Motion estimation in wide band synthetic aperture sonar based on the raw echo data using the method of displaced phase center antenna

Phase errors in synthetic aperture sonar (SAS) imaging must be reduced to less than one eighth of a wavelength so as to avoid image destruction. Most of the phase errors occur as a result of platform motion errors, for example, sway yaw and surge that are the most important error sources. The phase error of a wide band synthetic aperture sonar is modeled and solutions to sway yaw and surge motion estimation based on the raw sonar echo data with a Displaced Phase Center Antenna (DPCA) method are proposed and their implementations are detailed in this paper. It is shown that the sway estimates can be obtained from the correlation lag and phase difference between the returns at coincident phase centers. An estimate of yaw is also possible if such a technique is applied to more than one overlapping phase center positions. Surge estimates can be obtained by identifying pairs of phase centers with a maximum correlation coefficient. The method works only if the platform velocity is low enough such that a number of phase centers from adjacent pings overlap.

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.

An Efficient Acoustic Scattering Model Based on Target Surface Statistical Descriptors for Synthetic Aperture Sonar Systems

Acoustic scattering as the perturbation of an incident acoustic field from an arbitrary object is a critical part of the targetrecognition process in synthetic aperture sonar(SAS)systems.The complexity of scattering models strongly depends on the size and structure of the scattered surface.In accurate scattering models including numerical models,the computational cost significantly increases with the object complexity.In this paper,an efficient model is proposed to calculate the acoustic scattering from underwater objects with less computational cost and time compared with numerical models,especially in 3D space.The proposed model,called texture element method(TEM),uses statistical and structural information of the target surface texture by employing non-uniform elements described with local binary pattern(LBP)descriptors by solving the Helmholtz integral equation.The proposed model is compared with two other well-known models,one numerical and other analytical,and the results show excellent agreement between them while the proposed model requires fewer elements.This demonstrates the ability of the proposed model to work with arbitrary targets in different SAS systems with better computational time and cost,enabling the proposed model to be applied in real environment.

Range-instantaneous Doppler imaging of inverse synthetic aperture sonar

Because the existing range-Doppler algorithm in inverse synthetic aperture sonar (ISAS) is based on target model of uniform motion, it may be invalidated for maneuvering targets due to the time-varying changes of both individual scatter′s Doppler and imaging projection plane. To resolve the problem, a new range-instantaneous Doppler imaging method is proposed for imaging maneuvering targets based on time-frequency analysis. The proposed approach is verified using real underwater acoustic data.

声呐图像水下目标识别综述与展望

随着海洋资源开发和水下作业的增加,声呐图像水下目标识别已成为热门研究领域。该文全面回顾了该领域的现状和未来趋势。首先,强调了声呐图像水下目标识别的背景和重要性,指出水下环境复杂和样本稀缺增加了任务难度。其次,深入探讨了典型的成像声呐技术,包括前视声呐、侧扫声呐、合成孔径声呐、多波束测深仪、干涉合成孔径声呐和前视三维声呐等。接下来,系统地审视了二维和三维声呐图像水下目标识别方法,比较了不同算法的优劣,还讨论了声呐图像序列的关联识别方法。最后,总结了当前领域的主要挑战,展望了未来研究方向,旨在促进水下声呐目标识别领域的发展。

A motion compensation method for wide-swath synthetic aperture sonar

When the swath of Synthetic Aperture Sonar（SAS） is considerably wide, the spacevariant effect of motion errors becomes remarkable. This space-variant effect makes Displace Phase Center Algorithm（DPCA） invalid. To solve the problem, a motion compensation method for wide-swath SAS is proposed. This method uses mixed modulated Lagrange explicit time delay estimation（MMLETDE） to estimate the time delay between two successive pings of the raw echo data, and then motion errors are fitted by linear regression. After that, the raw echo data can be precisely compensated point by point with the estimations of motion errors.Simulation results show that the proposed method can obtain better motion estimation results than DPCA. The resolution measured on the reconstructed image processed by the proposed method is very close to the theoretical resolution. The lake trail results of high frequency and low frequency SAS data show that the quality of the images of the terrain area and small targets is significantly improved.

Synthetic aperture sonar movement compensation algorithm based on time-delay and phase estimation

The effects of movement errors on imaging results of synthetic aperture sonar and the necessity of movement compensation are discussed. Based on analyzing so-called displaced phase center algorithm, an improved algorithm is proposed. In this method, the time delay is estimated firstly, then the phase is estimated for the residual error, so that the range of movement error suited to the algorithm is extended to some extent. Some simulation results on computer and experimental results in the test tank using the proposed algorithm are given as well.

Automatic target recognition method for inverse synthetic aperture sonar imaging

To address the randomness of target aspect angle and the incompleteness of observed target in inverse synthetic aperture sonar（ISAS） imaging,a method for target recognition is proposed based on topology vector feature（TVF） of multiple highlights. Analysis of the projection relationship from 3 D space to 2 D imaging plane in ISAS indicates that the distance between two highlights in the cross-range scale calibrated image is determined by the distance between the corresponding physical scattering centers. Then, TVFs of different targets, which remain stable in various possibilities of target aspect angle, can be built. K-means clustering technique is used to effectively alleviate effect of the point missing due to incompleteness of the observed target. A nearest neighbor classifier is used to realize the target recognition. The ISAS experimental results using underwater scaled models are provided to demonstrate the effectiveness of the proposed method. A classification rate of 84.0% is reached.

结合偏航校正的合成孔径声呐大测绘带运动补偿方法

传统基于频域补偿相位的运动补偿方法难以校正姿态误差造成的波束照射方向偏转,因此提出了一种基于偏航校正的合成孔径声呐大测绘带运动补偿方法。首先,利用时延的距离空变特性校正时延估计野值,提高估计精度和稳健性;其次,通过在后向投影算法的成像过程中对实孔径成像网格进行旋转来校正偏航造成的波束照射方向偏转;最后,通过分段二维轨迹估计和分段成像克服运动误差的距离空变特性,实现大测绘带运动补偿。仿真结果表明,所提方法能够有效抑制偏航误差导致的点目标图像主瓣展宽、旁瓣升高和模糊现象。实验结果表明,相比于参考方法,所提方法在小偏航角和大偏航角条件下均显著提高了成像质量,有效校正了偏航造成的运动误差,实现了大测绘带精确成像。

合成孔径声呐时延估计误差校正改进算法

由相位解缠错误造成的时延估计误差会严重降低合成孔径声呐时延估计的精度。现有的时延估计误差校正算法采用二次函数作为时延的拟合模型,该模型在距离向近端和远端处不符合时延空变规律,拟合误差较大且无法估计载体的横荡和升沉运动。针对该问题,文章提出一种改进的时延估计误差校正算法,利用时延的距离空变函数代替二次函数作为拟合模型。数值仿真和实验结果表明,相较于参考算法,改进算法校正时延估计误差的效果更好、速度更快,同时还能准确地估计载体的横荡和升沉运动。运动补偿结果显示了改进算法能较好地提升成像质量。

基于改进SSD的合成孔径声纳图像感兴趣小目标检测方法

轻量化目标检测模型SSD-MV3(Single Shot Detection-MobileNet V3)因输入图像尺寸限制无法直接检测高分辨率大尺寸合成孔径声纳(Synthetic Aperture Sonar,SAS)图像中感兴趣小目标.为此,本文提出了一种新的目标检测方法HRSSD(High Resolution Single Shot Detection),该方法通过冗余切割确保SSD-MV3输入图像尺寸的规范以及感兴趣小目标的完整,并利用二次非极大值抑制保证检测结果的唯一.此外,提出了一种尺度、空间和通道注意力机制联合的特征提取模块,并利用该模块重新设计了SSD-MV3的基础网络和附加特征提取网络,记作SSD-MV3P(Single Shot Detection-MobileNet V3 Pro),使得SSD-MV3P能更有效的感知感兴趣小目标特征信息.实验结果表明,在感兴趣小目标检测数据集SST(Sonar Small Targets)上,SSD-MV3P的平均检测精度(mean Average Precision,mAP)比SSD-MV3提升4.39%.HRSSD实现了高分辨率大尺寸SAS图像感兴趣小目标的检测,并且保证了同一位置上检测结果的完整性和唯一性.

多子阵合成孔径声纳距离-多普勒成像算法

基于相位中心近似(PCA)的传统多子阵合成孔径声纳(SAS)成像方法忽略了近似误差的方位空变性,使得分布式目标的聚焦结果发生畸变。为解决这个问题,该文从收发阵元空间分置采样与相位中心近似采样的几何模型出发推导了一种考虑近似误差方位空变性的双程斜距历程,并将多子阵合成孔径声纳2维频域系统函数分解为收发分置畸变项和类收发合置项。在此基础上,采用复数相乘、插值实现收发分置畸变项的补偿,并利用距离-多普勒算法进行成像处理。相对传统方法,该文方法在整个测绘带内的近似误差更小,不会带来方位向上的位置偏移,能得到与真实目标位置一致的成像结果。

基于加权循环算法的高分辨成像波形设计

为实现感兴趣区域目标的高分辨成像,MIMO-SAS声呐(Multiple Input Multiple output SyntheticAper-tureSonar,MIMO-SAS)一般采用长的发射信号对目标进行照射,但发射信号过长会导致近距离目标和远距离目标回波产生混叠,从而引起距离模糊,影响目标成像质量。为了抑制距离向的模糊,通常的做法是降低脉冲重复率,然而脉冲重复率过低会导致MIMO-SAS方位向欠采样,使回波信号频谱相互混叠,声呐成像时会在方位向出现珊瓣,很难把目标回波有效分离出来。针对这个问题,提出一种基于加权循环算法(Muti-sequenceWeightedCyclic Algorithms,Multi-WeCAN)的阵列发射波形设计方法,通过计算机仿真发现,相比传统的发射波形,在不改变脉冲重复率的情况下,通过Multi-WeCAN波形设计方法能够有效抑制回波混叠,提高MIMO-SAS目标的成像质量。

Review of research on sonar imaging technology in China

Over the past 20 years,sonar imaging technology particularly for the high-technology sector has been a focus of research,in which many developed countries,especially those with coast lines,have been competing with each other.It has seen a rapid development with increasing widespread applications that has played an important and irreplaceable role in underwater exploration with great prospects for social,economic,scientific,and military benefits.The fundamental techniques underlying sonar imaging,including multi-beamforming,synthetic-aperture and inverse synthetic-aperture sonar,acoustic lensing,and acoustical holography,are described in this paper.This is followed by a comprehensive and systematic review on the advantages and disadvantages of these imaging techniques,applicability conditions,development trends,new ideas,new methods,and improvements in old methods over recent years with an emphasis on the situation in China,along with a bold and constructive prediction to some development characteristics of sonar imaging technology in the near future in China.The perspectives presented in this paper are offered with the idea of providing some degree of guidance and promotion of research on sonar imaging technology.

海底小目标高分辨合成孔径声呐成像技术研究进展

海底小目标的成像探测问题是海底探测领域的经典难题,合成孔径声呐技术为小目标高分辨成像与探测提供了主要技术手段。本文分析了现阶段合成孔径声呐所面临的主要能力提升问题,介绍了合成孔径声呐高分辨成像的基本原理以及多子阵成像技术,并且针对合成孔径声呐面临的技术难点,对运动误差估计与补偿技术、高测绘效率成像技术、非稳定直航下的高分辨成像技术进行了讨论,介绍了相关技术路线与研究进展,并在此基础上展望了海底小目标高分辨成像技术的发展趋势与应用前景。

几种海底电缆断裂点外部探测方法及对比

针对目前海上风电场运维阶段海缆断点快速探测及修复的需求,研究了海底电缆断点探测技术。结合具体案例,在判别特征、探测效率、干扰因素、定位精度等方面分析了声学和电磁学在海缆断点的探测能力。声学探测法具有断点判别特征明显、探测效率快、精度高、易受底质扰动影响等特点,电磁法与声学探测法存在较好的互补。实际作业中根据具体环境制定合适的探测方案,可有效提高断点探测效率和准确度。上述方法可广泛用于海底电缆断点检测领域,促进我国海上风电资源开发利用。

面向声呐图像水下目标分类的类脑SNN研究

声呐图像被广泛应用于复杂海况的水下救援和海底探测中,长时的人工搜索极易造成视觉疲劳而错失目标。无人潜航器可大幅降低搜索工作量和主观误差,但这取决于无人自主系统的能效和自动分类性能。卷积神经网络的训练和推理需要比较高的能耗,难以在无人潜航器的移动环境下部署和应用,而且声呐图像训练数据稀少和样本不平衡也增加了模型训练的难度。脉冲神经网络通过二进制离散的时序脉冲信号可以避免卷积神经网络中高昂的乘法计算代价,具有低能耗和高精度的特性。构建了可用于合成孔径声呐图像分类的浅层脉冲神经网络,设计了一种基于脉冲神经网络的小样本水下目标分类算法。采用基于风格迁移的模拟声呐图像生成方法和加权随机采样方法,缓解了声呐图像训练数据稀少和样本不平衡问题。实验表明,在声呐图像样本稀少和不平衡的情况下,算法的分类准确率高于ResNet50、VGG19和MobileNet V2等架构的卷积神经网络,达到91.11%。计算复杂度和能耗分析也表明,脉冲神经网络相比于卷积神经网络具有很大优势。脉冲神经网络是研究和实现类脑计算非常合适的模型,可满足无人水下航行器的移动计算需求,该研究对实现无人自主设备的智能应用具有先进的技术优势。

多子阵合成孔径声呐后向投影自聚焦成像方法

针对多子阵合成孔径声呐的非理想运动导致后向投影(Back Projection,BP)成像结果散焦的问题,提出一种结合自聚焦的后向投影成像方法。该方法首先对各脉冲回波数据进行粗栅格BP成像,然后根据图像对比度最优化准则估计出后向投影子图的相位误差,同时计算得到运动误差。最后,对相位补偿及包络搬移后的原始回波数据进行细栅格后向投影自聚焦成像,得到精聚焦图像。仿真结果表明,与传统的BP算法相比,该方法能有效改善运动误差下的多子阵SAS成像效果中显著提高点目标图像的分辨率、峰值旁瓣比及积分旁瓣比指标。

A simulation method on target strength and circular SAS imaging of Xrudder UUV including multiple acoustic scattering

Target strength(TS)and circular synthetic aperture sonar(CSAS)images provide essential information for active acoustic detection and recognition of non-cooperative unmanned undersea vehicles(UUVs),which pose a significant threat to underwater preset facilities.To access them,we propose an iterative physical acoustics(IPA)-based method to simulate the multiple acoustic scattered fields on rigid surfaces in high-frequency cases.It uses the Helmholtz integral equation with an appropriate Green's function in terms of the Neumann series,and then incorporates the ideas of triangulation and iteration into a numerical implementation.Then two approximate analytic formulae with precise physical meanings are derived to predict the TS and CSAS images of concave targets,respectively.There are no restrictions on the surface's curvature and the order of multiple scattering.The method is validated against the finite element method(FEM)for acoustic scattering from a sphere segment and against an experiment involving an X-rudder UUV's stern.On this basis,we simulate and analyze the TS and CSAS images of an X-rudder UUV.In addition,the influence of the angle of adjacent rudders on the multiple scattering characteristics is discussed.Results show that this method can potentially predict accurate UUV features,especially the multiple scattered features.

几种海底电缆探测方法比较分析

因海缆的直径通常较细,其埋设深度的测定是当前研究的难点。文中从海洋磁力仪、海缆探测仪、合成孔径声呐、SES2000 Medium-100型参量阵浅地层剖面测量系统(中剖系统)4种探测方法的探测原理展开,通过其在海缆探测中的实际应用情况,分析每种方法的适用范围及局限性。结果表明,中剖系统在探测海缆位置和埋深时准确度高,受影响因素较少,工作效率高,经济性更好。本研究为海缆埋深探测工程中的仪器设备选用提供了参考。