Divergent-beam Lidar imaging in turbid water

Although there are rapid developments of underwater robotics vehicles in recent years, the underwater visual sensing or/and underwater imaging is still regarded as a major undertaking challenge, particularly in turbid water condition. Currently, a divergent-beam underwater Lidar imaging (UWLI) system has been finished and it precisely captured nano-seconds fast-gated images in highly turbid water. This permits the receiver to collect only the image-containing light pulse returned by the target and thus reduce the water-scattering related noise of underwater image dramatically. The end result is greatly improved intensity and contrast of the detected images. Based on our newly designed series targets, we are the first to successfully demonstrate UWLI in such a short 3 m water tank, and show the fast range-gated phenomenon in water much more clearly. The attenuation coefficients in turbid waters are 1.0 m and 2.3 m⁻¹, respectively.     

浅海被动水下偏振成像探测方法

针对传统被动水下偏振成像方法忽略水体对光的吸收效应,成像结果中存在严重的色彩失真,且并未深入发掘利用背景散射光中包含的场景信息的问题.提出浅海被动水下偏振成像探测方法,该方法从水体中背景散射光的传输特性出发,分析场景深度信息与散射光的物理关系,建立基于深度信息的水下Lambertian反射模型,实现无色彩畸变的水下目标场景清晰成像探测.实验结果表明,该方法能够提供接近水下目标真实色彩、符合人眼视觉特性的清晰探测结果,提高水下成像探测能力.     

上行链路大气波前畸变对剪切光束成像技术的影响

剪切光束成像（sheared-beam imaging,SBI）技术是一种利用三束剪切相干激光照明的非传统成像技术,该技术通过探测器阵列接收目标反射回波的散斑图进行计算成像,在对远距离暗弱目标高分辨率成像方面有着独特的优势.大气湍流引起的光束波前畸变是影响SBI成像质量的一个关键因素,因此本文从湍流引起的激光波前畸变对目标频谱信息提取的影响入手,建立了光束波前畸变对成像影响的理论模型.利用多层相位屏模型模拟了近地25 km大气对SBI光束传输的影响.通过计算机仿真,得到了不同激光发射孔径和不同成像距离时SBI的成像结果.仿真结果表明,选取合适的发射孔径尺寸可以有效缓解湍流对光束波前质量的影响,从而提升成像质量.在Hutchin的研究基础上,对孔径选择范围的已有研究成果进行了扩展与深化.给出了SBI系统发射孔径尺寸选取的建议,为SBI对不同高度目标成像的像质差异分析提供了参考.     

基于实孔径成像的水下高速小目标末弹道 测量方法

在没有合作声信标和水下弹道测量系统配合的条件下,传统的基线定位法难以测量水下高速小目标末弹道。文中提出了一种测量高速小目标末弹道的方法,该方法通过在靶标上安装实孔径声学成像系统,发射双曲调频信号保持系统在目标回波多普勒偏移量较大时的输出幅值稳定,并采用频域宽带信号处理技术修正多普勒偏移造成的目标方位测量误差和抑制混响干扰,经过湖上试验,系统获取了较清晰的声学图像,准确分辨出目标位置,能够较精确地测量高速小目标末弹道。     

基于Stokes矢量的实时偏振差分水下成像研究

偏振差分水下成像能够有效地克服光散射效应造成的图像退化问题, 在水下物体探测与识别领域具有重要应用价值. 传统的偏振差分方法靠光学检偏器的无规则机械转动来实现对散射背景的共模抑制, 限制了其在水下成像过程中的实时探测性能. 本文通过分析偏振差分探测原理来建立偏振差分成像模型, 从理论上提出了基于Stokes矢量的计算偏振差分水下实时成像系统, 并进行了实验验证. 研究结果表明, 基于Stokes矢量的计算偏振差分成像不仅与传统的偏振差分方法具有相同的水下探测效果, 更重要的是可以实现快速成像过程. 该方法可以应用到目前的偏振成像仪器系统, 实现无需人-机互动的自动化实时偏振差分水下成像, 进一步提高水下物体探测与识别的效率.     

剪切光束成像技术对纵深目标的成像

剪切光束成像技术是一种能透过大气湍流对远距离目标实现高分辨率成像的主动成像技术.现有相关研究中所采用的目标均为二维平面目标,然而现实中的目标一般都具有三维形貌,目标纵深对回波信号产生的延迟或对成像质量产生不利影响.从剪切光束成像理论出发,在二维目标成像模型的基础上建立了三维纵深目标成像模型,并利用该模型研究了两剪切光与参考光间的频差及目标纵深对成像的影响.仿真结果表明,随着拍频的增大,重构图像质量逐渐下降.剪切光束成像技术可通过减小拍频来提高真实目标成像质量.     

Passive Tracking of Multiple Underwater Targets in Incomplete Detection and Clutter Environment

A major advantage of the use of passive sonar in the tracking multiple underwater targets is that they can be kept covert, which reduces the risk of being attacked. However, the nonlinearity of the passive Doppler and bearing measurements, the range unobservability problem, and the complexity of data association between measurements and targets make the problem of underwater passive multiple target tracking challenging. To deal with these problems, the cardinalized probability hypothesis density (CPHD) recursion, which is based on Bayesian information theory, is developed to handle the data association uncertainty, and to acquire existing targets’ numbers and states (e.g., position and velocity). The key idea of the CPHD recursion is to simultaneously estimate the targets’ intensity and the probability distribution of the number of targets. The CPHD recursion is the first moment approximation of the Bayesian multiple targets filter, which avoids the data association procedure between the targets and measurements including clutter. The Bayesian-filter-based extended Kalman filter (EKF) is applied to deal with the nonlinear bearing and Doppler measurements. The experimental results show that the EKF-based CPHD recursion works well in the underwater passive multiple target tracking system in cluttered and noisy environments.     

水下对空成像的光学计算模型

海面波浪对光线的扰动以及海水对光的吸收和散射对水下对空成像有重大影响。建立了水下对空成像的光学计算模型，采用基于PM谱的海浪模型和基于小角度散射理论的水下辐射场传输模型，利用光线追迹分析波浪对光线的扰动，得到了像面照度的分布。仿真结果的分析表明，像面上的照度由视场中心向边缘递减，并随成像深度增加按指数衰减，海浪对图像的破坏程度在消光边界附近最大。     

时域压缩合成孔径超分辨水声成像算法

提出一种针对水下稀疏目标的时域压缩合成孔径声呐成像方法(TC-SAS),实现了水声目标高分辨实时成像。通过多子阵的孔径合成,在时域上构造出成像网格格点到有效孔径内逐帧阵列的格林函数,并给出成像区域散射强度到数据域的映射矩阵;然后利用该区域空域稀疏的先验知识,通过正交匹配追踪的稀疏重构方式,解算出成像区域散射系数矩阵,实现了稀疏目标高分辨成像.同时,针对线性调频信号提出数据缩减的方法,通过对观测数据和字典矩阵同时脉压后截取,减小了数据规模;进一步结合二维矩阵数表查表的方法,以空间换时间,实现了区块实时成像。数值仿真以及湖试试验表明,所提算法能分辨出传统的时延求和算法难以分辨的目标,并且在图像清晰度指标上平均提升4.9 dB.改善了合成孔径声呐的成像质量.      

光谱成像技术在海域目标探测中的应用

近年来,随着光谱成像技术的发展,机载成像光谱仪在海域军事目标的侦察中得到了新的应用。基于此,本文首先从高光谱成像仪的基本原理及特性出发,介绍了高光谱成像仪在海洋军事目标探测方面的应用现状。其次,分别从水面目标探测和水下目标探测两方面综合分析了光谱成像技术在海域目标探测中的应用。对于海面目标探测,多项关键技术获得突破,但当前算法仍然难以解决实时性问题;对于水下目标探测,本文主要以水下潜艇探测为例探讨了利用高光谱成像仪对水下目标进行探测的关键技术及相关可行性方案。分析可知,光谱成像技术用于海洋军事探测从技术上具有可行性且前景广阔,但仍需解决相关算法的效率及精度等关键问题,这对推动光谱成像技术在海域目标探测中的应用具有重要意义。     

透过散射介质对直线运动目标的全光成像及追踪技术

光散射是限制光传输以及降低和破坏光学成像性能的主要因素,透过复杂散射介质对运动目标的全光成像是光学领域极具挑战性的技术之一.本文提出一种利用散斑差值自相关透过散射介质对运动目标进行实时追踪的方法.采用赝热光照明,基于光学记忆效应理论,通过对运动目标采集的两帧散斑做差值,然后做自相关运算,计算目标移动的距离,实现对目标的实时追踪,并且利用相位恢复算法进行简单处理就可以重建隐藏目标.对该方法进行了实验验证,成功地对隐藏的运动目标实现了成像与追踪.这种透过散射介质对运动目标的全光成像及实时追踪技术,在生物医学等领域具有重要应用潜力.     

Anomalous sea surface reverberation scale model experiments

Low frequency sea surface sound backscattering from approximately 100 Hz to a few kHz observed from the 1960s broadband measurements using explosive charges to the Critical Sea Test measurements conducted in the 1990 s is substantially higher than explained by rough sea surface scattering theory. Alternative theories for explaining this difference range from scattering by bubble plumes/clouds formed by breaking waves to stochastic scattering from fluctuating bubble layers near the sea surface. In each case, theories focus on reverberation in the absence of the large-scale surface wave height fluctuations that are characteristic of a sea that produces bubble clouds and plumes. At shallow grazing angles, shadowing of bubble plumes and clouds caused by surface wave height fluctuations may induce first order changes in the backscattered signal strength. To understand the magnitude of shadowing effects under controlled and repeatable conditions, scale model experiments were performed in a 3 m x 1.5 m x 1.5 m tank at the Technical University of Denmark. The experiments used a 1 MHz transducer as the source and receiver, a computer controlled data acquisition system, a scale model target, and a surface wave generator. The scattered signal strength fluctuations observed at shallow angles are characteristic of the predicted ocean environment. These experiments demonstrate that shadowing has a first order impact on bubble plume and cloud scattering strength and emphasize the usefulness of model scale experiments for studying underwater acoustic events under controlled conditions.     

水下运动目标激光扫描测距方法研究

相对于传统水下光电成像,水下激光扫描成像系统可以获得更远的作用距离和更好的图像质量.基于激光同步扫描技术,提出了水下运动目标的测距方法,并对测距误差进行了定量分析,为水下目标测距提供了一个新的途径.其中单探测头水下激光扫描测距方法能对合作目标进行测距,在近距离时具有较高的测距精度,双探测头水下激光扫描测距方法能对非合作...     

Control and image processing for streak tube imaging lidar based on VB and MATLAB

In this letter, we develope a control and image processing system for Streak Tube Imaging Lidar （STIL）. In the system, the data acquisition card control and the software interface are programmed in Visual Basic （VB） while the image processing is finished by MATLAB. A STIL imaging experiment is carried out in the laboratory. We obtained the intensity and range images of targets with pseudo color by image processing and reconstruction for a set of raw streak images of targets at different distances acquired by STIL. The range resolution is better than 2 centimeters.     

四光束剪切相干成像目标重构算法研究

针对传统剪切光束成像技术的准实时性问题,提出用口字形排布的四束光代替传统L形三束剪切光照射目标,研究了四光束剪切相干成像目标重构算法.只需单次测量就能同时重构出四幅目标图像,减少了用于降低散斑噪声、获取高质量图像所需的测量次数,同时大大减少了多组发射时的光束切换次数,提高了成像效率.在算法实现中,通过最小二乘法恢复出四组波前相位,利用散斑幅值的简单代数运算恢复波前幅值,从而重构出目标图像.仿真结果表明,与传统方法相比,在图像质量相同的前提下,本文方法所需的数据采集时间减少了至少1/2,不但提高了目标重构效率,还可为远程运动目标的成像识别提供更好的手段.     

水下目标亮点拓扑特征提取及自动识别方法

针对水下目标逆合成孔径声呐(Inverse Synthetic Aperture Sonar,ISAS)图像识别问题中观测角度随机多变,目标结构相互遮挡问题,提出一种基于多亮点拓扑矢量特征的ISAS水下目标识别方法。通过分析ISAS成像过程中散射点位置由三维空间向二维成像平面的投影关系,表明了横向定标后的声呐图像中强亮点之间的距离仅由目标散射结构之间的物理距离决定,据此基于强亮点之间的相互距离,构造能稳定描述不同观测角度下目标的拓扑矢量特征。然后通过K-means聚类获取多聚类中心以克服目标结构互相遮挡造成的亮点缺失问题。最终采用最近邻分类器实现目标识别。水池缩比模型实验表明,该方法对于水下目标的识别率达到84.0%。      

Automatic target recognition method for inverse synthetic aperture sonar imaging

To address the randomness of target aspect angle and the incompleteness of observed target in inverse synthetic aperture sonar(ISAS) imaging,a method for target recognition is proposed based on topology vector feature(TVF) of multiple highlights. Analysis of the projection relationship from 3 D space to 2 D imaging plane in ISAS indicates that the distance between two highlights in the cross-range scale calibrated image is determined by the distance between the corresponding physical scattering centers. Then, TVFs of different targets, which remain stable in various possibilities of target aspect angle, can be built. K-means clustering technique is used to effectively alleviate effect of the point missing due to incompleteness of the observed target. A nearest neighbor classifier is used to realize the target recognition. The ISAS experimental results using underwater scaled models are provided to demonstrate the effectiveness of the proposed method. A classification rate of 84.0% is reached.     

水下目标光电探测技术及其进展

 随着电子技术、激光技术和信号处理技术的发展,光电探测技术应用于水下目标探测方面的研究重新成为热点。介绍了距离选通、激光线扫描、条纹管成像、载波调制、布里渊散射、偏振差分成像技术的原理、特点以及国内外发展现状,重点分析和比较了国内外已有水下目标光电探测系统的性能水平和应用前景,指出水下目标光电探测技术的最新进展以及发展趋势。     

水下目标物偏振成像特性研究

偏振图像比传统强度图像包含更丰富的物体表面反射及散射信息。用萨尔萨(SALSA)相机在自然光照下获取水下偏振图像，研究不同材质物体、放置深度、牛奶浓度及波段因素对水下目标物偏振成像的影响。结果表明:蓝色波段偏振成像能够较好地获取水下物体的边界轮廓等信息; 不同材质的目标物在水下呈现不同的偏振特性, 紫铜偏振度最高达0.69;在1.40 mg/L牛奶浑浊度的水下，偏振图像仍能通过比较目标物的偏振度(degree of polarization，DOP)信息来检测出水下目标物，瓷片的DOP仅降低0.31;此外，在水下约40 cm深度下，偏振成像获取的图像比强度图像轮廓更为清晰，如铁的偏振对比度比强度对比度高5.26%。     

基于Walsh-Hadamard变换的单像素遥感成像

本文提出了基于Walsh-Hadamard变换的单像素成像方案, 并从理论分析、模拟仿真和实验验证三方面分别验证了该方案的可行性. 实验上实现了350-900 nm波段对 距离500 m和5000 m自然目标的128×128 像素成像, 成像速度0.5帧/秒. 研究并讨论了单像素相机方案与计算量子成像方案的差异与共性, 在此基础上分析了基于Walsh-Hadamard变换的单像素成像方案的优势与局限性. 研究表明本方案同时适用于单像素相机和计算量子成像. 由于单像素成像适用于应用在如红外热成像、微波成像等波段, 因此在阵列探测器灵敏度或工艺达不到要求时存在优势. 本文所提出的方案使得单像素成像技术向实际应用迈进了一步.