基于深度约束的水下稠密立体匹配

针对双目水下图像匹配不满足空气中常规极线约束的问题,提出一种基于深度约束的半全局算法以实现水下稠密立体匹配.首先采用深度约束确定匹配过程的深度约束搜索区域.然后,基于深度约束区域将绝对差值和梯度计算推广到二维区域并进行加权融合.在深度约束区域内的搜索过程中,采用胜者为王的策略确定某一视差值下的最佳行差及最佳行差下的匹配代价,并将其作为能量函数的数据项应用于半全局算法中,进行匹配代价的聚合.最后采用抛物线拟合法得到亚像素级的稠密视差图.在水下图片上进行的稠密立体匹配结果表明:相较于其他半全局匹配算法,本文算法在极大提高运行速度的前提下,可以获得良好的水下稠密立体匹配效果.     

深度约束下的声速估算

高精度的声速剖面数据是提高水下定位精度的关键。在无法精确获得声速剖面数据的情况下,该文提出了一种基于深度约束,同时根据浮标与水下目标的空间几何距离进行有效声速估算的方法。通过仿真模拟,将该文提出的方法与加权平均声速法、泰勒级数展开法和等效声速剖面法的定位结果进行对比分析。结果表明,新方法不需要依靠声速剖面数据,通过深度约束可有效地估算出声速值,其定位精度与等效声速结果相当,极大地提高了无声速剖面数据下的水下定位精度。     

浅海时变声速环境下的自适应匹配场定位算法实现*

针对浅海环境下声速剖面失配引起的匹配场处理器失配问题,提出了一种自适应匹配场定位算法在声速剖面时变环境下的实现方式。将先验声速剖面集简化为经验正交函数表示,结合蒙特卡洛方法与环境扰动约束算法对当下时刻的目标声源进行匹配场定位。本文以某次试验获取的连续20小时的声速剖面数据为研究对象,通过仿真试验对该算法进行验证,结果表明：在先验声速剖面集的半小时之后,利用自适应算法的距离和深度定位成功率较常规匹配场算法有较大提升,其中,深度正确定位概率相对较低。     

声速剖面对不同深度声源定位的影响

在对一次试验数据进行匹配场定位处理时发现, 选取声速剖面有轻微失配的情形下, 水面弱声源显现, 水下强声源反而消失. 基于该现象研究了声速剖面失配对不同深度声源定位的影响. 首先通过仿真试验排除海上试验中不确定因素的影响, 进一步得出深处声源定位受声速剖面失配影响较大的结论, 并针对夏季负跃层情形进行跃层深度失配的仿真, 初步得出在跃层下边界以下10 m附近处的声源对声速剖面失配最敏感. 最后从简正波的角度进行理论分析, 分两点对这一现象进行了合理解释.     

基于四水听器的充水弹性管声速测量方法*

实验室中水声材料声学参数的测量主要在水声声管中进行。管内平面波声速是正确测量这些参数的基础。该文提出一种基于四水听器结合不同边界的测量充水弹性管中声速的新方法。该方法利用4个固定位置处的水听器,采用最小二乘的方法,使得两组水听器分别得到的声管末端入射波声压差值的平方最小的声速即为管内平面波声速。该方法利用单频信号,在每一频率点均可测得声速,可以在任一种声管末端边界下进行测量,同时无需知道各水听器到边界的精确距离,在文中的3种边界下声速测量结果具有很好的一致性,实验操作简单、误差很小。该方法的仿真结果与管内声速的理论值吻合得很好,同时实验测量结果与仿真值之间的误差很小,证明了方法的准确性以及鲁棒性,为声管声速测量提供一个很好的思路。     

基于声速的液体浓度测量的方法

采用时差法测量超声波速度,选择葡萄糖、NaCL溶液样品,通过控制变量法、计算机拟合得到两种样品声速与温度和浓度两参数函数关系式,给出一种新的测定可溶性物质浓度的方法,实验结果在工业生产上有实用价值,同时也为多参数实验公式的建立提供思路。     

浅海复杂环境下等效声速剖面的构建方法*

针对浅海复杂环境声速剖面水平变化情况下的声传播损失预报及目标定位问题,提出了一种基于遗传算法的等效声速剖面重构算法。首先,将声速剖面进行时间和空间上的分解,从而将声速剖面抽象为对声速剖面前三阶正交函数系数的反演;其次,利用遗传算法,以先验声速剖面集为基础,进行参数反演。仿真结果表明,在浅海复杂条件下,传播损失预报受声速剖面及海洋参数的影响,不能直接运用接收或发射位置处的声速剖面进行传播损失预报,否则会对预报结果造成误差。通过构建具有声传播累积效应的等效声速剖面可以提高匹配场定位精度,完成目标定位,且在构建等效声速剖面时,接收位置处即本地声速剖面所占权重较大。     

基于深度神经网络的水声信号恢复方法研究*

针对干扰或噪声环境下水声目标信号难以获取的问题,该文提出研究基于深度神经网络的自适应水声被动信号波形恢复方法。在单阵元情况下,该方法提取对数功率谱特征作为输入,采用深度神经网络回归模型自适应学习目标信号的自身特征,输出降噪后的对数功率谱特征并还原时域波形。在多阵元情况下,提出阵列深度神经网络降噪方法,将部分或全部阵元特征拼接为长向量作为输入,从而利用空域信息。为全面利用阵列丰富的时频域信息,该文提出一种两阶段特征融合深度神经网络,在第一阶段将阵列分为若干个子阵,将每个子阵分别用阵列深度神经网络进行处理,在第二阶段将第一阶段的各子阵处理结果与阵列接收信号同时输入一个深度神经网络进行融合学习。实验表明,所提出的单阵元和两阶段融合深度神经网络取得了显著优于常规波束形成的恢复结果,能够准确估计目标信号波形和功率并显著提高输出信噪比。     

基于PASCO的声速测量

通过对传统实验仪器的稍加改造,利用PASCO科学工作室平台分别进行了超声波在气体和液体中传播速度的测量实验,使实验操作更加简便,数据处理更加快捷.结果表明:实验测量值非常接近公认值.     

机载多环架光电吊舱伺服控制电机的力矩估算

采用多环架稳定的机栽光电吊舱,需要科学准确地估算各环架伺服控制电机的力矩,选择满足控制精度和安装要求的控制电机。通过分析各种扰动作用的途径和多环架结构的抑制效果,估算系统实现指标所需要的加速度、速度,综合出各环架控制电机应有的力矩。得到的数据可用于吊舱系统的性能实现和小型化设计。     

An efficient sound speed estimation method to enhance image resolution in ultrasound imaging

Most of clinical ultrasound imaging systems use a pre-determined sound speed, mostly 1540 m/s, in transmit- and receive-beamforming while actual sound speed varies depending on tissue composition and temperature. Sound speed errors, particularly in receive-beamforming, lead to resolution degradation and sensitivity loss in ultrasound imaging. In this paper, we propose a sound speed estimation method in which an optimal sound speed, the speed that makes the echo signal delays at the transducer elements be best matched to the theoretical delays, is estimated by maximizing the beamformed echo signal amplitude with respect to the sound speed and the reflector displacement from the central axis of the ultrasound beam. Since the sound speed can be estimated from the echo signals on several scan lines, the proposed method does not require excessive computation. Experimental imaging studies of phantoms and porcine tissue with a 6 MHz 128-element linear probe and a 3 MHz 128-element convex probe have shown that spatial resolution, particularly in the lateral direction, can be improved by the proposed method.     

In vitro estimation of mean sound speed based on minimum average phase variance in medical ultrasound imaging

Effective receive beamforming in medical ultrasound imaging is important for enhancing spatial and contrast resolution. In current ultrasound receive beamforming, a constant sound speed (e.g., 1540 m/s) is assumed. However, the variations of sound speed in soft tissues could introduce phase distortions, leading to degradation in spatial and contrast resolution. This degradation becomes even more severe in imaging fatty tissues (e.g., breast) and with obese patients. In this paper, a mean sound speed estimation method where phase variance of radio-frequency channel data in the region of interest is evaluated is presented for improving spatial and contrast resolution. The proposed estimation method was validated by the Field II simulation and the tissue mimicking phantom experiments. In the simulation, the sound speed of the medium was set to 1450 m/s and the proposed method was capable of capturing this value correctly. From the phantom experiments, the −18-dB lateral resolution of the point target at 50 mm obtained with the estimated mean sound speed was improved by a factor of 1.3, i.e., from 3.9 mm to 2.9 mm. The proposed estimation method also provides an improvement of 0.4 in the contrast-to-noise ratio, i.e., from 2.4 to 2.8. These results indicate that the proposed mean sound speed estimation method could enhance the spatial and contrast resolution in the medical ultrasound imaging systems.     

Vehicle speed measurement based on gray constraint optical flow algorithm

Vehicle speed measurement (VSM) based on video images represents the development direction of speed measurement in the intelligent transportation systems (ITS). This paper presents a novel vehicle speed measurement method, which contains the improved three-frame difference algorithm and the proposed gray constraint optical flow algorithm. By the improved three-frame difference algorithm, the contour of moving vehicles can be detected exactly. Through the proposed gray constraint optical flow algorithm, the vehicle contour's optical flow value, which is the speed (pixels/s) of the vehicle in the image, can be computed accurately. Then, the velocity (km/h) of the vehicles is calculated by the optical flow value of the vehicle's contour and the corresponding ratio of the image pixels to the width of the road. The method can yield a better optical flow field by reducing the influence of changing lighting and shadow. Besides, it can reduce computation obviously, since it only calculates the moving target contour's optical flow value. Experimental comparisons between the method and other VSM methods show that the proposed approach has a satisfactory estimate of vehicle speed.     

基于改进变分模态分解的北极海域声速剖面分类

应用支持向量机对北极声速剖面进行分类,特征量提取是关键.该文采用一种基于经验模态分解的改进变分模态分解算法,以准确提取声速剖面特征量.算法首先对声速剖面信号进行经验模态分解,依据最大类间方差原则划分各分量边际谱主频带,以相似度作为最小分解层数判断标准,获得最小分解层数,进行变分模态分解.对北极区海水声速实测数据(信号)...     

High resolution time-delay estimation of underwater target geometric scattering

The geometric scatterings carry the information of the shape of an underwater target. While the time-delay of the weak geometric scattering exists in the received signal cannot be obtained accurately by the conventional time-delay estimation methods because of the limit of the main-lobe width and the interferences from the side-lobe. In this paper, we propose a high resolution time-delay estimation (HRTDE) scheme consisting of two steps. Firstly, when a linear-frequency-modulated (LFM) pulse is transmitted by sonar, the dechirping method transforms the geometric scatterings with different time-delays into multiple single-frequency components respectively, in which the frequency of the dechirped signal shows a linear relationship with the time-delay of the geometric scattering. Then the multiple signal classification (MUSIC) algorithm is adopted to increase the spectrum resolution when multiple single-frequency signals exist in the dechirped signal and the frequency interval is smaller than the frequency resolution limit of the Fourier transform. Simulation results show that the main lobe of the proposed scheme is sharper and with less interference from the side-lobe, compared with the conventional time-delay estimation methods. The results from the anechoic pool experiment demonstrate that the proposed scheme achieves a better time-delay estimation performance for the weak geometric scattering generated by the bottom edge of the underwater target model than match filter based methods.     

Theoretical and phantom based investigation of the impact of sound speed and backscatter variations on attenuation slope estimation

Quantitative ultrasound features such as the attenuation slope, sound speed and scatterer size, have been utilized to evaluate pathological variations in soft tissues such as the liver and breast. However, the impact of variations in the sound speed and backscatter due to underlying fat content or fibrotic changes, on the attenuation slope has not been addressed. Both numerical and acoustically uniform tissue-mimicking experimental phantoms are used to demonstrate the impact of sound speed variations on attenuation slope using clinical real-time ultrasound scanners equipped with linear array transducers. Radiofrequency data at center frequencies of 4 and 5 MHz are acquired for the experimental and numerical phantoms respectively. Numerical phantom sound speeds between 1480 and 1600 m/s in increments of 20 m/s for attenuation coefficients of 0.3, 0.4, 0.5, 0.6, and 0.7 dB/cm/MHz are simulated. Variations in the attenuation slope when the backscatter intensity of the sample is equal, 3 dB higher, and 3 dB lower than the reference is also evaluated. The sound speed for the experimental tissue-mimicking phantoms were 1500, 1540, 1560 and 1580 m/s respectively, with an attenuation coefficient of 0.5 dB/cm/MHz. Radiofrequency data is processed using three different attenuation estimation algorithms, i.e. the reference phantom, centroid downshift, and a hybrid method. In both numerical and experimental phantoms our results indicate a bias in attenuation slope estimates when the reference phantom sound speed is higher (overestimation) or lower (underestimation) than that of the sample. This bias is introduced via a small spectral shift in the normalized power spectra of the reference and sample with different sound speeds. The hybrid method provides the best estimation performance, especially for sample attenuation coefficient values lower than that of the reference phantom. The performance of all the methods deteriorates when the attenuation coefficient of the reference phantom is lower than that of the sample. In addition, the hybrid method is the least sensitive to sample backscatter intensity variations.     

一种基于简正波模态消频散变换的声源距离深度估计方法

针对浅海环境中传播的低频宽带水声脉冲信号,基于简正波水平波数差和波导不变量之间的关系,本文提出了一种利用距离-频散参数二维平面聚焦测距与匹配模态能量定深的目标声源定位方法.首先,通过将由频散参数和波导不变量表示的前几阶模态相速度与由环境模型计算的相速度进行对比分析,从而估计出前几阶模态的频散参数和环境的波导不变量.其次,利用估计出的频散参数值和波导不变量对接收信号进行消频散变换处理,只有当接收信号的距离参数等于目标声源距离时,各号简正波的幅度均达到最大值,在距离-频散参数二维平面上,出现声压聚焦的现象,利用此现象可以估计目标声源的距离.不仅如此,消频散变换后的接收信号,前几阶模态在时域上明显地分离开来,可以准确地估计出前几阶模态的能量,采用多模态能量匹配的方式,可以估计出目标声源的深度.最后,通过对仿真和冬季获得的气枪信号数据处理结果验证了本文方法的有效性.     

利用宽带声场频率-掠射角干涉结构的深海直达声区目标深度估计方法

针对典型深海环境中宽带声源的深度分辨问题,通过研究深海声场随频率起伏的干涉结构与垂直线阵频域波束输出图中的干涉结构,给出一种直达声区内可区分多水下目标的宽带声源深度估计方法。该方法以近水面目标的射线声场模型为基础,推导出近海面宽带声源接收声场的波束输出表达式,阐明了频域波束输出图中干涉结构与声源深度的对应关系。然后利用改进的傅里叶变换方法将二维频域波束输出图映射到声源深度-掠射角度域,可实现声源深度信息的有效分离。最后开展了深海实验验证,利用垂直阵接收拖曳声源发射的宽带白噪声信号,拖曳声源深度计算结果与实测声源深度基本一致。数值仿真与实验结果均表明该方法可以在多目标复杂环境下准确估计出水下宽带声源的深度。     

改进的信道稀疏度检测正交多载波多普勒估计方法

针对正交频分复用水声移动通信中频域变采样技术联合信道稀疏度检测的多普勒估计算法在冰水混合区复杂信道环境下多普勒估计效果欠佳且计算量大的问题,提出了一种改进的多普勒估计算法。采用时域重采样技术对信号进行不同压缩因子的补偿,避免了频域变采样技术中的高阶快速傅里叶变换运算,从而降低了算法复杂度。利用梳状导频位置向量结合时域变采样技术更准确提取的导频子载波,进而获得更加精确的信道估计和信道稀疏度检测结果,提高了多普勒估计精度。仿真结果和冰下试验结果表明,与原始算法相比,改进的方法在冰水混合水域复杂多径时变信道环境下可以有效实现对信号多普勒畸变的跟踪并且计算量显著下降,能够保障正交频分复用水声移动实时通信。     

窄脉冲声用于大样品的吸声测量

本文利用逆滤波器原理,在空间产生了波形可控、长度在毫秒量级的窄脉冲声信号,分别采用脉冲分离法和脉冲叠加法,对一种毛毡材料和三种不同厚度的海绵材料进行了吸声系数的测量。实验证明,基于窄脉冲声信号的吸声测量结果与ISO13472-1:2002中的MLS脉冲法及阻抗管的测量结果基本吻合。采用窄脉冲进行吸声测量,可以减少样品边缘和周围环境对测量信号的干扰,提高现场测量的准确性。