Research On Target Detection And Tracking Of Forward-looking Sonar

The underwater vehicles are sharp weapons for exploring the ocean,and the detection and tracking technology is a means to make the sharp weapon sharp enough.As the ‘eye’ of the underwater vehicles,forward-looking sonar can make underwater robots ‘see’ the things around them.Under the water,the side which is quick and accurate in getting familiar with everything around is equal to having an absolute opportunity.It is a challenging task to detect and track underwater targets with forward-looking sonar and underwater vehicles,and it is also of great significance in the highly anticipated marine strategic plan.Under this background,this thesis studies the target detection and tracking technology based on forward-looking sonar and designs the target detection and tracking algorithm and implements the system.Firstly,the thesis studies and designs the method and process of target detection using forward-looking sonar,taking the imaging characteristics of the Micron DST sonar in the actual underwater environment as the starting point,the thesis studies and implements a set of target detection algorithms based on improved fast median filtering,fuzzy enhancement based on membership degree,KSW segmentation,and DFS-based area labeling algorithm.For each part of the algorithm,the actual C++ class is implemented and encapsulated.The performance is verified by processing underwater data.Then,the next part is to design a target tracking method based on the particle filter algorithm.By analyzing various features in sonar image,the multi-features of Hu moments and template matching are introduced into the observation model and particle filter is carried out.The feasibility of the tracking algorithm is verified by underwater tracking experiment.The final part is the design of underwater target detection and tracking system based on embedded underwater acquisition and control system and PC terminal underwater display and control interface.By using VxWorks as the core of underwater embedded control and acquisition system,the control and acquisition program based on multi task is designed.Through the QT platform of PC,the UI interface is developed as the main control interface,and then a complete set of target detection and tracking system based on forward-looking sonar is established.Through the actual pool experiments and ocean experiments,it is verified that the forward-looking sonar target detection and tracking system designed in this paper can detect underwater targets and obstacles such as pool wall and cage,track underwater targets,provide the early warning function of the target obstacles in front of the ROV system,it achieves the expected functions.