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首页 > 过刊浏览>2021年第4卷第6期 >446-452. DOI:10.19838/j.issn.2096-5753.2021.06.003
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AUV移动探测下基于U-Net网络的本体噪声去除
作者:
作者简介:

李黎明(1999-),男,硕士生,主要从事水下噪声信号处理和水下机器人自主环境感知方向的研究。

中图分类号:

TB566

基金项目:

中国科学院先导专项子课题(XDC03060105)；国家自然科学基金项目(61973297)；中国科学院青年创新促进会课题(2020209)；机器人学国家重点实验室课题(2017-Z010)


Self-noise Removal Using U-Net for AUV-based Underwater Target Detection
Author:
  • LI Liming

    LI Liming

    State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016 ,China ；Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169 ,China ；University of Chinese Academy of Sciences,Beijing 100049 ,China
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  • ZHANG Weizhi

    ZHANG Weizhi

    State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016 ,China ；Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169 ,China ；School of Artificial Intelligence,Shenyang University of Technology,Shenyang 110870 ,China
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  • JI Ziliang

    JI Ziliang

    State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016 ,China ；Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169 ,China ；School of Information Engineering,Shenyang University of Chemical Technology,Shenyang 110142 ,China
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  • JING Yan

    JING Yan

    State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016 ,China ；Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169 ,China
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  • PANG Guofu

    PANG Guofu

    State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016 ,China ；Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169 ,China
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  • WANG Li

    WANG Li

    State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016 ,China ；Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169 ,China
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  • SONG Sanming

    SONG Sanming

    State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016 ,China ；Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169 ,China
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  • 摘要
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    摘要:

    在基于移动 AUV(自主水下机器人)平台的水下机动目标探测场景中，由于拖曳能力和探测孔径的限制，目标噪声极易淹没在本体噪声中。而且，本体噪声与目标噪声具有非常相似的频谱特性和倍频关系，进一步加重了目标噪声分析的难度。为降低本体噪声的影响、提高目标噪声的信噪比，开展了基于 U-Net 深度网络的水下混合噪声信号分离算法研究。通过仿真模型测试了算法在不同转速差、桨叶数差以及目标噪声信噪比条件下去除本体噪声的性能。实验结果初步表明：在目标信号信噪比不低于–10 dB 的条件下，算法可以对本体噪声进行有效去除。

    Abstract:

    Due to the limitation of towing capability and detection aperture，the target noise is easy to be submerged by the self-radiated noise under the condition of underwater moving target detection based on AUV ( Autonomous Underwater Vehicle ) platform. Moreover ， the self-radiated noise has very similar spectral characteristics and frequency doubling relationships with target noise，which further aggravated the difficulty of target noise analysis. To reduce the influence of self-radiated noise and improve the signal-to-noise ratio of target noise，a source separation algorithm designed for underwater mixed noise condition based on U-Net is proposed. Performance of our algorithm is tested with different rotational speed difference，blade number difference and target noise signal-to-noise ratio. The experimental results show that the proposed algorithm can effectively remove the self-radiated noise when the signal-to-noise ratio of the target signal is not less than -10dB.

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李黎明,张微之,季子良,等. AUV移动探测下基于U-Net网络的本体噪声去除[J].数字海洋与水下攻防,2021,4(6):446-452

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  • 在线发布日期: 2022-01-14
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