Radial Error Analysis and Compensation for Forward Looking Scanning Sonar Imaging
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摘要: 该文提出了一种基于运动补偿的前视扫描声呐成像方法：采用后向映射，将扇形成像区域的直角坐标系转换成极坐标系，在极坐标系进行2维插值，提取幅度并转成图像格式。通过建立载体运动模型，分析载体运动，将载体运动影响转换为图像域移动，对前视声呐图像进行实时运动补偿，消除径向误差。分析了“深海勇士”号前视声呐数据，其单幅图像最大径向误差近似达到工作距离的19%。通过仿真和实验验证所提算法补偿了由载体运动造成的图像的径向误差，能准确表示目标信息。Abstract: Imaging method based on motion compensation for forward-looking scanning sonar is proposed. By using backward mapping, sector imaging region in the Cartesian coordinate system is converted into polar coordinates. Then two-dimension interpolation is employed in polar coordinates, and the amplitude is extracted and converted into image format. The vehicle motion model is established and analyzed, and vehicle motion is transformed into image domain motion. Real-time motion compensation for forward-looking sonar image is made eliminate radial errors. The forward-looking sonar data of the “Deep Sea Warrior” is analyzed. The maximum radial error of the single image is approximately 19% of the range. The simulation and experimental results show that this algorithm compensates the radial error of the image caused by the motion, which can represent the target information accurately.
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Key words:
- Forward-looking sonar /
- Backward mapping /
- Bilinear interpolation /
- Sonar imaging /
- Radial error /
- Motion compensation
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