Reliability measure assignment to sonar for robust target differentiation

This article addresses the use of evidential reasoning and majority voting in multi-sensor decision making for target differentiation using sonar sensors. Classification of target primitives which constitute the basic building blocks of typical surfaces in uncluttered robot environments has been considered. Multiple sonar sensors placed at geographically different sensing sites make decisions about the target type based on their measurement patterns. Their decisions are combined to reach a group decision through Dempster-Shafer evidential reasoning and majority voting. The sensing nodes view the targets at different ranges and angles so that they have different degrees of reliability. Proper accounting for these different reliabilities has the potential to improve decision making compared to simple uniform treatment of the sensors. Consistency problems arising in majority voting are addressed with a view to achieving high classification performance. This is done by introducing preference ordering among the possible target types and assigning reliability measures (which essentially serve as weights) to each decision-making node based on the target range and azimuth estimates it makes and the belief values it assigns to possible target types. The results bring substantial improvement over evidential reasoning and simple majority voting by reducing the target misclassification rate.     

声纳检测技术在盐腔评价中的应用

再利用采卤形成的盐腔得到了国内外越来越广泛的重视。声纳检测技术是盐腔再利用评价的基础。本文对声纳检测技术进行了详细介绍,并以金坛盐矿已有采卤盐腔改建储气库中为例,介绍了声纳检测技术在盐腔评价中的应用。     

Absolute localization for a mobile robot using place cells

This paper describes a method for absolute localization and environment recognition for an autonomous, sonar-equipped robot. The addition of an auto-associative memory to previously developed non-neural map making software results in a system that is capable of recognizing its environment and its position within the environment using remembered features and room geometry. In the prior system the robot used sonar to construct a metric map of an environment, but the map information had to be reconstructed each time the robot returned to an environment. We evaluated the system with a task that requires memory of the position of a goal that is not directly detectable by sonar.     

合成孔径声纳原理样机的湖上试验

在合成孔径声纳理想模型的基础上，讨论了该声纳的系统结构，并介绍了其原理样机的湖上试验情况。实验结果表明，在用成像算法对原始数据进行处理后，很好地得到了目标的图像。该合成孔径声纳系统的方位向与距离向成像分辨率均小于0.5m，完全达到了设计要求，从而表明该系统的设计是成功的。     

Improved synthetic aperture sonar motion compensation combined DPCA with Sub-Aperture Image Correlation

Estimation precision of Displaced Phase Center Algorithm (DPCA) is affected by the number of displaced phase center pairs, the bandwidth of transmitting signal and many other factors. Detailed analysis is made on DPCA’s estimation precision. Analysis results show that the directional vector estimation precision of DPCA is low, which will produce accumulating errors when phase cen-ters’ track is estimated. Because of this reason, DPCA suffers from accumulating errors seriously. To overcome this problem, a method combining DPCA with Sub Aperture Image Correlation (SAIC) is presented. Large synthetic aperture is divided into sub-apertures. Micro errors in sub-aperture are estimated by DPCA and compensated to raw echo data. Bulk errors between sub-apertures are esti-mated by SAIC and compensated directly to sub-aperture images. After that, sub-aperture images are directly used to generate ultimate SAS image. The method is applied to the lake-trial dataset of a 20 kHz SAS prototype system. Results show the method can successfully remove the accumulating error and produce a better SAS image.     

基于FPGA的多路声呐信号采集卡的设计

介绍了声呐技术及其应用,并根据声呐特性选择设计使用的功能芯片.较为详细地阐述了用FPGA实现多路声呐信号的模数转换和SRAM乒乓存储.最后给出FPGA各功能模块仿真图.     

Root cause analysis of the fracture of a sonar window caused by hydrostatic,hydrodynamic, and transient forces around a ship

Sonar systems are installed in naval vessels to inspect objects in the sea. When the system is installed at the bulbous bow of the ship, it can be vulnerable to fractures in rough seas due to hydrostatic and hydrodynamic forces, such as fluid-induced forces, and transient forces, such as slamming and collision with submerged foreign objects. In this paper, root causes analysis (RCA) of the fracture of a sonar window of a typical naval vessel was performed. To identify the root causes of the fracture, a numerical analysis was performed of the stress distribution on a sonar window under various extreme conditions. The results of the analysis, together with hypotheses of the causes of the fracture, are presented. The results of the analysis were verified by measuring the stress on the sonar window under typical sailing conditions of ships. The RCA demonstrated that buckling in response to the hydrostatic forces applied under the typical operating conditions of a water management system (WMS), in addition to excessive slamming, can cause a sonar window to fracture. Based on this RCA, corrective actions to prevent sonar window fractures include changing the material of the window and the operating conditions of the WMS.     

一种主/被动声呐目标回波信号模拟器的研制

根据实际需要，研制了一种主／被动声呐目标回波信号模拟器，该模拟器能够产生主／被动声呐测试、定检所需的主／被动声呐目标回波信号，目标回波信号中包含主动声呐、目标辐射噪声、海杂波、混响等信号，信号输出形式包括声信号和电信号2种。该模拟器可在空气介质条件下，实现声呐接收、处理、显示系统的定检，以及声呐测距系统和方位系统的定检；在水声环境中，可实现对接收换能器方向性、接收系统灵敏度等的测试。通过性能测试及与实际声呐系统联试，证明该模拟器达到了设计功能和性能指标要求，已交付用户使用。这里对其主要数学模型、系统硬件结构、软件流程进行了简要介绍。     

基于前视声呐的水下目标检测算法研究

水声目标检测就是从水声取目标信息并进行识别,而有效的水声标检测在现代化的海洋开发中有着十分重要的作用;首先,介绍了水声目标检测所采用的设备,以及该设备的工作方式,并搭建试验场景进行水声回波的采集;其次,对水声标检测算法进行了研究,比对不同的滤波算法可知,中值滤波方法的去噪效果更佳;进行了灰度直方图分析,对目标的灰度范围进行了增强处理;对图像分割算法进行了研究,设计了一种自适应迭代分割算法,对比其他方法有着更好的处理效果;对分割后的图像进行连通域查找,目标筛选,从而识别出待检测目标;试验结果验证了该水声目标检测算法在对水下目标的检测识别上的有效性。