Target positioning of dual forward looking sonars based on orthogonal detection

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2024-01-03 DOI:10.1016/j.mechatronics.2023.103135

Weidong Liu , Yanli Li , Le Li , Wenbo Zhang , Wenbin Huang

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引用次数: 0

Abstract

Accurate positioning of underwater targets is an important basis for many underwater tasks. As an imagery equipment, forward-looking sonar (FLS) can overcome the problem of poor brightness in underwater environment, and has a longer detection distance than the camera, which plays an important role in oceanic target positioning. However, there remain two challenging problems: (1) due to the complex underwater environment and the propagation characteristics of sound waves in the water, there are a lot of noises in the FLS images, which impair the accuracy of positioning; (2) FLS can only obtain two-dimensional information, which is insufficient for target positioning. Aiming at these two problems, a three-dimensional underwater target positioning algorithm based on dual FLSs is proposed in this paper. Firstly, a Threshold-Mask-Guided Filter (TMGF) image denoising algorithm is designed to deal with the obvious background noises and same-pitch noises in FLS images, which greatly improves the denoising effect compared with the original guided filter algorithm. Secondly, a target positioning algorithm based on orthogonal vertical placement of dual sonars is proposed to calculate the three-dimensional position of the target. Finally, pool experiments and sea trial tests are carried out respectively to verify the effectiveness of TMGF algorithm in denoising and the accuracy and stability of positioning algorithm.

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基于正交探测的双前视声纳目标定位

水下目标的精确定位是许多水下任务的重要基础。作为一种成像设备，前视声纳（FLS）可以克服水下环境亮度差的问题，而且探测距离比相机更远，在海洋目标定位中发挥着重要作用。然而，目前仍存在两个棘手的问题：(1) 由于水下环境复杂和声波在水中的传播特性，前视声纳图像中存在大量噪声，影响了定位精度；(2) 前视声纳只能获取二维信息，不足以进行目标定位。针对这两个问题，本文提出了一种基于双 FLS 的三维水下目标定位算法。首先，针对 FLS 图像中明显的背景噪声和同间距噪声，设计了阈值-掩膜引导滤波（TMGF）图像去噪算法，与原有的引导滤波算法相比，大大提高了去噪效果。其次，提出了一种基于双声纳正交垂直放置的目标定位算法，用于计算目标的三维位置。最后，分别进行了水池实验和海试，验证了 TMGF 算法的去噪效果和定位算法的准确性和稳定性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.