Software Design For Off-line Processing System Of Phased-array 3D Sonar Data

With the development of underwater acoustic technology,its importance using in marine military,industrial is increasing,so the study in 3d acoustic data processing technology is of great significance. As 3d image sonar,Phased array 3d sonar camera as 3d images sonar, can gain distance, horizontal and vertical three-dimensional space information of target,.Compared with normal sonar, the image of Phased array 3D sonar is more clearer and has great visibility.However,due to greater technical difficulty,only a few countries in the world has done research on it..Therefore,the study on 3D phased array sonar imaging processing system has important theoretical significance and great pratical calue.Based on the project of phased array 3-D imaging sonar system (No. 2006AA09Z109)that is supported by the National High-Tech Research and Development Plan of China, this paper studys the 3d visualization and related techniques of 3D phased array sonar data. In this paper,a off-line processing and visualization system of 3D phased array sonar data is designed. The system consists of modules of sonar data parsing, single-frame construction, accurate registration, mosaicing and multi-frame reconstruction. Single-frame construction connets the discrete sonar points into strips by grid searching. The accurate registration module which includes Iterated Closest Point (ICP) algorithm with robust outlier rejection and Quasi-newton optimization, improves the precision of registration. The mosaicing module reconstruct a range of frames by multilevel resolutions, which supports rapid display at low resolutions and also precise display for details at high resolutions. Multi-frame reconstruction reconnets the sample points which are fused by the mosaicing for visualization. Test results show that this system can successfully complete the processing and visualization of 3D phased array sonar data.