CN-122017855-A - Sonar two-dimensional imaging method, imaging system and electronic equipment based on projection method

CN122017855ACN 122017855 ACN122017855 ACN 122017855ACN-122017855-A

Abstract

The invention discloses a sonar two-dimensional imaging method, an imaging system and electronic equipment based on a projection method, wherein the sonar two-dimensional imaging method based on the projection method comprises the following steps of S1, collecting two frames of sonar data, obtaining a one-dimensional sonar data matrix of the two frames of sonar data, combining the one-dimensional sonar data matrix of the two frames of sonar data to form a two-dimensional sonar data matrix, S2, interpolating the two-dimensional sonar data matrix by using a bilinear interpolation method according to the real-time speed of a sonar carrier and the collecting time of two adjacent frames of data, S3, generating the pixel size of a sonar background image, and S4, projecting data points in the two-dimensional sonar data matrix to the sonar background image to obtain a high-resolution underwater image.

Inventors

YANG JINLIN
FAN YONGGANG

Assignees

海底鹰深海科技股份有限公司
云南保利天同水下装备科技有限公司

Dates

Publication Date: 20260512
Application Date: 20251223

Claims (10)

1. A sonar two-dimensional imaging method based on a projection method, which is characterized by comprising the following steps: S1, acquiring two frames of sonar data, acquiring a one-dimensional sonar data matrix of the two frames of sonar data, and combining the one-dimensional sonar data matrix of the two frames of sonar data to form a two-dimensional sonar data matrix; S2, interpolating a two-dimensional sonar data matrix by using a bilinear interpolation method based on the real-time speed of the sonar carrier and the acquisition time of adjacent two frames of sonar data; S3, generating the pixel size of a sonar background picture; S4, projecting data points in the two-dimensional sonar data matrix to a sonar background map to obtain a high-resolution underwater image.
2. The projection-based sonar two-dimensional imaging method according to claim 1, comprising the steps of, in said step S1: S1.1, acquiring sonar data, acquiring a one-dimensional sonar data matrix of each frame of sonar data, preprocessing the one-dimensional sonar data matrix, and removing invalid data points in the horizontal direction in the single acquired data; s1.2, interpolating a one-dimensional sonar data matrix after invalid data points are removed by using a linear interpolation method, and supplementing data of positions corresponding to the invalid data points; S1.3, interpolating the one-dimensional sonar data matrix after data are supplemented by using a linear interpolation method, and increasing the data detail of the one-dimensional sonar data matrix; s1.4, combining one-dimensional sonar data matrixes of the two frames of sonar data to form a two-dimensional sonar data matrix.
3. A projection-based sonar two-dimensional imaging method according to claim 2, wherein in said step S1.2, a one-dimensional sonar data matrix is interpolated using the following formula: ; Wherein, the In order to be the ordinate of the interpolated point, To be the ordinate of the point preceding the interpolated point, To be the ordinate of the point subsequent to the interpolated point, As the abscissa of the interpolated point, To the abscissa of the point preceding the interpolated point, Is the abscissa of the point subsequent to the interpolated point.
4. The projection-based sonar two-dimensional imaging method of claim 2, wherein in S1.3, the edge length is characterized by 1 pixel point Interpolation requirement of square detection area, distance between two adjacent data points Calculating the interpolation times Interpolation is carried out on the one-dimensional sonar data matrix, and the interpolation times are carried out The following formula is satisfied: 。
5. The projection-based sonar two-dimensional imaging method of claim 1, further comprising the step of, at said step S2: s2.1. according to the real-time speed of sonar carrier Time for collecting sonar data of two adjacent frames Calculating the moving distance of sonar carrier in the process of collecting adjacent two frames of sonar data Wherein ; S2.2, representing the side length as 1 pixel point Is required for square detection area of (2) sonar carrier moving distance Frame rate of sonar acquisition Calculating the accumulated times of the acquired data in the time domain : ; S2.3. in time domain cumulative number of times As the number of interpolation times, a bilinear interpolation method is used to interpolate a line of the two-dimensional sonar data matrix.
6. The projection-based sonar two-dimensional imaging method of claim 1, wherein in said step S2, interpolation is performed using the following formula: , Wherein, the For the coordinates of the interpolated point, Q 11 、Q 12 、Q 21 、Q 22 is 4 adjacent known points around the interpolated point, and the corresponding coordinates of the point Q 11 are The coordinates corresponding to the point Q 12 are The coordinates corresponding to the point Q 21 are The coordinates corresponding to the point Q 22 are , In order to be the ordinate of the interpolated point, As the abscissa of the interpolated point, For the ordinate of point Q 11 and point Q 21 , For the ordinate of point Q 12 and point Q 22 , For the abscissa of points Q 11 and Q 21 , The abscissa of points Q 12 and Q 22 .
7. The projection-based sonar two-dimensional imaging method of claim 1, wherein in said step S3, the side length is represented by 1 pixel point The square detection area of the sonar background picture is required, and the pixel size of the sonar background picture is generated according to the maximum detection distance in the sonar horizontal direction and the self-defined imaging range.
8. The projection-based sonar two-dimensional imaging method of claim 1, further comprising the step of, in said step S4: S4.1, according to the line number of the data point in the two-dimensional sonar data matrix Maximum number of rows of two-dimensional sonar data matrix Imaging range Calculating ordinate of pixel point in sonar background diagram corresponding to data point in two-dimensional sonar data matrix : ; S4.2, according to the horizontal distance of the data point corresponding target in the two-dimensional sonar data matrix relative to sonar Maximum detection distance in sonar horizontal direction Width of sonar background picture Calculating the abscissa of the pixel point in the sonar background diagram corresponding to the data point in the two-dimensional sonar data matrix : ; S4.3, according to the depth of the data point corresponding target in the two-dimensional sonar data matrix relative to the sonar Detecting the maximum depth of a water area Maximum value of gray scale range of image Calculating gray scale values which are represented by the depth of a data point corresponding to a target in a two-dimensional sonar data matrix relative to sonar : 。
9. Sonar two-dimensional imaging system, characterized by comprising: A basic data processing unit for acquiring two frames of sonar data, acquiring a one-dimensional sonar data matrix of the two frames of sonar data, and combining the one-dimensional sonar data matrix of the two frames of sonar data to form a two-dimensional sonar data matrix; An imaging data processing unit for interpolating a two-dimensional sonar data matrix using a bilinear interpolation method based on the real-time speed of the sonar carrier and the acquisition time of the adjacent two frames of sonar data; a pixel generation unit for generating a pixel size of the sonar background map; And the projection unit is used for projecting the data points in the two-dimensional sonar data matrix to the sonar background map to obtain a high-resolution underwater image.
10. An electronic device, comprising a processor and a memory; the memory stores program instructions; The processor is configured to execute the program instructions stored in the memory, so that the electronic device performs the projection-based sonar two-dimensional imaging method as set forth in any one of claims 1 to 8.

Description

Sonar two-dimensional imaging method, imaging system and electronic equipment based on projection method Technical Field The present invention relates to the field of image recognition, and in particular, to a sonar two-dimensional imaging method, an imaging system and an electronic device based on a projection method. Background The multi-beam sounding sonar is widely applied to underwater engineering exploration, ocean mapping, channel dredging monitoring and other scenes with higher requirements on underwater topography precision by virtue of the detection advantages of large range, high efficiency and the like. At any moment, the underwater topography detection data provided by the multi-beam sounding sonar is composed of a plurality of points, and the outline represented by the points is regarded as a line, and the underwater topography map in a two-dimensional space is formed by accumulating the outline in a time domain. The existing imaging method is to directly map the physical position information of the dots to the image pixel positions and then color the dots according to the intensity or depth information of the dots, thereby forming the underwater image. In the horizontal direction of the image, since the points are filled one by one into the image without considering the actual distances between the adjacent points to be different when the points are mapped, there is a possibility that the underwater image is distorted in the horizontal direction. In the vertical direction of the image, sonar is subject to continuous change of the moving speed of the carrier, and the single-acquired point data is filled on the image line by line in a line mode, so that distortion of the underwater image in the vertical direction can be caused. That is, there is a difference between the actual situation and the water bottom profile on the water bottom image obtained based on the existing imaging method. With the continuous improvement of the requirements of ocean engineering and other application fields on the restoration precision of underwater topography, the defects of the existing imaging method of direct mapping coloring are increasingly prominent, and an imaging method capable of obtaining a high-resolution underwater image consistent with the underwater contour is needed. Disclosure of Invention An object of the present invention is to provide a sonar two-dimensional imaging method based on a projection method, an imaging system and an electronic device, by which a high-resolution underwater image consistent with the topography profile of the underwater can be obtained. The invention further aims to provide a sonar two-dimensional imaging method, an imaging system and electronic equipment based on a projection method, wherein the sonar two-dimensional imaging method can eliminate distortion of a water bottom image in the vertical direction, and a high-resolution water bottom image with the vertical direction consistent with the actual water bottom topography profile is obtained. The invention further aims to provide a sonar two-dimensional imaging method, an imaging system and electronic equipment based on a projection method, wherein the sonar two-dimensional imaging method can eliminate distortion of a water bottom image in the horizontal direction, and a high-resolution water bottom image with the horizontal direction consistent with the actual water bottom topography profile is obtained. Another object of the present invention is to provide a sonar two-dimensional imaging method, an imaging system, and an electronic device based on a projection method, wherein in the sonar two-dimensional imaging method, invalid data points in a one-dimensional sonar data matrix of sonar data are removed, quality of basic data for imaging is optimized, interference of the invalid data points on subsequent processing is avoided, and a reliable data base is provided for subsequent interpolation and projection imaging. The invention further aims to provide a sonar two-dimensional imaging method, an imaging system and electronic equipment based on a projection method, wherein in the sonar two-dimensional imaging method, data of positions corresponding to deleted invalid data points are supplemented through a linear interpolation method, so that each pixel position can be ensured to have a corresponding effective depth value during imaging, the integrity and the continuity of a water bottom contour are ensured, and imaging defects caused by data gaps are eliminated. The invention further aims to provide a sonar two-dimensional imaging method, an imaging system and electronic equipment based on a projection method, wherein in the sonar two-dimensional imaging method, interpolation processing is carried out on a one-dimensional sonar data matrix for supplementing data of a deleted invalid data point corresponding position, so that interpolation of a full detection area follows a unified quantization standard, data point den