水下航行器自由视角探测的多波束声呐仿真  

Simulation of multi-beam sonar for free-viewpoint detection of underwater vehicles

作　　者：陈德山 王之森[1,3] 汪洋 吴兵 CHEN Deshan;WANG Zhisen;WANG Yang;WU Bing(State Key Laboratory of Maritime Technology and Safety,Wuhan 430063,China;Intelligent Transport Systems Research Center,Wuhan University of Technology,Wuhan 430063,China;School of Transportation and Logistics Engineering,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]水路交通控制全国重点实验室,湖北武汉430063 [2]武汉理工大学智能交通系统研究中心,湖北武汉430063 [3]武汉理工大学交通与物流工程学院,湖北武汉430063

出　　处：《华中科技大学学报（自然科学版）》2024年第4期30-36,共7页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家重点研发计划资助项目(2023YFC3010803);湖北省重点研发计划资助项目(2023BCB123);国家自然科学基金资助项目(52272424)。

摘　　要：针对水下航行器运动与水下声学感知过程中因多因素强耦合导致相关联合仿真模型缺失问题,提出一种适用于水下自由视角探测的运动位姿和声呐图像高逼真耦合仿真方法.首先建立多波束图像声呐几何模型,并提出声呐视域简化方法,实现声呐图像快速生成;其次建立水下地形、航行器路径和探测视角耦合的自由扫测模型,实现水下自由视角扫测与成像;最后针对声呐图像干扰的高逼真仿真问题,提出一种基于实测数据拟合的结构化噪声和回波重影建模方法,进一步提高仿真声呐图像的逼真度.实验结果表明:该模型能够有效实现水下航行器自由视角扫测过程的位姿和声呐数据组合仿真,生成具有一定逼真度的多波束声呐图像.In response to the problem of the lack of related joint simulation models caused by strong coupling of multiple factors in the motion and underwater acoustic perception processes of underwater vehicles,a high-fidelity coupled simulation method for motion pose and sonar image applicable to underwater free-view exploration was proposed.First,a multi-beam image sonar geometry model was established,and a simplified sonar field of view method was proposed to achieve fast image generation.Then,a free scanning model was established by coupling underwater terrain,vehicle trajectory,and detection viewpoint to achieve underwater free-viewpoint scanning and imaging.Finally,for the high-fidelity simulation issue of sonar image interference,a structured noise and echo contour modeling method based on measured data fitting was proposed to improve the fidelity of simulated sonar images.Experimental results show that the model can effectively realize the combined simulation of the position and sonar data in the free-viewpoint scanning process of the underwater vehicle,and generate multi-beam sonar images with a certain degree of fidelity.

关 键 词：水下航行器 自由视角 多波束声呐 射线声学 声呐图像仿真 

分 类 号：U666.7[交通运输工程—船舶及航道工程]