Sound pressure amplitude will be attenuated with propagation distance in a certain rule when sound wave is propagated in shallow sea.When processing the attenuated signal,time-variant gain circuit is usually used to c...Sound pressure amplitude will be attenuated with propagation distance in a certain rule when sound wave is propagated in shallow sea.When processing the attenuated signal,time-variant gain circuit is usually used to compensate its diffusion loss.In this paper,spherical diffusion loss is compensated by digital potentiometer and operational circuit and further investigation is also made on compensation of cylindrical diffusion loss and transition from spherical diffusion loss to cylindrical diffusion loss.Finally,a new compensation model is proposed for unknown propagation loss for the purpose of adjusting the dynamic range of signal to meet the requirement of A/D conversion.展开更多
A new monostatic array system taking advantage of diverse waveforms to improve the performance of underwater tar- get localization is proposed. Unlike the coherent signals between different elements in common active a...A new monostatic array system taking advantage of diverse waveforms to improve the performance of underwater tar- get localization is proposed. Unlike the coherent signals between different elements in common active array, the transmitted signals from different elements here are spatially orthogonal waveforms which allow for array processing in the transit mode and result in an extension of array aperture. The mathematical derivation of Capon estimator for this sonar system is described in detail. And the performance of this orthogonal-waveform based sonar is an- alyzed and compared with that of its phased-array counterpart by water tank experiments. Experimental results show that this sonar system could achieve 12 dB-15 dB additional array gain over its phased-array counterpart, which means a doubling of maximum detection range. Moreover, the angular resolution is significantly improved at lower SNR.展开更多
For increasing the cross-track resolution, the multiple input multiple output （MIMO） technique is introduced into the swath bathymetry system and a new swath bathymetry approach using MIMO sonar is proposed. The MIM...For increasing the cross-track resolution, the multiple input multiple output （MIMO） technique is introduced into the swath bathymetry system and a new swath bathymetry approach using MIMO sonar is proposed. The MIMO sonar is composed of two parallel transmitting uniform linear arrays （ULAs） and a receiving ULA which is perpendicular to the former. The spacing between the two transmitting ULAs is equal to the product of the receiving sensor number and the receiving inter-sensor spacing. Furthermore, two narrowband linear frequency modulation （LFM） pulses, sharing the same frequency band but with opposite modulation slopes, are used as transmitting waveforms of the two transmitting ULAs. With such an array layout and transmitting signals, the MIMO sonar can sound a swath with the cross-track resolution doubling that of the traditional multibeam sonar using a Mills cross array. Numerical examples are provided to verify the effectiveness of the proposed approach.展开更多
Acoustic scattering as the perturbation of an incident acoustic field from an arbitrary object is a critical part of the targetrecognition process in synthetic aperture sonar(SAS)systems.The complexity of scattering m...Acoustic scattering as the perturbation of an incident acoustic field from an arbitrary object is a critical part of the targetrecognition process in synthetic aperture sonar(SAS)systems.The complexity of scattering models strongly depends on the size and structure of the scattered surface.In accurate scattering models including numerical models,the computational cost significantly increases with the object complexity.In this paper,an efficient model is proposed to calculate the acoustic scattering from underwater objects with less computational cost and time compared with numerical models,especially in 3D space.The proposed model,called texture element method(TEM),uses statistical and structural information of the target surface texture by employing non-uniform elements described with local binary pattern(LBP)descriptors by solving the Helmholtz integral equation.The proposed model is compared with two other well-known models,one numerical and other analytical,and the results show excellent agreement between them while the proposed model requires fewer elements.This demonstrates the ability of the proposed model to work with arbitrary targets in different SAS systems with better computational time and cost,enabling the proposed model to be applied in real environment.展开更多
Some statistical characteristics of signal and noise in shallow-water acoustical channel were analysed . Based on the differences in some statistical characteristics between the signal and the noise , the authors deve...Some statistical characteristics of signal and noise in shallow-water acoustical channel were analysed . Based on the differences in some statistical characteristics between the signal and the noise , the authors developed a new kind of signal processing technique-digital time correlative accumulation to operate sonar systems at a low data rate . Theoretical analyses and expermental results show . the false-alarm probability can be reduced to a low value of less than 10 -4 while the detection probability can reach a relatively high value of more than 0.9. By using the statistical averages of the multiple range detection value , the authors can greatly improve the accuracy of the detection . The method can be used for some other related fields, for example , ultrasonic detection in air medium .展开更多
Underwater target localization and parameters(azimuth and range) estimation by the method of utilizing explosions as underwater sound sources are described in this paper.The narrow beam reverberation model of the targ...Underwater target localization and parameters(azimuth and range) estimation by the method of utilizing explosions as underwater sound sources are described in this paper.The narrow beam reverberation model of the target echo signal is researched to estimate the target azimuth in reverberation background.Estimation errors of target azimuth and range are studied and proved to approximately meet Gauss distribution.Then the variance formula of target range error is deduced.Simulation experiments are applied to research the target range error and its standard deviation,and a series of measures to improve the estimation accuracy of target range are proposed.It is confirmed by the data processing results of simulations and lake experiments that the proposed method can accurately locate underwater target at a long distance on the condition of a certain underwater explosion range error.展开更多
A new algorithm based on a Supervised Self-Organizing neural network for the pas sive sonar target recognition was proposed. Because of the incompleteness of the passive sonar exemplar set, the algorithm introduced a ...A new algorithm based on a Supervised Self-Organizing neural network for the pas sive sonar target recognition was proposed. Because of the incompleteness of the passive sonar exemplar set, the algorithm introduced a Multi-Activation-function structure and Supervised Self-Organizing competitive learning algorithm into the classic feed-forward neural networks,and obviously improved the generalization ability in target recognition. Besides, it can effi ciently reduce the learning time and avoid the local optimum. The recognition experiments of realistic passive sonar signals show that this new algorithm has good generalization ability and high recognition rate展开更多
Based on the principle of active sonar detection, a pipeline sonar system has been developed for detecting the water accumulated in underground gas-pipelines, and the effectiveness of this system verified through fiel...Based on the principle of active sonar detection, a pipeline sonar system has been developed for detecting the water accumulated in underground gas-pipelines, and the effectiveness of this system verified through field-testing. The working process, experimental results and some considerations in the determination of sonar parameters are described in this paper.展开更多
In order to study the optimization configuration problem of bistatic sonar system,the optimal configuration model of bistatic sonar system was established.The positioning accuracy of the dual-base sonar at different d...In order to study the optimization configuration problem of bistatic sonar system,the optimal configuration model of bistatic sonar system was established.The positioning accuracy of the dual-base sonar at different dual-base angles was obtained by calculating the Cramér-Rao lower bound(CRLB)accuracy based on the optimal configuration model.The effect of system time measurement error and angle measurement error on positioning accuracy was analyzed by simulation.The transmitting and receiving sonar are deployed on the same circle centered on the target in the simulation.The results showed that the positioning accuracy was the highest at the bistatic angle of 2π/3.This research had certain reference for the optimal configuration of bistatic/multistatic sonar system.展开更多
A multi-beam chirp sonar based on IP connections and DSP processing nodes was proposed and designed to provide an expandable system with high-speed processing and mass-storage of real-time signals for multi-beam profi...A multi-beam chirp sonar based on IP connections and DSP processing nodes was proposed and designed to provide an expandable system with high-speed processing and mass-storage of real-time signals for multi-beam profiling sonar.The system was designed for seabed petroleum pipeline detection and orientation,and can receive echo signals and process the data in real time,refreshing the display 10 times per second.Every node of the chirp sonar connects with data processing nodes through TCP/IP. Merely by adding nodes,the system’s processing ability can be increased proportionately without changing the software.System debugging and experimental testing proved the system to be practical and stable.This design provides a new method for high speed active sonar.展开更多
Sonar image processing system is an important intelligent system of Autonomous Un-derwater Vehicle.Based on TMS320C30 high speed DSP,it is used to realize sonar imagecompression and underwater object detections includ...Sonar image processing system is an important intelligent system of Autonomous Un-derwater Vehicle.Based on TMS320C30 high speed DSP,it is used to realize sonar imagecompression and underwater object detections including obstacle recognition in real time.Inthis paper,the software and hardware designs of this system are introduced and the experi-mental results are given.展开更多
The computational load is prohibitive for real-time image generation in 3-D sonar systems, particularly when the steering angle approximation is required. In this paper, a novel multiple Chirp Zeta Transforms （MCZT）...The computational load is prohibitive for real-time image generation in 3-D sonar systems, particularly when the steering angle approximation is required. In this paper, a novel multiple Chirp Zeta Transforms （MCZT） beamforming method in frequency domain is being proposed. The single long-length Chirp Zeta Transform （CZT） in the original CZT beamforming is replaced by several CZTs with smaller lengths for different partitions along each dimension. The implementing routine of the algorithm is also optimized. Furthermore, an avenue to evaluate the estimating error for the angle approximation in 3-D imaging applications is presented, and an approach to attain valid partitions for the steering angles is also flhistrated. This paper demonstrates a few advantages of the proposed frequency-domain beamforming method over existing methods in terms of the computatianal complexity.展开更多
New LIDAR （Light Detection and Ranging） and sonar imagery have revealed remarkable geomorphic details never seen before and not visible by any other means. Numerous faults and other geologic structures are plainly v...New LIDAR （Light Detection and Ranging） and sonar imagery have revealed remarkable geomorphic details never seen before and not visible by any other means. Numerous faults and other geologic structures are plainly visible on LIDAR and sonar images. Many previously unknown faults criss-cross the islands and large fault scarps are visible on sonar imagery along the margins of the larger islands. Sonar images of sea floor morphology show many submerged faults as long linear scarps with relief up to 300m （1,000 fl）, some of which visibly truncate geologic structures. The San Juan Lopez fault, the largest fault in the islands, extends for at least 65 km （40 mi） from Stuart Island to Rosario strait with a scarp up to 330m （1,000 it） high. Since 1975, the basic structural framework of the San Juan Islands has been considered to consist of five stacked thrust faults, the Rosario, Orcas, Haro, Lopez, and Buck Bay faults, constituting the San Juan Thrust （Nappe） System that has shuffled together far distant terranes. However, the new LIDAR and sonar imagery shows that most of the mapped extent of these postulated faults are actually segments of high angle, dipslip faults and are not thrust faults at all. Thus, the San Juan Thrust （Nappe） System does not exist. The age of these faults is not accurately known and more than one period of high angle faulting may have occurred. Faults shown on L1DAR images of the surface of the islands appear as visible gashes, etched out by erosion of fault zones with few fault scarps. However, the sea floor faults have bold relief and high scarps. A late Pleistocene moraine lies undisturbed across the San Juan Lopez fault.展开更多
To reduce the computation burden of a large-aperture multiple-input multiple-output（MIMO） sonar imaging system,the phase-shift beamformer（PSBF） is used at the cost of bringing the intensity loss（IL）.The cause of...To reduce the computation burden of a large-aperture multiple-input multiple-output（MIMO） sonar imaging system,the phase-shift beamformer（PSBF） is used at the cost of bringing the intensity loss（IL）.The cause of the IL is analyzed in detail and a variable termed as IL factor is defined to quantify the loss amount.To compensate for the IL,two methods termed as intensity compensation for the PSBF（IC-PSBF） and the hybrid beamforming（HBF）,respectively,are proposed.The IC-PSBF uses previously estimated IL factors to compensate for output intensities of all PSBFs;and the HBF applies the IC-PSBF to the center beam region and the shifted-sideband beamformer（SSBF） to the side beam region,respectively.Numerical simulations demonstrate the effectiveness of the two proposed methods.展开更多
This paper is dealing with a comparative analysis, from technical point of view of the solutions with the highest potentiality utilized in sonar heads drives. Even though the use of DC servomotors is a convenient solu...This paper is dealing with a comparative analysis, from technical point of view of the solutions with the highest potentiality utilized in sonar heads drives. Even though the use of DC servomotors is a convenient solution for most customers, from some modem analysis criteria points of view, this type of drive system has a low reliability and a greater impact on the environment, compared to AC servomotors. From this class of AC servomotors, high behaviors, in such an application, have stepper motors and electronically commutated motor （brushless DC）. That is why, analysis in this paper, balances these two classes of AC servomotors. The systems performed are analyzed in Matlab/Simulink and PowerSim environments.展开更多
This article introduces an underwater robot inspection anomaly localization feedback system comprising a real-time water surface tracking,detection,and positioning system located on the water surface,while the underwa...This article introduces an underwater robot inspection anomaly localization feedback system comprising a real-time water surface tracking,detection,and positioning system located on the water surface,while the underwater robot inspection anomaly feedback system is housed within the underwater robot.The system facilitates the issuance of corresponding mechanical responses based on the water surface’s real-time tracking,detection,and positioning,enabling recognition and feedback of anomaly information.Through sonar technology,the underwater robot inspection anomaly feedback system monitors the underwater robot in real-time,triggering responsive actions upon encountering anomalies.The real-time tracking,detection,and positioning system from the water surface identifies abnormal conditions of underwater robots based on changes in sonar images,subsequently notifying personnel for necessary intervention.展开更多
Side-scan sonar(SSS)is essential for acquiring high-resolution seafloor images over large areas,facilitat-ing the identification of subsea objects.However,military security restrictions and the scarcity of subsea targ...Side-scan sonar(SSS)is essential for acquiring high-resolution seafloor images over large areas,facilitat-ing the identification of subsea objects.However,military security restrictions and the scarcity of subsea targets limit the availability of SSS data,posing challenges for Automatic Target Recognition(ATR)research.This paper presents an approach that uses Cycle-Consistent Generative Adversarial Networks(CycleGAN)to augment SSS images of key subsea objects,such as shipwrecks,aircraft,and drowning victims.The process begins by constructing 3D models to generate rendered images with realistic shadows frommultiple angles.To enhance image quality,a shadowextractor and shadow region loss function are introduced to ensure consistent shadowrepresentation.Additionally,amulti-resolution learning structure enables effective training,even with limited data availability.The experimental results show that the generated data improved object detection accuracy when they were used for training and demonstrated the ability to generate clear shadow and background regions with stability.展开更多
Underwater shipwreck identification technology, as a crucial technique in the field of marine surveying, plays a significant role in areas such as the search and rescue of maritime disaster shipwrecks. When facing the...Underwater shipwreck identification technology, as a crucial technique in the field of marine surveying, plays a significant role in areas such as the search and rescue of maritime disaster shipwrecks. When facing the task of object detection in shipwreck side-scan sonar images, due to the complex seabed environment, it is difficult to extract object features, often leading to missed detections of shipwreck images and slow detection speed. To address these issues, this paper proposes an object detection algorithm, CSC-YOLO (Context Guided Block, Shared Conv_Group Normalization Detection, Cross Stage Partial with 2 Partial Convolution-You Only Look Once), based on YOLOv8n for shipwreck side-scan sonar images. Firstly, to tackle the problem of small samples in shipwreck side-scan sonar images, a new dataset was constructed through offline data augmentation to expand data and intuitively enhance sample diversity, with the Mosaic algorithm integrated to strengthen the network’s generalization to the dataset. Subsequently, the Context Guided Block (CGB) module was introduced into the backbone network model to enhance the network’s ability to learn and express image features. Additionally, by employing Group Normalization (GN) techniques and shared convolution operations, we constructed the Shared Conv_GN Detection (SCGD) head, which improves the localization and classification performance of the detection head while significantly reducing the number of parameters and computational load. Finally, the Partial Convolution (PConv) was introduced and the Cross Stage Partial with 2 PConv (C2PC) module was constructed to help the network maintain effective extraction of spatial features while reducing computational complexity. The improved CSC-YOLO model, compared with the YOLOv8n model on the validation set, mean Average Precision (mAP) increases by 3.1%, Recall (R) increases by 6.4%, and the F1-measure (F1) increases by 4.7%. Furthermore, in the improved algorithm, the number of parameters decreases by 20%, the computational complexity decreases by 23.2%, and Frames Per Second (FPS) increases by 17.6%. In addition, compared with the advanced popular model, the superiority of the proposed model is proved. The subsequent experiments on real side-scan sonar images of shipwrecks fully demonstrate that the CSC-YOLO algorithm meets the requirements for actual side-scan sonar detection of underwater shipwrecks.展开更多
Underwater target detection in forward-looking sonar(FLS)images is a challenging but promising endeavor.The existing neural-based methods yield notable progress but there remains room for improvement due to overlookin...Underwater target detection in forward-looking sonar(FLS)images is a challenging but promising endeavor.The existing neural-based methods yield notable progress but there remains room for improvement due to overlooking the unique characteristics of underwater environments.Considering the problems of low imaging resolution,complex background environment,and large changes in target imaging of underwater sonar images,this paper specifically designs a sonar images target detection Network based on Progressive sensitivity capture,named ProNet.It progressively captures the sensitive regions in the current image where potential effective targets may exist.Guided by this basic idea,the primary technical innovation of this paper is the introduction of a foundational module structure for constructing a sonar target detection backbone network.This structure employs a multi-subspace mixed convolution module that initially maps sonar images into different subspaces and extracts local contextual features using varying convolutional receptive fields within these heterogeneous subspaces.Subsequently,a Scale-aware aggregation module effectively aggregates the heterogeneous features extracted from different subspaces.Finally,the multi-scale attention structure further enhances the relational perception of the aggregated features.We evaluated ProNet on three FLS datasets of varying scenes,and experimental results indicate that ProNet outperforms the current state-of-the-art sonar image and general target detectors.展开更多
The disguised covert detection method that imitates whale calls has received great attention in recent years because it can solve the traditional problem of the trade-off between long-range detection and covert detect...The disguised covert detection method that imitates whale calls has received great attention in recent years because it can solve the traditional problem of the trade-off between long-range detection and covert detection.However,under strong reverberation conditions,traditional echo signal processing methods based on matched filtering will be greatly disturbed.Based on this,a disguised sonar signal waveform design is proposed based on imitating whale calls and computationally efficient anti-reverberation echo signal processing method.Firstly,this article proposed a disguised sonar signal waveform design method based on imitating whale calls.This method uses linear frequency modulation(LFM)signals to replace LFM-like segments in real whale calls,and extracts the envelope of the real whale call’s LFM-like segment to modify the LFM signal.Secondly,this article proposed an echo signal processing method of fractional Fourier transform(FrFT)based on target echo locating of synchronization signals.This method uses the synchronization signal to locate the target echo,and determines the step-size interval of the FrFT based on the information carried by the synchronization signal.Compared with the traditional FrFT,this method effectively reduces the amount of calculation and also improves the anti-reverberation ability.Finally,the excellent performance of the proposed method is verified by simulation results.展开更多
文摘Sound pressure amplitude will be attenuated with propagation distance in a certain rule when sound wave is propagated in shallow sea.When processing the attenuated signal,time-variant gain circuit is usually used to compensate its diffusion loss.In this paper,spherical diffusion loss is compensated by digital potentiometer and operational circuit and further investigation is also made on compensation of cylindrical diffusion loss and transition from spherical diffusion loss to cylindrical diffusion loss.Finally,a new compensation model is proposed for unknown propagation loss for the purpose of adjusting the dynamic range of signal to meet the requirement of A/D conversion.
基金supported by the National Natural Science Foundation of China(60572098)
文摘A new monostatic array system taking advantage of diverse waveforms to improve the performance of underwater tar- get localization is proposed. Unlike the coherent signals between different elements in common active array, the transmitted signals from different elements here are spatially orthogonal waveforms which allow for array processing in the transit mode and result in an extension of array aperture. The mathematical derivation of Capon estimator for this sonar system is described in detail. And the performance of this orthogonal-waveform based sonar is an- alyzed and compared with that of its phased-array counterpart by water tank experiments. Experimental results show that this sonar system could achieve 12 dB-15 dB additional array gain over its phased-array counterpart, which means a doubling of maximum detection range. Moreover, the angular resolution is significantly improved at lower SNR.
基金supported by the National Natural Science Foundation of China(11104222)the Doctorate Foundation of Northwestern Polytechnical University(CX201101)
文摘For increasing the cross-track resolution, the multiple input multiple output （MIMO） technique is introduced into the swath bathymetry system and a new swath bathymetry approach using MIMO sonar is proposed. The MIMO sonar is composed of two parallel transmitting uniform linear arrays （ULAs） and a receiving ULA which is perpendicular to the former. The spacing between the two transmitting ULAs is equal to the product of the receiving sensor number and the receiving inter-sensor spacing. Furthermore, two narrowband linear frequency modulation （LFM） pulses, sharing the same frequency band but with opposite modulation slopes, are used as transmitting waveforms of the two transmitting ULAs. With such an array layout and transmitting signals, the MIMO sonar can sound a swath with the cross-track resolution doubling that of the traditional multibeam sonar using a Mills cross array. Numerical examples are provided to verify the effectiveness of the proposed approach.
文摘Acoustic scattering as the perturbation of an incident acoustic field from an arbitrary object is a critical part of the targetrecognition process in synthetic aperture sonar(SAS)systems.The complexity of scattering models strongly depends on the size and structure of the scattered surface.In accurate scattering models including numerical models,the computational cost significantly increases with the object complexity.In this paper,an efficient model is proposed to calculate the acoustic scattering from underwater objects with less computational cost and time compared with numerical models,especially in 3D space.The proposed model,called texture element method(TEM),uses statistical and structural information of the target surface texture by employing non-uniform elements described with local binary pattern(LBP)descriptors by solving the Helmholtz integral equation.The proposed model is compared with two other well-known models,one numerical and other analytical,and the results show excellent agreement between them while the proposed model requires fewer elements.This demonstrates the ability of the proposed model to work with arbitrary targets in different SAS systems with better computational time and cost,enabling the proposed model to be applied in real environment.
文摘Some statistical characteristics of signal and noise in shallow-water acoustical channel were analysed . Based on the differences in some statistical characteristics between the signal and the noise , the authors developed a new kind of signal processing technique-digital time correlative accumulation to operate sonar systems at a low data rate . Theoretical analyses and expermental results show . the false-alarm probability can be reduced to a low value of less than 10 -4 while the detection probability can reach a relatively high value of more than 0.9. By using the statistical averages of the multiple range detection value , the authors can greatly improve the accuracy of the detection . The method can be used for some other related fields, for example , ultrasonic detection in air medium .
基金supported by the National Natural Science Foundation of China(61431020,61571434)
文摘Underwater target localization and parameters(azimuth and range) estimation by the method of utilizing explosions as underwater sound sources are described in this paper.The narrow beam reverberation model of the target echo signal is researched to estimate the target azimuth in reverberation background.Estimation errors of target azimuth and range are studied and proved to approximately meet Gauss distribution.Then the variance formula of target range error is deduced.Simulation experiments are applied to research the target range error and its standard deviation,and a series of measures to improve the estimation accuracy of target range are proposed.It is confirmed by the data processing results of simulations and lake experiments that the proposed method can accurately locate underwater target at a long distance on the condition of a certain underwater explosion range error.
文摘A new algorithm based on a Supervised Self-Organizing neural network for the pas sive sonar target recognition was proposed. Because of the incompleteness of the passive sonar exemplar set, the algorithm introduced a Multi-Activation-function structure and Supervised Self-Organizing competitive learning algorithm into the classic feed-forward neural networks,and obviously improved the generalization ability in target recognition. Besides, it can effi ciently reduce the learning time and avoid the local optimum. The recognition experiments of realistic passive sonar signals show that this new algorithm has good generalization ability and high recognition rate
文摘Based on the principle of active sonar detection, a pipeline sonar system has been developed for detecting the water accumulated in underground gas-pipelines, and the effectiveness of this system verified through field-testing. The working process, experimental results and some considerations in the determination of sonar parameters are described in this paper.
基金supported by the National High Technology Research and Development Program of China(863 Program,18-H863-04-2T-003-019-01)。
文摘In order to study the optimization configuration problem of bistatic sonar system,the optimal configuration model of bistatic sonar system was established.The positioning accuracy of the dual-base sonar at different dual-base angles was obtained by calculating the Cramér-Rao lower bound(CRLB)accuracy based on the optimal configuration model.The effect of system time measurement error and angle measurement error on positioning accuracy was analyzed by simulation.The transmitting and receiving sonar are deployed on the same circle centered on the target in the simulation.The results showed that the positioning accuracy was the highest at the bistatic angle of 2π/3.This research had certain reference for the optimal configuration of bistatic/multistatic sonar system.
基金the National High Technology Project of China Foundation under Grant No.2002AA602230-1
文摘A multi-beam chirp sonar based on IP connections and DSP processing nodes was proposed and designed to provide an expandable system with high-speed processing and mass-storage of real-time signals for multi-beam profiling sonar.The system was designed for seabed petroleum pipeline detection and orientation,and can receive echo signals and process the data in real time,refreshing the display 10 times per second.Every node of the chirp sonar connects with data processing nodes through TCP/IP. Merely by adding nodes,the system’s processing ability can be increased proportionately without changing the software.System debugging and experimental testing proved the system to be practical and stable.This design provides a new method for high speed active sonar.
基金the High Technology Research and Development Programme of china.
文摘Sonar image processing system is an important intelligent system of Autonomous Un-derwater Vehicle.Based on TMS320C30 high speed DSP,it is used to realize sonar imagecompression and underwater object detections including obstacle recognition in real time.Inthis paper,the software and hardware designs of this system are introduced and the experi-mental results are given.
基金National High Technology Research and Development Program (863 Program) of China (No. 2010AA09Z104)the Fundamental Research Funds for the Central Universities
文摘The computational load is prohibitive for real-time image generation in 3-D sonar systems, particularly when the steering angle approximation is required. In this paper, a novel multiple Chirp Zeta Transforms （MCZT） beamforming method in frequency domain is being proposed. The single long-length Chirp Zeta Transform （CZT） in the original CZT beamforming is replaced by several CZTs with smaller lengths for different partitions along each dimension. The implementing routine of the algorithm is also optimized. Furthermore, an avenue to evaluate the estimating error for the angle approximation in 3-D imaging applications is presented, and an approach to attain valid partitions for the steering angles is also flhistrated. This paper demonstrates a few advantages of the proposed frequency-domain beamforming method over existing methods in terms of the computatianal complexity.
文摘New LIDAR （Light Detection and Ranging） and sonar imagery have revealed remarkable geomorphic details never seen before and not visible by any other means. Numerous faults and other geologic structures are plainly visible on LIDAR and sonar images. Many previously unknown faults criss-cross the islands and large fault scarps are visible on sonar imagery along the margins of the larger islands. Sonar images of sea floor morphology show many submerged faults as long linear scarps with relief up to 300m （1,000 fl）, some of which visibly truncate geologic structures. The San Juan Lopez fault, the largest fault in the islands, extends for at least 65 km （40 mi） from Stuart Island to Rosario strait with a scarp up to 330m （1,000 it） high. Since 1975, the basic structural framework of the San Juan Islands has been considered to consist of five stacked thrust faults, the Rosario, Orcas, Haro, Lopez, and Buck Bay faults, constituting the San Juan Thrust （Nappe） System that has shuffled together far distant terranes. However, the new LIDAR and sonar imagery shows that most of the mapped extent of these postulated faults are actually segments of high angle, dipslip faults and are not thrust faults at all. Thus, the San Juan Thrust （Nappe） System does not exist. The age of these faults is not accurately known and more than one period of high angle faulting may have occurred. Faults shown on L1DAR images of the surface of the islands appear as visible gashes, etched out by erosion of fault zones with few fault scarps. However, the sea floor faults have bold relief and high scarps. A late Pleistocene moraine lies undisturbed across the San Juan Lopez fault.
基金supported by the National Natural Science Foundation of China(51509204)the Opening Project of State Key Laboratory of Acoustics(SKLA201501)the Fundamental Research Funds for the Central Universities(3102015ZY011)
文摘To reduce the computation burden of a large-aperture multiple-input multiple-output（MIMO） sonar imaging system,the phase-shift beamformer（PSBF） is used at the cost of bringing the intensity loss（IL）.The cause of the IL is analyzed in detail and a variable termed as IL factor is defined to quantify the loss amount.To compensate for the IL,two methods termed as intensity compensation for the PSBF（IC-PSBF） and the hybrid beamforming（HBF）,respectively,are proposed.The IC-PSBF uses previously estimated IL factors to compensate for output intensities of all PSBFs;and the HBF applies the IC-PSBF to the center beam region and the shifted-sideband beamformer（SSBF） to the side beam region,respectively.Numerical simulations demonstrate the effectiveness of the two proposed methods.
文摘This paper is dealing with a comparative analysis, from technical point of view of the solutions with the highest potentiality utilized in sonar heads drives. Even though the use of DC servomotors is a convenient solution for most customers, from some modem analysis criteria points of view, this type of drive system has a low reliability and a greater impact on the environment, compared to AC servomotors. From this class of AC servomotors, high behaviors, in such an application, have stepper motors and electronically commutated motor （brushless DC）. That is why, analysis in this paper, balances these two classes of AC servomotors. The systems performed are analyzed in Matlab/Simulink and PowerSim environments.
文摘This article introduces an underwater robot inspection anomaly localization feedback system comprising a real-time water surface tracking,detection,and positioning system located on the water surface,while the underwater robot inspection anomaly feedback system is housed within the underwater robot.The system facilitates the issuance of corresponding mechanical responses based on the water surface’s real-time tracking,detection,and positioning,enabling recognition and feedback of anomaly information.Through sonar technology,the underwater robot inspection anomaly feedback system monitors the underwater robot in real-time,triggering responsive actions upon encountering anomalies.The real-time tracking,detection,and positioning system from the water surface identifies abnormal conditions of underwater robots based on changes in sonar images,subsequently notifying personnel for necessary intervention.
基金supported by the National Research Foundation of Korea(NRF)grant funded by the Korea government(MSIT)(No.RS-2024-00334159)the Korea Institute of Ocean Science and Technology(KIOST)project entitled“Development of Maritime Domain Awareness Technology for Sea Power Enhancement”(PEA0332).
文摘Side-scan sonar(SSS)is essential for acquiring high-resolution seafloor images over large areas,facilitat-ing the identification of subsea objects.However,military security restrictions and the scarcity of subsea targets limit the availability of SSS data,posing challenges for Automatic Target Recognition(ATR)research.This paper presents an approach that uses Cycle-Consistent Generative Adversarial Networks(CycleGAN)to augment SSS images of key subsea objects,such as shipwrecks,aircraft,and drowning victims.The process begins by constructing 3D models to generate rendered images with realistic shadows frommultiple angles.To enhance image quality,a shadowextractor and shadow region loss function are introduced to ensure consistent shadowrepresentation.Additionally,amulti-resolution learning structure enables effective training,even with limited data availability.The experimental results show that the generated data improved object detection accuracy when they were used for training and demonstrated the ability to generate clear shadow and background regions with stability.
基金supported in part by the Hainan Provincial Natural Science Foundation(Grant No.420CXTD439)Sanya Science and Technology Special Fund(Grant No.2022KJCX83)+1 种基金Institute and Local Cooperation Foundation of Sanya in China(Grant No.2019YD08)National Natural Science Foundation of China(Grant No.61661038).
文摘Underwater shipwreck identification technology, as a crucial technique in the field of marine surveying, plays a significant role in areas such as the search and rescue of maritime disaster shipwrecks. When facing the task of object detection in shipwreck side-scan sonar images, due to the complex seabed environment, it is difficult to extract object features, often leading to missed detections of shipwreck images and slow detection speed. To address these issues, this paper proposes an object detection algorithm, CSC-YOLO (Context Guided Block, Shared Conv_Group Normalization Detection, Cross Stage Partial with 2 Partial Convolution-You Only Look Once), based on YOLOv8n for shipwreck side-scan sonar images. Firstly, to tackle the problem of small samples in shipwreck side-scan sonar images, a new dataset was constructed through offline data augmentation to expand data and intuitively enhance sample diversity, with the Mosaic algorithm integrated to strengthen the network’s generalization to the dataset. Subsequently, the Context Guided Block (CGB) module was introduced into the backbone network model to enhance the network’s ability to learn and express image features. Additionally, by employing Group Normalization (GN) techniques and shared convolution operations, we constructed the Shared Conv_GN Detection (SCGD) head, which improves the localization and classification performance of the detection head while significantly reducing the number of parameters and computational load. Finally, the Partial Convolution (PConv) was introduced and the Cross Stage Partial with 2 PConv (C2PC) module was constructed to help the network maintain effective extraction of spatial features while reducing computational complexity. The improved CSC-YOLO model, compared with the YOLOv8n model on the validation set, mean Average Precision (mAP) increases by 3.1%, Recall (R) increases by 6.4%, and the F1-measure (F1) increases by 4.7%. Furthermore, in the improved algorithm, the number of parameters decreases by 20%, the computational complexity decreases by 23.2%, and Frames Per Second (FPS) increases by 17.6%. In addition, compared with the advanced popular model, the superiority of the proposed model is proved. The subsequent experiments on real side-scan sonar images of shipwrecks fully demonstrate that the CSC-YOLO algorithm meets the requirements for actual side-scan sonar detection of underwater shipwrecks.
基金supported in part by Youth Innovation Promotion Association,Chinese Academy of Sciences under Grant 2022022in part by South China Sea Nova project of Hainan Province under Grant NHXXRCXM202340in part by the Scientific Research Foundation Project of Hainan Acoustics Laboratory under grant ZKNZ2024001.
文摘Underwater target detection in forward-looking sonar(FLS)images is a challenging but promising endeavor.The existing neural-based methods yield notable progress but there remains room for improvement due to overlooking the unique characteristics of underwater environments.Considering the problems of low imaging resolution,complex background environment,and large changes in target imaging of underwater sonar images,this paper specifically designs a sonar images target detection Network based on Progressive sensitivity capture,named ProNet.It progressively captures the sensitive regions in the current image where potential effective targets may exist.Guided by this basic idea,the primary technical innovation of this paper is the introduction of a foundational module structure for constructing a sonar target detection backbone network.This structure employs a multi-subspace mixed convolution module that initially maps sonar images into different subspaces and extracts local contextual features using varying convolutional receptive fields within these heterogeneous subspaces.Subsequently,a Scale-aware aggregation module effectively aggregates the heterogeneous features extracted from different subspaces.Finally,the multi-scale attention structure further enhances the relational perception of the aggregated features.We evaluated ProNet on three FLS datasets of varying scenes,and experimental results indicate that ProNet outperforms the current state-of-the-art sonar image and general target detectors.
基金National Natural Science Foundations of China under Grant(Nos.61971307,61905175,51775377)National Key Research and Development Plan Project(No.2020YFB2010800)+5 种基金Fok Ying Tung Education Foundation(No.171055)China Postdoctoral Science Foundation(No.2020M680878)Guangdong Province Key Research and Development Plan Project(No.2020B0404030001)Tianjin Science and Technology Plan Project(No.20YDTPJC01660)Foreign Affairs Committee of China Aviation Development Sichuan Gas Turbine Research Institute(Nos.GJCZ-2020-0040,GJCZ-2020-0041)Science and Technology on Underwater Information and Control Laboratory under Grant(No.6142218081811)。
文摘The disguised covert detection method that imitates whale calls has received great attention in recent years because it can solve the traditional problem of the trade-off between long-range detection and covert detection.However,under strong reverberation conditions,traditional echo signal processing methods based on matched filtering will be greatly disturbed.Based on this,a disguised sonar signal waveform design is proposed based on imitating whale calls and computationally efficient anti-reverberation echo signal processing method.Firstly,this article proposed a disguised sonar signal waveform design method based on imitating whale calls.This method uses linear frequency modulation(LFM)signals to replace LFM-like segments in real whale calls,and extracts the envelope of the real whale call’s LFM-like segment to modify the LFM signal.Secondly,this article proposed an echo signal processing method of fractional Fourier transform(FrFT)based on target echo locating of synchronization signals.This method uses the synchronization signal to locate the target echo,and determines the step-size interval of the FrFT based on the information carried by the synchronization signal.Compared with the traditional FrFT,this method effectively reduces the amount of calculation and also improves the anti-reverberation ability.Finally,the excellent performance of the proposed method is verified by simulation results.
