基于水下地形圖像匹配的輔助導(dǎo)航技術(shù)研究
發(fā)布時間：2018-09-08 13:22
【摘要】：目前,水下潛器采用的導(dǎo)航系統(tǒng)大多是以慣性導(dǎo)航為核心進(jìn)行作業(yè)任務(wù),然而隨著時間的積累,慣性導(dǎo)航的定位誤差會越來越大,所以長時間的航行中,慣導(dǎo)所提供的導(dǎo)航定位信息也會不夠精確,影響作業(yè)效率。而水下輔助導(dǎo)航技術(shù)可以有效地修正慣導(dǎo)的導(dǎo)航誤差,并且具有定位精度高、時效強、隱蔽性好及自主性程度高等優(yōu)點。利用水下地形高程信息的水下輔助導(dǎo)航系統(tǒng)憑借低廉的價格、水下設(shè)備性能水平的提高、以及對慣性導(dǎo)航誤差的有效修正使水下潛器的工程適用性大大增強。因此,本文將利用水下潛器搭載的多波束測深系統(tǒng)實測水下地形高程數(shù)據(jù),將其轉(zhuǎn)換成聲納圖像,基于圖像處理算法,研究一套基于水下地形的輔助導(dǎo)航方法。本文首先將由多波束測深系統(tǒng)得到的數(shù)據(jù)進(jìn)行插值處理,轉(zhuǎn)換成聲納灰度圖像,提取水下地形圖像的紋理特征、不變矩特征,并分別分析各特征在圖像加噪、旋轉(zhuǎn)、改變分辨率、改變探測點等不同條件下,特征參數(shù)值所受的影響,選取抗干擾能力強的特征參數(shù)構(gòu)建圓形模板下特征向量。其次,對不同種類水下地形適配性問題進(jìn)行分析,設(shè)計依據(jù)水下地形圖像特征參數(shù)的適配性判斷方法,并與傳統(tǒng)適配性判斷條件對比,討論兩種方法優(yōu)缺點,歸納總結(jié)出新的水下地形適配性判斷條件。再次,為保證水下潛器定位導(dǎo)航精度,提高導(dǎo)航效率,本文設(shè)計基于水下地形圖像灰度的粗匹配、結(jié)合基于水下地形圖像特征向量的精匹配的分層匹配方式,并與傳統(tǒng)TERCOM地形匹配方法對比分析,闡明基于水下地形圖像匹配的優(yōu)點;對比分析最大互相關(guān)法計算航向角,本文設(shè)計多子圖坐標(biāo)法航向角估計,減少計算時間,同時進(jìn)一步提高定位精度。最后,為方便對算法高效、良好地使用,本文設(shè)計開發(fā)水下地形圖像輔助導(dǎo)航界面,闡述界面模塊功能及操作方法。
[Abstract]:At present, the navigation system of underwater vehicle is mostly based on inertial navigation. However, with the accumulation of time, the positioning error of inertial navigation will be more and more serious, so in the long time navigation, The navigation and positioning information provided by inertial navigation will not be accurate enough, which will affect the efficiency of operation. The underwater aided navigation technology can effectively correct the navigation error of inertial navigation, and has the advantages of high positioning accuracy, strong time, good concealment and high degree of autonomy. The underwater aided navigation system based on the elevation information of the underwater terrain greatly enhances the engineering applicability of underwater submersible because of its low price, the improvement of underwater equipment performance level and the effective correction of inertial navigation error. Therefore, in this paper, the elevation data of underwater terrain measured by multi-beam bathymetric system carried by underwater submersible are converted into sonar images, and a set of aided navigation method based on underwater terrain is studied based on image processing algorithm. In this paper, the data obtained from the multi-beam bathymetric system are firstly interpolated and converted into sonar grayscale images, then the texture features and moment invariant features of underwater terrain images are extracted, and the noise and rotation of each feature in the image are analyzed, respectively. Under different conditions, such as changing the resolution, changing the detection point, the characteristic parameter value is affected, and the characteristic parameters with strong anti-interference ability are selected to construct the characteristic vector under the circular template. Secondly, the adaptability of different kinds of underwater terrain is analyzed, and the adaptability judgment method based on the characteristic parameters of underwater terrain image is designed, and the advantages and disadvantages of the two methods are discussed by comparing with the traditional adaptability judgment conditions. A new judgment condition for the adaptability of underwater terrain is summarized. Thirdly, in order to ensure the positioning and navigation accuracy and improve the navigation efficiency of underwater submersible, this paper designs a grayscale coarse matching based on underwater terrain image and a hierarchical matching method based on fine matching of underwater terrain image feature vector. Comparing with the traditional TERCOM terrain matching method, the advantages of underwater terrain image matching are illustrated, and the maximum cross-correlation method is compared to calculate the heading angle. At the same time, the positioning accuracy is further improved. Finally, in order to facilitate the efficient and good use of the algorithm, this paper designs and develops the underwater terrain image aided navigation interface, and describes the function and operation method of the interface module.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP391.41
[Abstract]:At present, the navigation system of underwater vehicle is mostly based on inertial navigation. However, with the accumulation of time, the positioning error of inertial navigation will be more and more serious, so in the long time navigation, The navigation and positioning information provided by inertial navigation will not be accurate enough, which will affect the efficiency of operation. The underwater aided navigation technology can effectively correct the navigation error of inertial navigation, and has the advantages of high positioning accuracy, strong time, good concealment and high degree of autonomy. The underwater aided navigation system based on the elevation information of the underwater terrain greatly enhances the engineering applicability of underwater submersible because of its low price, the improvement of underwater equipment performance level and the effective correction of inertial navigation error. Therefore, in this paper, the elevation data of underwater terrain measured by multi-beam bathymetric system carried by underwater submersible are converted into sonar images, and a set of aided navigation method based on underwater terrain is studied based on image processing algorithm. In this paper, the data obtained from the multi-beam bathymetric system are firstly interpolated and converted into sonar grayscale images, then the texture features and moment invariant features of underwater terrain images are extracted, and the noise and rotation of each feature in the image are analyzed, respectively. Under different conditions, such as changing the resolution, changing the detection point, the characteristic parameter value is affected, and the characteristic parameters with strong anti-interference ability are selected to construct the characteristic vector under the circular template. Secondly, the adaptability of different kinds of underwater terrain is analyzed, and the adaptability judgment method based on the characteristic parameters of underwater terrain image is designed, and the advantages and disadvantages of the two methods are discussed by comparing with the traditional adaptability judgment conditions. A new judgment condition for the adaptability of underwater terrain is summarized. Thirdly, in order to ensure the positioning and navigation accuracy and improve the navigation efficiency of underwater submersible, this paper designs a grayscale coarse matching based on underwater terrain image and a hierarchical matching method based on fine matching of underwater terrain image feature vector. Comparing with the traditional TERCOM terrain matching method, the advantages of underwater terrain image matching are illustrated, and the maximum cross-correlation method is compared to calculate the heading angle. At the same time, the positioning accuracy is further improved. Finally, in order to facilitate the efficient and good use of the algorithm, this paper designs and develops the underwater terrain image aided navigation interface, and describes the function and operation method of the interface module.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP391.41
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