Research Of USV Radar Image Target Detection System

As the tools of monitoring marine environment, maintaining the Marine rights and interests and modern military weapons, USV has wide application prospect. It has become the research focus in the intelligent Marine equipment at home and abroad. In the complex ocean environment, real-time and accurate dynamic information under the unknown environment is the premise to realize USV’s autonomous navigation and important basis for collision avoidance decision-making control. In this article, through the acquisition and analysis of radar image data on USV, using image processing methods of the radar to realize target feature extraction and tracking in image sequence.Aimed at the characteristic of targets trajectory extrapolation under rectangular coordinate system, converting the radar image data from polar coordinates to rectangular coordinate system transformation, and making up the empty exist in the process of converting data point defect; Using noise smoothing algorithm, image segmentation algorithm and morphological post-processing method to pretreat the radar image which contains noise information and isolated noise.Aimed at the characteristic of radar image targets under the Marine environment, extracting characteristic value (including target position, target area) to match in image sequence which contains multi-targets; Aimed at the boundary burr problem, combining the connected area with eight neighborhood boundary contour tracking algorithm and modifying the target contour tracking algorithm to extract targets contour and realize radar targets boundary location information access.Aimed at the characteristic of targets leakage problems under complicated Marine environment, using the adaptive filter algorithm, variable gain filtering algorithm and const gain filter algorithm respectively to estimate target motion simulation. The simulation results show that the tracking coefficient of adaptive filtering algorithm can change following targets motion state and adaptive filtering algorithm has better tracking ability. On the basis of simulation research, designed and implemented USV radar image targets detection system based on adaptive targets tracking algorithm. By prototype testing on the sea, the system can relatively accurately detect and track radar targets in the image sequence.