Design And Implementation Of Marine Laser Imaging Radar Software Based On C++

In recent years,with the rapid development of the development of Marine resources,3D imaging of Marine targets presents a huge demand in submarine topographic and geomorphological mapping,national defense and military applications.As an emerging technology in the field of ocean exploration,lidar has the advantages of non-contact,high resolution and good directivity,etc.It can be applied in the fields of ocean resource exploration and underwater target detection,etc.Based on this,the research of Marine lidar system has attracted extensive attention from all countries in the world.Range gating laser imaging radar,as a relatively mature laser imaging technology,can effectively reduce the backscattering interference,and has been widely used in both underwater and land imaging technology research.Due to the constant progress of the radar hardware system in recent years,radar imaging software gradually brought to the attention of the people,however,the commercial point cloud processing software currently on the market generally adopt the way of data processing,namely by the laser radar in the field to get point cloud data,and then import it into point cloud processing software for processing,it will lost the imaging efficiency of software,and the commercial software can not cooperate with the hardware system for synchronous control,unable to meet the actual application needs.In this paper,aiming at these problems,based on the c++ programming language to design the range gated laser imaging radar three-dimensional point cloud real-time imaging software,the software based on the range gated laser imaging principle,implements the sequential control of laser and delay,high-speed processing,point cloud data filtering de-noising and 3D image real-time display,build cloud splicing algorithm model,the point cloud data processing algorithm is proposed,and the outlier point filtering method is used to filter and denoise the point cloud.The obtained target distance information is solved by 3D point cloud,and the real-time display of 3D point cloud image of the target is realized.The main research contents of this paper are as follows:Firstly,the principle of 3D imaging of Marine lidar is introduced.Introduced the range gated laser imaging system working principle of radar,which contains the range resolution of the system were analyzed,and the paper chooses laser radar threedimensional image reconstruction method,design point cloud data processing algorithm,at the same time introduced the use of point cloud filtering denoising algorithm,and established the three-dimensional point cloud based on the calculating model,finally this paper introduces the principle of point cloud splicing.The point cloud coarse registration model was constructed and the point cloud ICP precise registration algorithm flow was analyzed.Secondly,the software of Marine laser imaging radar is designed.From transmitting optical system,the receiving optical system,synchronous control system three parts is introduced and analyzed the system's hardware structure,and according to the radar system design needs to choose the suitable software development platform and the function library,through the software module design idea,design the function of the realization of the system software modules principle,working process and algorithm,the function of each module is integrated in the software interface to realize the interaction with users.Finally,using the design of Marine laser imaging radar software has carried on the experimental research,a target in the air,sea surface target,underwater target,and through the glass tank target 3D imaging experiments,the imaging effect analysis,the range resolution and point cloud point cloud splicing algorithm is proved to be correct,the validity of the software data processing algorithm and the stability of the operation,and the software's three-dimensional imaging capabilities in the Marine environment.