Simulation Research On Forward Looking Sonar Vision Region Detection Technology Based On The 3D Spatail Data Models For AUV

The simulation technology of Autonomous underwater vehicle (in short, AUV) has been receiving increasing attention, due to its safe, reliable, economic and other characteristics. Through the establishment of 3D spatial data models of submarine entity (including underwater objectives and environment topography), this topic carries on the virtual simulation for the vision region model of forward looking sonar (in short, FLS) and the resolution and simulation for detecting vision region of FLS. It provides the basic metrical data for the research of autonomous coordination technology.To begin with, according to the characteristic parameters of FLS configured in the AUV,FLS vision region vector models is set up by using five-point method. The five law vector model is not affected by AUV spatial six degree-of-freedom movement, which can accurately and effectively describe the vision region of FLS.Next, the establishment of underwater objects'3D spatial data models is based on three key aspects: FLS's requirements of target detection and underwater environment, data modeling method for 3D geography information system and expressing the body shape entity by using outside surface data that obtained via surface subdivision method.In addition, the detection method of vector-point is designed in the paper, by the detection of Vector coordinates and a partial vector of the object that falling into the region of the FLS, which completes the simulate detection of FLS.Last but not least, based on 3D visual simulation platform, the operation process of AUV forward-looking sonar is demonstrated with multi angles of view. It is the simulate detection of AUV forward-looking sonar via a imaginal and intuitive method.