Course angle rotation-based multi-beam side-scan sonar image real-time splicing method

Abstract

The invention provides a course angle rotation-based multi-beam side-scan sonar image real-time splicing method. The method comprises the following steps of: acquiring initial data in all channels of a multi-beam side-scan sonar, and setting an initial position for splicing images; removing a water column area generated because an energy transducer receives an underwater noise before a first echo point returns; writing N channel data of the first ping in the initial data from which the water column area is removed into a canvas, and recording the current ping number and the current course angle; reading N channel data of the next ping and corresponding global positioning system (GPS) and course angle information, calculating the difference value between the course angles of the first ping and the next ping, if the course angle does not change, splicing the images in sequence according to the GPS information, and if the course angle changes, splicing the images after rotating the data, wherein the rotating angle is the difference value between the course angels; and modifying gaps in the spliced image. The invention discloses a multi-beam side-scan sonar image real-time splicing method which is high in precision and low in calculation amount and has a good display effect.

Description

technical field [0001] The invention relates to an image mosaic method, in particular to a new method for real-time mosaic of multi-beam underwater acoustic images. Background technique [0002] The vast ocean space is of great significance to the survival and development of human beings. With the development and utilization of the ocean, it is very important to detect the topography of Haiti and draw the topographic map of the seabed to master detailed marine geographic information. In the current ocean detection, acoustic detection system is mainly used as the main means. However, in the process of towing side-scan sonar detection, the hull will inevitably be affected by various factors. Due to the characteristics of sonar slant-range imaging, unstable factors such as inaccurate GPS positioning and abnormal jumps exist, resulting in side-scanning problems. Scanning sonar images cannot truly display the seabed topography, thus making it impossible to obtain accurate seabed...

AI Technical Summary

Problems solved by technology

At present, some well-known foreign sonar equipment manufacturers have developed corresponding sonar imaging software, but the price is expensive, and its analysis technology is a commercial secret and cannot be disclosed. It is rare, but the existing single-beam sonar image processing method calculates the coordinates of each echo point one by one, and applies it to multi-beam sonar image processing, the accumulated error is large, the calculation time is long, and accurate real-time stitching cannot be performed. Therefore, the research on the real-time stitching method of multi-beam side-scan sonar images is of great significance

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