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Avoidance Sonar Data Acquisition and Processing System

Author: WeiLai
Tutor: XuWenHai
School: Dalian Maritime University
Course: Information and Communication Engineering
Keywords: Sonar Reverberation Image processing Feature Extraction
CLC: TP274.2
Type: Master's thesis
Year: 2010
Downloads: 106
Quote: 0
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Abstract


UUV (Unmanned Underwater Vehicle) the obstacle for Preventing Collisions technology UUV safe navigation and completed all scheduled tasks of underwater premise and foundation , therefore the UUV obstacle for Preventing Collisions technology in today 's world by various countries are increasingly widespread concern . Study the subject for Preventing Collisions sonar data acquisition and processing system will provide full and accurate the UUV active for Preventing Collisions at external obstacle information , collision avoidance sonar data acquisition and processing system will directly affect no of people submerged underwater navigation safety. This topic is touched by the avoidance sonar overall system design and construction , collision avoidance sonar data acquisition , collision avoidance sonar data processing consists of three parts . Avoid the touch Sonar overall system design and build major design both to conform to today 's unmanned underwater robot technology for Preventing Collisions at the latest development requirements , and consistent with of UUV this topic features a set of sonar data acquisition for Preventing Collisions and processing system . Preventing Collisions sonar data acquisition using mechanical scanning RS232 communication protocol to avoid hitting the sonar of Preventing Collisions sonar image data acquisition , image data will be collected from the coordinate transformation and beam interpolation , composed for machine processing and identification data. Preventing Collisions sonar data processing is a core part of this topic , the sonar image data will be collected for different types of noise in the sonar image denoising smoothing , image segmentation , morphological image processing method , remove the image noise contour extraction algorithm , and then be used for contour extraction of the closed space in the sonar image , the pre-set area of the contour of the threshold value, a large area reserved contour , excluding a small area of ??the noise . The final obstacle information ( the size of the obstacle in the sonar image extracted using the information extraction method based on morphological characteristics , distance) and the obstacle information is transmitted to the UUV central control unit. Through the underwater laboratory experiments and sea field experiments , carried out a series of tests the performance of sonar data acquisition and processing part . The experimental data indicate that the detected obstacle information with good stability and reliability, and to achieve the purpose of research of this subject .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Data processing, data processing system > Data collection and processing systems
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