基于侧扫声呐的深海广域复杂地形快速搜探声图优化方法

Acoustic Image Optimization Method for Quick Exploration of Deep Sea Wide Area Complex Terrain Based on Side Scan Sonar

摘要:

针对海底复杂地形地貌场景,以及自主水下潜器(Autonomous Underwater Vehicle,简称AUV)航行时存在扰动,搭载大量程侧扫声呐设备进行广域快速搜探时,采集的侧扫声呐数据在生成图像时,存在严重的瀑布图畸变、增益失衡、亮暗不均的问题,难以直观呈现海底地形地貌。本文结合侧扫声呐成像原理、侧扫声呐设备特点、AUV运动传感信息、图像处理方法,提出融合运动特性与海底基线提取的畸变校正方法、融合侧扫声呐设备特性的垂向增益校正方法、自适应直方图均衡的亮度校正方法。实验表明,本文所述方法可清晰呈现地形地貌信息。

关键词:侧扫声呐;瀑布图畸变;增益失衡;亮度校正;AUV;

Abstract:

In response to the complex terrain and landforms of the seabed, as well as the disturbance during autonomous underwater vehicle (AUV) navigation, when carrying a large range side scan sonar for wide-area rapid exploration, distortion, gain imbalance, and uneven brightness, of waterfall of collected sonar data make it difficult to visually present the seabed terrain and landforms. This article combines the imaging principle of side scan sonar, the characteristics of side scan sonar equipment, AUV motion sensing information, and image processing methods to propose a distortion correction method that integrates motion characteristics with seabed baseline extraction, a vertical gain correction method that integrates the characteristics of side scan sonar equipment, and a brightness correction method that adapts histogram equalization. The experiment shows that the method described in this article can clearly present terrain and geomorphic information.

Key words:Side scan sonar;Waterfall distortion;Gain imbalance; Brightness correction; AUV;