用于水下机器人的主动侧扫声呐图像预处理技术  

Pre-processing Techniques for the Side Scan Sonar Images Used in ROV

作　　者：高延增[1] 叶家玮[1] 陈爱国[1] 

机构地区：[1]华南理工大学土木与交通学院,广州510641

出　　处：《船海工程》2009年第2期97-100,共4页Ship & Ocean Engineering

摘　　要：分析了侧扫声呐接收机的噪声来源:自噪声和水体噪声,概括了它们影响声呐接收机的辐射路径;求出回波噪声的数字特征,在此基础上给出单扫描角度上声呐图像数据的递归最小二乘滤波算法,可提高水下机器人路径规划算法的实时性。使用超小型远程操纵机器人(ROV)搭载SeaSprite声呐在船池中实验,对比给出预处理前后的声呐回波数据的还原图像,显示效果明显改善。This paper classified the noise sources of the side-scan sonar to be self noises and water noises,and mapped the radiation paths to the sonar receiver. Numerical characteristic was calculated in order to give the recursive least square filter which could be used for single-scan degree sonar image and improve the underwater robot path planning method＇s real time. Experiment was taken place at the ship model towing tank used SeaSprite sonar boarded on Video Ray Pro Ⅲ ROV, and the result images reverted from sonar data that filtered by the recursive least square filter were given.

关 键 词：侧扫声呐 噪声模型 递归最小二乘滤波 图像声呐 

分 类 号：U666.7[交通运输工程—船舶及航道工程]