obtain vertical acoustic images and range-wise acoustic images to detect the vertical and range-wise information of the target.
如图4所示，所述高分辨三维声学成像系统中，以水平成像模块和垂直成像模块的交叉点为参考原点o，y表示水平接收阵的轴线，z表示垂直接收阵的轴线，x表示与由水平成像模块和垂直成像模块组成的平面垂直的轴线，即与yoz形成的平面垂直的轴线；xoy表示水下目标映射到水平接收基阵形成的一个平面；yoz表示水下目标映射到垂直接收基阵形成的一个平面；水平成像模块获得水平向和距离向的声学图像中，通过检测可知，水下目标亮点的水平向角度为θ0，距离为R0，即水下目标离参考原点的长度为R0，垂直成像模块获得垂直向和距离向声学图像，通过检测可知，水下目标亮点的垂直向角度为距离为R0，即水下目标离参考原点的长度为R0，水平成像模块获得的水平向和距离向的声学图像信息与垂直成像模块获得的垂直向和距离向的声学图像信息融合处理可以得到，水下目标的水平向、垂直向和距离向的三维信息分别为θ0、R0。As shown in Figure 4, in the high-resolution three-dimensional acoustic imaging system, the intersection of the horizontal imaging module and the vertical imaging module is used as the reference origin o, y represents the axis of the horizontal receiving array, z represents the axis of the vertical receiving array, and x represents The axis perpendicular to the plane formed by the horizontal imaging module and the vertical imaging module, that is, the axis perpendicular to the plane formed by yoz; xoy indicates that the underwater target is mapped to a plane formed by the horizontal receiving matrix; yoz indicates that the underwater target is mapped to the vertical plane Receive a plane formed by the matrix; the horizontal imaging module obtains the horizontal and distance acoustic images. Through detection, it can be known that the horizontal angle of the bright spot of the underwater target is θ 0 , and the distance is R 0 , that is, the distance between the underwater target and the reference origin The length of R 0 is R 0 , and the vertical imaging module obtains the vertical and range acoustic images. It can be seen from the detection that the vertical angle of the bright spot of the underwater target is The distance is R 0 , that is, the length of the underwater target from the reference origin is R 0 , the fusion processing of the acoustic image information in the horizontal direction and the distance direction obtained by the horizontal imaging module and the acoustic image information in the vertical direction and the distance direction obtained by the vertical imaging module can be It is obtained that the three-dimensional information of the underwater target in the horizontal direction, vertical direction and distance direction are θ 0 , R 0 .
由于水平成像模块和垂直成像模块具有相同的空间覆盖范围，根据目标点在三维空间内的由水平成像模块获得的水平向和距离向的声学图像信息与垂直成像模块获得的垂直向和距离向的声学图像信息的交叉和重叠，求解出水下目标的水平向三维空间信息、垂直向三维空间信息和距离向三维空间信息，进而重构得到水下目标的高分辨三维声学图像。Since the horizontal imaging module and the vertical imaging module have the same spatial coverage, according to the acoustic image information obtained by the horizontal imaging module in the three-dimensional space and the vertical and distance acoustic image information obtained by the vertical imaging module The intersection and overlapping of acoustic image information solve the horizontal three-dimensional space information, vertical three-dimensional space information and distance three-dimensional space information of the underwater target, and then reconstruct the high-resolution three-dimensional acoustic image of the underwater target.
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 rather than limit them. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand that modifications or equivalent replacements to the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and all of them should be included in the scope of the present invention. within the scope of the claims.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711481720.4A CN108181626B (en) | 2017-12-29 | 2017-12-29 | A high-resolution three-dimensional acoustic imaging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711481720.4A CN108181626B (en) | 2017-12-29 | 2017-12-29 | A high-resolution three-dimensional acoustic imaging system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108181626A true CN108181626A (en) | 2018-06-19 |
| CN108181626B CN108181626B (en) | 2020-04-14 |
Family
ID=62549160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711481720.4A Active CN108181626B (en) | 2017-12-29 | 2017-12-29 | A high-resolution three-dimensional acoustic imaging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108181626B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109975815A (en) * | 2019-03-22 | 2019-07-05 | 武汉源海博创科技有限公司 | A kind of submarine target multi-beam sonar detection system and method |
| CN110196428A (en) * | 2019-06-10 | 2019-09-03 | 西北工业大学 | A kind of MIMO sonar high-resolution three-dimensional looking forward imaging method |
| CN110412588A (en) * | 2019-07-25 | 2019-11-05 | 中国科学院声学研究所 | A method and system for measuring three-dimensional information of a target based on a cross array |
| CN110824483A (en) * | 2019-11-12 | 2020-02-21 | 哈尔滨工程大学 | A combined multi-beam imaging sonar |
| CN112034439A (en) * | 2020-08-10 | 2020-12-04 | 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) | Cross high-frequency transducer array |
| CN113126100A (en) * | 2021-03-16 | 2021-07-16 | 武汉中仪物联技术股份有限公司 | Navigation method and navigation system of pipeline detector |
| CN113311499A (en) * | 2021-05-13 | 2021-08-27 | 中国科学院声学研究所 | UUV detection wave generation method and device, UUV and waveform generator |
| CN118818507A (en) * | 2024-06-14 | 2024-10-22 | 广东智能无人系统研究院(南沙) | A wide-angle scanning imaging device, method and system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5797845A (en) * | 1996-11-04 | 1998-08-25 | Barabash; Leonid S. | Ultrasound apparatus for three dimensional image reconstruction |
| US5892605A (en) * | 1997-03-31 | 1999-04-06 | Lockheed Martin Corporation | Optical crossbar using guided spatial division multiplexing |
| CN101369021A (en) * | 2008-10-09 | 2009-02-18 | 中国人民解放军海军工程大学 | Measurement Method of Two-Dimensional Scattering Characteristics of Underwater Moving Targets |
| CN101825709A (en) * | 2009-12-08 | 2010-09-08 | 中国科学院声学研究所 | Underwater high-resolution side-looking acoustic imaging system and method thereof |
| CN103576156A (en) * | 2012-07-18 | 2014-02-12 | 中国科学院声学研究所 | Synthetic aperture sonar imaging method and system based on frequency division MIMO |
| CN105259557A (en) * | 2015-09-25 | 2016-01-20 | 浙江大学 | Multi-frequency emission beam formation method and application |
| CN106569199A (en) * | 2016-07-29 | 2017-04-19 | 中国人民解放军海军工程大学 | Anti-frogman sonar transducer array |
| US20170184718A1 (en) * | 2014-08-01 | 2017-06-29 | Chirp Microsystems, Inc. | Miniature micromachined ultrasonic rangefinder |
-
2017
- 2017-12-29 CN CN201711481720.4A patent/CN108181626B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5797845A (en) * | 1996-11-04 | 1998-08-25 | Barabash; Leonid S. | Ultrasound apparatus for three dimensional image reconstruction |
| US5892605A (en) * | 1997-03-31 | 1999-04-06 | Lockheed Martin Corporation | Optical crossbar using guided spatial division multiplexing |
| CN101369021A (en) * | 2008-10-09 | 2009-02-18 | 中国人民解放军海军工程大学 | Measurement Method of Two-Dimensional Scattering Characteristics of Underwater Moving Targets |
| CN101825709A (en) * | 2009-12-08 | 2010-09-08 | 中国科学院声学研究所 | Underwater high-resolution side-looking acoustic imaging system and method thereof |
| CN103576156A (en) * | 2012-07-18 | 2014-02-12 | 中国科学院声学研究所 | Synthetic aperture sonar imaging method and system based on frequency division MIMO |
| US20170184718A1 (en) * | 2014-08-01 | 2017-06-29 | Chirp Microsystems, Inc. | Miniature micromachined ultrasonic rangefinder |
| CN105259557A (en) * | 2015-09-25 | 2016-01-20 | 浙江大学 | Multi-frequency emission beam formation method and application |
| CN106569199A (en) * | 2016-07-29 | 2017-04-19 | 中国人民解放军海军工程大学 | Anti-frogman sonar transducer array |
Non-Patent Citations (2)
| Title |
|---|
| OKINO M 等: ""Measurement of seabed topography by multibeam sonar using CFFT"", 《IEEE JOURNAL OF OCEANIC ENGINEERING》 * |
| 印明明 等: ""GPU实现水下三维成像研究"", 《声学技术》 * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109975815B (en) * | 2019-03-22 | 2021-09-07 | 宁波博海深衡科技有限公司 | Underwater target multi-beam sonar detection system and method |
| CN109975815A (en) * | 2019-03-22 | 2019-07-05 | 武汉源海博创科技有限公司 | A kind of submarine target multi-beam sonar detection system and method |
| CN110196428A (en) * | 2019-06-10 | 2019-09-03 | 西北工业大学 | A kind of MIMO sonar high-resolution three-dimensional looking forward imaging method |
| CN110196428B (en) * | 2019-06-10 | 2022-08-23 | 西北工业大学 | MIMO sonar high-resolution three-dimensional foresight imaging method |
| CN110412588A (en) * | 2019-07-25 | 2019-11-05 | 中国科学院声学研究所 | A method and system for measuring three-dimensional information of a target based on a cross array |
| CN110824483A (en) * | 2019-11-12 | 2020-02-21 | 哈尔滨工程大学 | A combined multi-beam imaging sonar |
| CN112034439A (en) * | 2020-08-10 | 2020-12-04 | 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) | Cross high-frequency transducer array |
| CN112034439B (en) * | 2020-08-10 | 2023-09-01 | 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) | Cross high-frequency transducer array |
| CN113126100A (en) * | 2021-03-16 | 2021-07-16 | 武汉中仪物联技术股份有限公司 | Navigation method and navigation system of pipeline detector |
| CN113126100B (en) * | 2021-03-16 | 2023-09-08 | 武汉中仪物联技术股份有限公司 | Navigation method and navigation system of pipeline detector |
| CN113311499A (en) * | 2021-05-13 | 2021-08-27 | 中国科学院声学研究所 | UUV detection wave generation method and device, UUV and waveform generator |
| CN113311499B (en) * | 2021-05-13 | 2022-05-17 | 中国科学院声学研究所 | UUV detection wave generation method, device, UUV and waveform generator |
| CN118818507A (en) * | 2024-06-14 | 2024-10-22 | 广东智能无人系统研究院(南沙) | A wide-angle scanning imaging device, method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108181626B (en) | 2020-04-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108181626B (en) | A high-resolution three-dimensional acoustic imaging system | |
| US11874371B2 (en) | Sparse optimization method based on cross-shaped three-dimensional imaging sonar array | |
| CN106569199A (en) | Anti-frogman sonar transducer array | |
| US8213262B2 (en) | Transducer array arrangement and operation for sodar applications | |
| CN112083431B (en) | Low-frequency remote three-dimensional imaging method based on acoustic orbital angular momentum | |
| CN107918132A (en) | Underwater ultrasound phased array detection system and undersea detection method | |
| CN112083432B (en) | Ultra-fine three-dimensional imaging method based on acoustic orbital angular momentum | |
| CN114910915A (en) | Multi-mode imaging method for underwater target of side scan sonar | |
| CN104323794B (en) | A kind of split-type ranks addressing method for 3-D supersonic imaging | |
| CN106125078B (en) | A kind of underwater multidimensional acoustic imaging system and method | |
| CN109581388B (en) | A near-field wide-view beamforming method for real-time 3D imaging sonar | |
| CN110412588A (en) | A method and system for measuring three-dimensional information of a target based on a cross array | |
| US20220026570A1 (en) | Techniques for sonar data processing | |
| US6056694A (en) | Wave receiving apparatus and ultrasonic diagnostic apparatus | |
| CA2893044C (en) | Device and method for the non-destructive control of metal profiles | |
| CN110967673A (en) | Multi-domain joint main lobe interference resisting method | |
| CN206546434U (en) | A kind of multidimensional acoustic imaging system under water | |
| CN105974421A (en) | Method utilizing orthogonal array to form unmanned ship monitoring area supersonic wave three-dimensional image | |
| CN106028021A (en) | Device for forming unmanned ship monitoring area ultrasonic three-dimensional image by employing orthogonal array | |
| CN111580112B (en) | Underwater sonar sensor array imaging method based on plane waves | |
| JP2009075086A (en) | Ultrasonic three-dimensional distance measuring device, and ultrasonic three-dimensional distance measuring method | |
| CN112904428B (en) | Ocean shallow stratum profile detection system and method | |
| CN108169732B (en) | A Transform Domain Beamforming Method Based on Expanded Aperture Sonar | |
| Stepinski et al. | Designing 2D arrays for SHM of planar structures: a review | |
| Wang et al. | Multi-Element Synthetic Aperture Focusing Three-Dimensional Ultrasonic Imaging |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |